The movement control system of the endoscopic surgery robot and the endoscopic surgery robot

Abstract

The application provides a moving control system of a laparoscopic surgery robot and the laparoscopic surgery robot. A steering handle, a sensor, a driver, a controller and a driving power supply are arranged on an operating trolley of the laparoscopic surgery robot. The sensor is arranged in a touch control area of the steering handle and is configured to generate a moving signal corresponding to a touch action. The amplitude of the moving signal is positively correlated with the amplitude of the touch action. The moving speed of the operating trolley is positively correlated with the amplitude of the moving signal. The driving power supply comprises a switching power supply, the driver and a protector. The protector is arranged between the switching power supply and the driver to block the current from the driver to the switching power supply when the amplitude of the moving signal generated by the touch action frequently changes, thereby protecting the switching power supply. The adaptability of the operating trolley to the environment during movement is improved by arranging the protector.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and specifically relates to a motion control system for a laparoscopic surgical robot and the laparoscopic surgical robot itself. Background Technology

[0002] Laparoscopic surgical robots consist of a surgeon-controlled cart, an operating cart, and an imaging cart. Each cart needs to be positioned at its target location during the surgical preparation phase to ensure successful operation. For different surgeries, each cart can move to different target locations based on a chassis-mounted mobile mechanism.

[0003] When the control trolley is moving, a switching power supply can power the drive unit mounted on the chassis to enable the moving mechanism to move the trolley to the target position. The switching power supply converts AC to DC and supplies power to the drive unit. However, during the trolley's movement, the drive wheels in the moving mechanism may encounter obstacles, causing the motor to stall. This can lead to a backflow of current from the drive unit's input to the switching power supply, potentially damaging it.

[0004] Operators can move the trolley by pushing or pulling, but because the pushing or pulling force is not constant, the current signal output by the driver to the moving mechanism is unstable, causing the trolley to jam during movement. The trolley will also jam for the same reason when encountering obstacles. When the trolley jams, the switching power supply's output protection function is likely to be activated, requiring a restart to resume power supply to the trolley's moving mechanism and driver. Furthermore, when the trolley jams, backflow current can easily be generated at the driver's input, potentially damaging the switching power supply.

[0005] In related technologies, the chassis control algorithm can be optimized by modifying the trolley's movement trajectory and the current control method of the drive power supply. This prevents large backflow currents in the drive circuit when the movement of the moving mechanism is obstructed, thus protecting the drive power supply. However, optimizing trajectory planning and current control methods is costly, which can increase the development cost of laparoscopic surgical robots. Summary of the Invention

[0006] This application provides a motion control system and method for a laparoscopic surgical robot to solve the problem of high development costs of motion control algorithms for controlling the laparoscopic surgical robot to adapt to various motion scenarios during the movement process.

[0007] In a first aspect, this application provides a mobile control system for a laparoscopic surgical robot, the laparoscopic surgical robot including an operating carriage, the operating carriage being equipped with a rudder, sensors, drivers, controllers, and a drive power supply;

[0008] The sensor is arranged at a touch area of the tiller, and the sensor is configured to generate a movement signal in response to a touch action, the amplitude of the movement signal being positively correlated with the amplitude of the touch action; the movement speed of the operation trolley is positively correlated with the amplitude of the movement signal;

[0009] The driver is configured to drive the movement mechanism of the operation trolley to move based on the driving circuit;

[0010] The driving power supply includes a switching power supply, a driver, and a protector, the switching power supply is connected with the driver through the protector; the protector is used to block a backflow current when the movement mechanism is abnormal; the backflow current refers to a current flowing from the driver to the switching power supply;

[0011] The controller is configured to:

[0012] receive the movement signal;

[0013] control the driver to operate based on the movement signal, so that the driver drives the movement mechanism to move the operation trolley.

[0014] In some possible embodiments, two groups of the sensors are arranged at different positions of the touch area, and are connected with the controller; the controller is connected with two groups of the drivers; the drivers are connected with corresponding two groups of the movement mechanisms; the controller independently controls the operation of two groups of the movement mechanisms according to the movement signals of two groups of the sensors, respectively; the switching power supply is connected with the driver through the protector to form a path.

[0015] In some possible embodiments, the positive electrode of the switching power supply is connected with the positive electrode of the driver to form a positive electrode path; the negative electrode of the switching power supply is connected with the negative electrode of the driver to form a negative electrode path; the protector includes a first protector and a second protector; the first protector is arranged in the positive electrode path, and the second protector is arranged in the negative electrode path.

[0016] In some possible embodiments, the tiller is arranged on a stand column of the operation trolley; the tiller includes a first touch area and a second touch area; the sensor includes a first sensor and a second sensor; the first sensor is arranged at the first touch area, and the second sensor is arranged at the second touch area;

[0017] The first sensor is configured to generate a first movement signal in response to a first touch action; the second sensor is configured to generate a second movement signal in response to a second touch action;

[0018] The controller is configured to:

[0019] if the first movement signal and the second movement signal are received simultaneously,

[0020] and / or, if the first movement signal and the second movement signal are received simultaneously, the controller is configured to control the operation of the trolley based on the first movement signal and the second movement signal.

[0021] In some possible embodiments, the trolley further comprises a touch switch, the touch switch comprising a first touch switch and a second touch switch; wherein, after the first touch switch is triggered, the first sensor generates a first movement signal based on the touch action; after the second touch switch is triggered, the second sensor generates a second movement signal based on the touch action; the controller is configured to:

[0022] if only the first movement signal or the second movement signal is received, the controller does not control the movement of the trolley.

[0023] In some possible embodiments, the drive comprises a first drive and a second drive; the trolley comprises a first moving mechanism and a second moving mechanism; the first drive is connected to the first moving mechanism, and the second drive is connected to the second moving mechanism.

[0024] The controller is configured to:

[0025] control the operation of the first drive based on the first movement signal, so that the first drive drives the first moving mechanism to operate; and control the operation of the second drive based on the second movement signal, so that the second drive drives the second moving mechanism to operate.

[0026] In some possible embodiments, the trolley comprises a chassis, the chassis is provided with an electric control box; the drive power supply is arranged inside the electric control box, and the first moving mechanism and the second moving mechanism are respectively arranged on two sides of the chassis.

[0027] In some possible embodiments, the first moving mechanism comprises a first motor, a first speed reducer and a first drive wheel; the first motor is connected to the first drive wheel through the first speed reducer.

[0028] The second moving mechanism comprises a second motor, a second speed reducer and a second drive wheel; the second motor is connected to the second drive wheel through the second speed reducer.

[0029] In some possible embodiments, the controller is configured to:

[0030] drive the first driver based on the first movement signal to control a first rotating speed of the first movement mechanism, and drive the second driver based on the second movement signal to control a second rotating speed of the second movement mechanism; wherein a direction of movement of the operation trolley is associated with a rotating speed difference between the first rotating speed and the second rotating speed.

[0031] In a second aspect, the application provides a laparoscopic surgery robot, comprising the movement control system of the laparoscopic surgery robot d in the first aspect, the movement control system of the laparoscopic surgery robot being used to control movement of a trolley of the laparoscopic surgery robot.

[0032] From the above technical content, the application provides a movement control system of a laparoscopic surgery robot and a laparoscopic surgery robot. The operation trolley of the laparoscopic surgery robot is provided with a tiller, a sensor, a driver, a controller, and a driving power supply. The sensor is arranged in a touch control area of the tiller and is configured to generate a movement signal corresponding to a touch control action. The amplitude of the movement signal is positively correlated with the amplitude of the touch control action. The movement speed of the operation trolley is positively correlated with the amplitude of the movement signal. The driving power supply comprises a switching power supply, a driver, and a protector. The protector is arranged between the switching power supply and the driver to block the current from the driver back to the switching power supply when the amplitude of the movement signal generated by the touch control action frequently changes, thereby protecting the switching power supply. By arranging the protector, the adaptability of the operation trolley to the environment during movement is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed in the embodiments. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0034] Figure 1 The movement control system topology of the laparoscopic surgery robot provided by the embodiment of the application;

[0035] Figure 2 The protector connection diagram of the laparoscopic surgery robot provided by the embodiment of the application;

[0036] Figure 3 The touch control area arrangement diagram of the tiller provided by the embodiment of the application;

[0037] Figure 4 The touch control switch arrangement diagram provided by the embodiment of the application;

[0038] Figure 5 The driver connection diagram provided by the embodiment of the application;

[0039] Figure 6A chassis structure schematic diagram provided by an embodiment of the present application is shown in the following figure.

[0040] Figure 7 A mobile mechanism setting schematic diagram provided by an embodiment of the present application is shown in the following figure.

[0041] Figure 8 An operation trolley structure schematic diagram provided by an embodiment of the present application is shown in the following figure. DETAILED DESCRIPTION

[0042] The embodiments will be described in detail below with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of systems and methods consistent with some aspects of the present application as detailed in the appended claims.

[0043] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0044] In this specification, some places explain many specific technical details. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description should not be considered as limiting, and the protection scope of the present application is only limited by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misleading the public about the gist of the present application.

[0045] In this specification, the drawings show the schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and mechanical structures, physical compositions, electrical and steps can be changed without departing from the spirit and scope of the present application.

[0046] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application.

[0047] As used herein, "a number of", "one" and "the" in singular form are intended to also include plural forms, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "contain" specify the presence of the described features, steps, operations, elements and / or components, without excluding the presence of one or more other features, steps, operations, elements, components and / or groups thereof.

[0048] The term "connection" herein includes both mechanical connection and electrical connection. Among them, mechanical connection is used to describe the force transmission relationship between mechanical components; electrical connection is used to describe that electronic devices can interact with each other and transmit electrical energy.

[0049] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two elements, functions, steps or acts are in some way mutually exclusive from one another.

[0050] A surgical robot is a robot that can be remotely operated to perform surgery. The surgical robot usually includes a surgeon console cart, an operating cart and an image cart. A surgeon sits in the surgeon console cart, watches a two-dimensional or three-dimensional image of a surgical area transmitted by a laparoscope placed in a patient's body, and controls the movement of a mechanical arm on the operating cart and a surgical instrument or laparoscope attached to the mechanical arm. The mechanical arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand, both of which provide the surgeon with a series of simulated and superhuman wrist movements, while also filtering the tremors of the human hand itself.

[0051] In order to prepare for surgery, the positions of the surgeon console cart, the operating cart and the image cart can be adjusted according to the specific needs of the surgery to better cooperate with the surgery. Therefore, the surgeon console cart, the operating cart and the image cart can each be provided with a moving mechanism to be adjusted to a preset position in cooperation with the operation of the surgeon. Among them, the surgeon console cart, the operating cart and the image cart have different weights. Referring to the da Vinci surgical robot, the surgeon console cart and the image cart weigh 200-400 kg, while the operating cart has a column, a telescopic arm and other connecting structures for cooperating with the mechanical arm, and its weight is greater than 800 kg. Therefore, when moving the operating cart, medical staff need to cooperate with the moving mechanism of the operating cart by pushing, pulling and other operations to move the operating cart to the preset position to ensure the safety of the operating cart during movement.

[0052] Taking the operating cart as an example, the operating cart is provided with a moving mechanism and a power supply for driving the moving mechanism. Among them, the power supply can provide power for the moving mechanism; the moving mechanism realizes straight movement, left turn, right turn, backward movement, U-turn and other movements under the control of the control module of the operating cart and the driving of the power supply, thereby driving the operating cart to reach the preset position.

[0053] It can be understood that the control module can drive the moving mechanism to operate based on the driver, and the power supply can provide power to the moving mechanism by supplying power to the driver. After receiving the control instruction of the control module and the power supply, the driver drives the moving mechanism to move according to the control instruction and reaches the preset position.

[0054] The movement of the operating trolley is a continuous process, but the continuity of the movement of the operating trolley is affected by the environment in which the patient trolley is located during movement. For example, when the moving wheels in the moving mechanism are blocked by falling objects on the moving path, the driver will generate a backflow current. In addition, the driver is prone to generate a backflow current when the ground where the operating trolley is located is uneven (pits, bumps), and when the moving process needs to cross a fire door threshold. The backflow current will flow from the driver to the power supply, impacting the power supply and causing damage to the power supply.

[0055] In related technologies, in order to protect the power supply and the smoothness of the movement of the operating trolley, the control algorithm of the driver can be improved to make the driver have higher adaptability to the moving scene when driving the moving mechanism to run. For example, the PID algorithm or trajectory planning algorithm built-in the driver is optimized. The optimized driver can adaptively adjust the strategy of driving the moving mechanism when facing various scenes such as blocking of the moving mechanism, crossing the threshold, and the like, thereby reducing the backflow current to protect the power supply. However, the time cost of optimizing the algorithm is high, and when facing new moving scenes, the optimization algorithm needs to be continuously optimized to adapt to the new scene, resulting in an increase in the development cost of the optimization algorithm.

[0056] In view of the above problems, the present application provides a movement control system of a laparoscopic surgery robot, which can be used to control the movement of the moving mechanism of the laparoscopic surgery robot. The laparoscopic surgery robot comprises an operating trolley, a tiller, a sensor, a driver, a controller, and a driving power supply arranged on the operating trolley;

[0057] It should be noted that the tiller is a touch control device arranged on the operating trolley, and the operator can control the movement of the operating trolley by touching the tiller. The operator can control the speed and direction of the movement of the operating trolley by adjusting the touch force and the action direction of the touch action when touching the tiller. For example, when the operator's hands touch the tiller at the same time, and the operator wants to control the operating trolley to move forward to the left front, the action direction of the touch action of the operator is to the left front, and the touch force of the left hand is greater than that of the right hand, that is, the operating trolley can move forward to the left front. If the operator wants to control the operating trolley to move backward to the left rear, the action direction of the touch action can be to the left rear, and the touch force of the left hand is greater than that of the right hand, that is, the operating trolley can move backward to the left rear.

[0058] In some embodiments, the sensor is arranged at the touch area of the tiller and configured to generate a movement signal in response to a touch action. The sensor includes, but is not limited to, a force sensor and a displacement sensor. When the operator touches the touch area of the tiller with both hands, the sensor detects the touch action and generates a movement signal based on the touch action. The movement signal is an electrical signal generated by the sensor according to the touch action. For example, the sensor can generate a sensor signal of -10V-10V according to the touch action and send it to the controller, which controls the movement of the operating trolley according to the sensor signal.

[0059] The amplitude of the movement signal is positively correlated with the amplitude of the touch action, and the movement speed of the operating trolley is positively correlated with the amplitude of the movement signal. It can be understood that the greater the amplitude of the touch action, i.e. the greater the intensity of the touch action or the deformation caused by the touch action on the touch area of the tiller, the stronger the sensor signal generated by the sensor, i.e. the greater the amplitude of the sensor signal. The greater the amplitude of the sensor signal, the greater the movement speed of the operating trolley.

[0060] It should be noted that when the operator touches the tiller to control the movement of the operating trolley, it is difficult to keep the amplitude of the touch action constant, which can easily cause fluctuations in the output of the sensor signal. Or when the operating trolley is in complex moving conditions such as uneven road surface, crossing, etc., the sensor signal is also prone to fluctuation. Fluctuation of the sensor signal can easily cause instability of the driver driving the moving mechanism, and then generate a backflow current, causing damage to the switching power supply.

[0061] The driving power supply includes a switching power supply, a driver and a protector, the switching power supply is connected to the driver through the protector; the driver is configured to drive the moving mechanism of the operating trolley to operate based on a driving circuit, so as to move the operating trolley;

[0062] The driver is used to drive the moving mechanism of the operating trolley to operate, and the driver needs electric energy to drive when operating. In order to enable the driver to operate at rated voltage, a switching power supply can be configured based on the driver. The switching power supply is used to convert the voltage of the mains or other mobile power supply that can be carried on the operating trolley into the rated voltage of the driver, for example, to convert 220V mains into 24V DC output to the driver.

[0063] The protector is used to block the backflow current when the moving mechanism is abnormal. The backflow current refers to the current flowing from the driver to the switching power supply. The protector can be composed of a unidirectional conducting electronic element inside, therefore, when the switching power supply supplies energy to the driver through the protector, the protector is in a conducting state; on the contrary, when the backflow current flows from the driver to the switching power supply, due to the unidirectional conducting characteristic of the protector, the protector can block the backflow current, thereby protecting the switching power supply.

[0064] In the above embodiments, when the trolley moves, the driver generates a backflow current flowing to the switching power supply when the trolley encounters a bump or the sensor output signal is unstable. The protector can block the backflow current based on the one-way conduction characteristic. Therefore, the protector can effectively reduce the damage of the backflow current to the switching power supply. Compared with optimizing the algorithm for driving the moving mechanism, the protector is simple and efficient, and the development cost is low. It can be understood that the protector has the characteristics of easy replacement, and the maintenance is fast and difficult. Based on the characteristic that the protector can effectively block the backflow current, there is no need to optimize the moving control algorithm of the driver when the trolley faces complex moving scenes, which reduces the development cost of the moving control system of the trolley.

[0065] The controller includes but is not limited to any one of a programmable logic controller, a single-chip microcomputer, an industrial computer, or a combination of any of them. The controller can receive the sensor signal sent by the sensor and control the driver to drive the moving mechanism to operate according to the sensor signal. That is, the controller is configured to:

[0066] receive the moving signal;

[0067] control the driver to operate based on the moving signal, so that the driver drives the moving mechanism to operate to move the trolley.

[0068] In the above embodiments, the sensor generates a moving signal in response to a touch action and sends it to the controller. The controller can control the driver to drive the moving mechanism based on the moving signal. In addition, the controller can also extract moving information based on the moving signal and control the driver based on the moving information. For example, the controller can obtain moving information by analyzing the moving signal. The controller controls the driver to drive the moving mechanism to move the trolley to a predetermined area based on the moving information.

[0069] It should be noted that the controller can obtain moving information for controlling the driver based on the amplitude of the moving signal. The driver controls the moving mechanism to move based on the moving information. Wherein, the moving signal is a signal generated by the sensor based on the touch action, and the moving information is a signal generated by the controller based on the moving signal for controlling the driver, which are not the same.

[0070] In the above embodiment, the operation trolley can be controlled to move to a preset position based on the sensors arranged on the touch area of the steering handle of the operation trolley, and the cooperation between the controller, the driver and the driving power supply. During the movement of the operation trolley, the driver is prone to generate a backflow current due to a complex movement path, and thus damage the switching power supply. The embodiment of the present application sets a protector between the switching power supply and the driver to block the backflow current generated by the driver, and thus does not need to optimize the control algorithm of the driver according to the complex environment, so as to reduce the development cost.

[0071] As shown in Figure 1 , the embodiment of the present application provides a movement control system topology of a laparoscopic surgery robot. In some embodiments, two groups of sensors are arranged at different positions of the touch area and are connected with the controller; the controller is connected with two groups of drivers; the drivers are connected with corresponding two groups of movement mechanisms; the controller independently controls the operation of the two groups of movement mechanisms according to the movement signals of the two groups of sensors; and the switching power supply is connected with the drivers through the protector to form a path.

[0072] As shown in Figure 1 , in order to facilitate the steering movement of the operation trolley, two groups of sensors are arranged on the touch area of the steering handle, so that the two groups of sensors generate movement signals with different amplitudes by detecting the touch operation of the two areas, and then the controller forms a speed difference based on the two groups of movement signals and controls the steering movement of the operation trolley based on the speed difference.

[0073] The operation trolley can include two groups of movement mechanisms and two groups of drivers, and the drivers are connected with corresponding movement mechanisms. Each driver is used to control the operation of the corresponding movement mechanism according to the movement information sent by the controller. It can be understood that when the speeds of the two groups of movement mechanisms are consistent, the operation trolley can move forward or backward; when the speeds of the two groups of movement mechanisms are different, the operation trolley can make a large-angle or small-angle left turn or right turn based on the speed difference. The protector is arranged between the path formed by the switching power supply and the driver, and the protector can reduce the combination of backflow currents generated by the driver to protect the switching power supply.

[0074] It can be understood that driving multiple groups of movement mechanisms to operate by a single driver can easily increase the complexity of the control algorithm of the driver, and when facing complex working conditions, the control difficulty of the driver increases, and the difficulty of optimizing the algorithm increases. When the algorithm of the driver is not adapted to the complex working conditions, the operation trolley is difficult to move smoothly, and even causes damage to devices such as switching power supplies. Respectively arranging two groups of drivers can reduce the signal interference between the movement mechanisms of different groups, and thus reduce the difficulty of the driver in controlling the operation of the movement mechanisms, so as to improve the robustness of the movement control system of the laparoscopic surgery robot.

[0075] As shown in Figure 2 The embodiment of the present application provides a protector connection diagram of a laparoscopic surgery robot. In some embodiments, the positive electrode of the switching power supply is connected with the positive electrode of the driver to form a positive electrode path; the negative electrode of the switching power supply is connected with the negative electrode of the driver to form a negative electrode path; the protector includes a first protector and a second protector; the first protector is arranged in the positive electrode path, and the second protector is arranged in the negative electrode path.

[0076] It can be understood that the switching power supply and the driver are connected in a positive electrode-positive electrode and negative electrode-negative electrode manner to form a path. Therefore, in the positive electrode path and the negative electrode path, a backflow current flowing from the driver to the switching power supply can be formed. Therefore, the protector needs to be arranged in the positive electrode path and the negative electrode path to block the backflow current.

[0077] As shown in Figure 3 The embodiment of the present application provides a touch area setting diagram of a tiller. The operating trolley includes a stand column, and the tiller is arranged on the stand column of the operating trolley. The tiller includes a first touch area and a second touch area; the sensor includes a first sensor and a second sensor; the first sensor is arranged in the first touch area, and the second sensor is arranged in the second touch area; wherein the first sensor is configured to generate a first movement signal in response to a first touch action; and the second sensor is configured to generate a second movement signal in response to a second touch action.

[0078] According to the above embodiment, two groups of sensors are arranged in the touch area of the tiller to generate two groups of movement signals according to the touch operation of the operator, and the controller generates a rotation speed difference based on the two groups of movement signals to control the steering movement of the operating trolley. It can be understood that different groups of sensors are arranged in the same touch area, which is easy to misjudge the touch operation and affect the accuracy of the movement signal. Therefore, the first touch area and the second touch area are arranged on the tiller, and two groups of sensors are arranged in the first touch area and the second touch area respectively for receiving the touch operation. For example, the first touch area is used for receiving the touch operation of the left hand of the operator, and the second touch area is used for receiving the touch operation of the right hand of the operator.

[0079] Based on the arrangement of the first touch area and the second touch area, the first sensor is used for receiving the touch operation of the left hand of the operator, generating the first movement signal and sending the first movement signal to the controller; and the second sensor is used for receiving the touch operation of the right hand of the operator, generating the second movement signal and sending the second movement signal to the controller.

[0080] The controller can receive the first movement signal and the second movement signal, and control the movement of the operating trolley according to the first movement signal and the second movement signal. Wherein the controller is configured to:

[0081] If the first movement signal and the second movement signal are received simultaneously,

[0082] If the first movement signal and the second movement signal are received simultaneously,

[0083] In the above embodiment, the controller controls the driver to drive the operation trolley to move only if the first movement signal and the second movement signal are received simultaneously. In this way, the probability of the operation trolley moving by mistake due to the touch control area of the steering handle being touched by mistake can be reduced. In the use of the operation trolley, if the controller controls the operation trolley to move only if a single movement signal is received, the moving mechanism on one side of the operation trolley moves, which is dangerous. Therefore, based on the control mode that the controller controls the driver to drive the operation trolley to move only if the first movement signal and the second movement signal are received simultaneously, the moving mechanisms associated with the two groups of sensors are both in operation when the operation trolley moves, which is beneficial to maintaining the balance of the operation trolley and reducing the risk of movement.

[0084] It can be understood that when the operator first touches the first touch control area with the left hand, the controller does not control the driver in response to the first movement signal; when the operator keeps touching the first touch control area with the left hand and touches the second touch control area with the right hand, the controller can control the driver to drive the operation trolley to move according to the first movement signal and the second movement signal.

[0085] As shown in FIG. 1, Figure 4 The steering handle can further be provided with touch control switches, which include a first touch control switch and a second touch control switch. After the first touch control switch is triggered, the first sensor generates a first movement signal based on the touch control action. After the second touch control switch is triggered, the second sensor generates a second movement signal based on the touch control action.

[0086] It should be noted that the trigger form of the touch control switch is not limited, and the touch control switch can be a switch for controlling the power supply circuit of the sensor. In some embodiments, the first touch control switch is a control switch for the power supply circuit of the first sensor. After the first touch control switch is triggered, the power supply circuit of the first sensor is connected, and the first sensor can generate a first movement signal according to the touch control operation. It can be understood that the second touch control switch can also be a control switch for the power supply circuit of the second sensor. After the second touch control switch is triggered, the second sensor can generate a second movement signal according to the touch control operation.

[0087] In other embodiments, the first touch control switch and the second touch control switch can also be associated with the signal channel of the controller. After the first touch control switch and the second touch control switch are triggered, the signal channel of the first sensor and the second sensor is connected to the controller, so as to reduce the consumption of electricity in the circuit.

[0088] It can be understood that the first touch switch and the second touch switch can be arranged in the first touch area and the second touch area of the tiller, so as to reduce the wiring distance of the electrical connection and improve the stability of signal transmission while the operator is operating. By arranging the touch switch, the probability of the operation platform cart moving due to accidental touch operation can be further reduced.

[0089] The controller is configured to:

[0090] If only the first movement signal or the second movement signal is received, the operation platform cart is not controlled to move.

[0091] It can be understood that the first touch switch or the second touch switch may be accidentally touched during operation, and therefore, after any touch switch is triggered, the controller only receives the first movement signal or the second movement signal, and the operation platform cart is not controlled to move, so as to reduce the probability of the operation platform cart moving due to accidental touch and improve the safety of the operation platform cart movement control.

[0092] The driver is used to drive the movement mechanism to move according to the movement signal sent by the controller. In order to reduce the design difficulty of the driver control algorithm, a plurality of drivers can be arranged to control different groups of movement mechanisms, so as to reduce the design difficulty of the driver control algorithm to a certain extent, which is beneficial to reduce the development cost of the operation platform cart.

[0093] As shown in Figure 5 The driver includes a first driver and a second driver; the operation platform cart includes a first movement mechanism and a second movement mechanism; the first driver is connected with the first movement mechanism, and the second driver is connected with the second movement mechanism.

[0094] The controller is configured to:

[0095] The first driver is controlled to operate based on the first movement signal, so that the first driver drives the first movement mechanism to operate; and the second driver is controlled to operate based on the second movement signal, so that the second driver drives the second movement mechanism to operate.

[0096] It can be understood that the first movement signal is sent to the controller by the first sensor, and the second movement signal is sent to the controller by the second sensor. That is, the movement control system provided by the embodiment of the application can include two parts of the first sensor-controller-first driver-first movement mechanism and the second sensor-controller-second driver-second movement mechanism.

[0097] The interference between different groups of moving mechanisms can be reduced by grouping the moving mechanisms and the driving and control components, and the probability of false triggering of the operation trolley movement can be reduced based on the control mode in which the controller simultaneously receives the first movement signal and the second movement signal, thereby improving the safety of the operation trolley movement.

[0098] As shown in Figure 6 , the operation trolley comprises a chassis, the chassis is provided with an electric control box, a driving power supply is arranged inside the electric control box, and the first moving mechanism and the second moving mechanism are arranged on the two sides of the chassis, respectively.

[0099] The chassis serves as a structure for carrying the operation trolley, for example, the electric control box can be arranged on the chassis, and the electric control box has the function of protecting the driving power supply. On the other hand, the chassis serves as a carrier for the moving structure, for example, the first moving mechanism and the second moving mechanism can be arranged on the two sides of the chassis, respectively, to ensure the balance of the operation trolley movement, and the operation trolley can perform forward, backward, left turn, right turn, and U-turn actions according to the driving of the driver.

[0100] As shown in Figure 7 , the first moving mechanism comprises a first motor, a first speed reducer, and a first driving wheel; the first motor is connected to the first driving wheel through the first speed reducer;

[0101] The second moving mechanism comprises a second motor, a second speed reducer, and a second driving wheel; the second motor is connected to the second driving wheel through the second speed reducer.

[0102] As described in the above embodiment, the first motor-first speed reducer-first driving wheel can be used to control the movement of the first moving mechanism on the left side of the chassis of the operation trolley; and the second motor-second speed reducer-second driving wheel can be used to control the movement of the second moving mechanism on the right side of the chassis of the operation trolley. The first motor operates at a certain speed under the driving of the driver and drives the driving wheel to operate. It can be understood that in actual application, a speed reducer can be arranged between the motor and the driving wheel to form a fixed speed ratio, which is conducive to transmitting the force of the motor to the driving wheel. The components of the two groups of moving mechanisms are connected in the same way, which will not be described here.

[0103] Based on the above embodiment, the driver and the moving mechanism are arranged in the following manner, and the controller is configured to:

[0104] drive the first driver based on the first movement signal to control the first speed of the first moving mechanism, and drive the second driver based on the second movement signal to control the second speed of the second moving mechanism; wherein the direction of the operation trolley movement is associated with the speed difference between the first speed and the second speed.

[0105] In some embodiments, the controller receives both a first movement signal and a second movement signal, i.e., controls a first driver based on the first movement signal and controls a second driver based on the second movement signal, and drives the moving mechanism to move through the drivers.

[0106] In the embodiments described, the moving components in the first and second moving mechanisms can be drive wheels or a combination of drive wheels and casters.

[0107] It should be noted that the rotational speed has direction, i.e., forward and reverse, corresponding to the movement of the operating trolley being either forward or backward. The first and second moving mechanisms drive the operating trolley to move based on the first and second rotational speeds, respectively. When the first and second rotational speeds are the same value and in the same direction, the operating trolley moves forward or backward based on both speeds. When the first and second rotational speeds are different but in the same direction, if the first rotational speed is greater than the second, the operating trolley turns left; if the first rotational speed is less than the second, the operating trolley turns right. When the first and second rotational speeds are the same value and in the same direction, with the help of the casters, the operating trolley can also perform in-situ turning operations.

[0108] In this embodiment, by grouping the moving mechanisms and the drivers used to drive them, signal interference between different groups of moving mechanisms is reduced, thereby improving the stability of the trolley's movement. Furthermore, by installing a protector between the switching power supply and the driver, the backflow current generated by the driver due to complex paths is blocked, further improving the stability and safety of the trolley's movement. By blocking the backflow current, the requirements for the trolley's control algorithm are reduced, thereby lowering the development cost of the trolley's movement control system.

[0109] like Figure 8 As shown, in some embodiments, this application also provides a laparoscopic surgical robot, including the motion control system of the laparoscopic surgical robot mentioned in the above embodiments. The motion control system of the laparoscopic surgical robot is used to control the movement of the trolley of the laparoscopic surgical robot.

[0110] Laparoscopic surgical robots include, for example Figure 8 The illustrated operating trolley of the laparoscopic surgical robot is driven by the operator's touch controls. A protector is installed between the driver and the switching power supply used to drive the trolley. This protector blocks the backflow current generated by the driver when the trolley traverses complex paths, thus protecting the switching power supply and improving the safety of the trolley's movement. By using a protector to block backflow current, the development cost of the operating trolley's movement control system is significantly reduced.

[0111] According to the technical content, the application provides a mobile control system of a laparoscopic surgery robot and the laparoscopic surgery robot. The operating trolley of the laparoscopic surgery robot is provided with a tiller, a sensor, a driver, a controller and a driving power supply. The sensor is arranged in the touch control area of the tiller and is configured to generate a movement signal corresponding to the touch control action. The amplitude of the movement signal is positively correlated with the amplitude of the touch control action. The moving speed of the operating trolley is positively correlated with the amplitude of the movement signal. The driving power supply comprises a switching power supply, a driver and a protector. The protector is arranged between the switching power supply and the driver, so as to block the current from the driver to the switching power supply when the amplitude of the movement signal generated by the touch control action frequently changes, thereby protecting the switching power supply. The adaptability of the operating trolley to the environment during movement is improved by arranging the protector.

[0112] The similar parts among the embodiments provided by the application can be referred to each other. The specific embodiments provided above are only some examples under the general concept of the application and do not limit the protection scope of the application. Any other embodiments extended according to the application scheme without creative labor belong to the protection scope of the application.

Claims

1. A motion control system for a laparoscopic surgical robot, characterized in that, The laparoscopic surgical robot includes an operating carriage, which is equipped with a rudder, sensors, drivers, controllers, and a power supply. The sensor is disposed in the touch area of ​​the rudder, and the sensor is configured to generate a movement signal in response to a touch action, the amplitude of which is positively correlated with the amplitude of the touch action; the moving speed of the operating trolley is positively correlated with the amplitude of the movement signal. The driver is configured to drive the moving mechanism of the operating trolley based on the drive circuit, so as to move the operating trolley. The drive power supply includes a switching power supply, a driver, and a protector; wherein, the positive terminal of the switching power supply is connected to the positive terminal of the driver to form a positive path; the negative terminal of the switching power supply is connected to the negative terminal of the driver to form a negative path; the protector includes a first protector and a second protector; the first protector is disposed in the positive path, and the second protector is disposed in the negative path; the protector is used to block backflow current when the moving mechanism malfunctions; the backflow current refers to the current flowing from the driver to the switching power supply; The controller is configured to: Receive the mobile signal; The driver is controlled to operate based on the movement signal, so that the driver drives the moving mechanism to move the operating trolley.

2. The system according to claim 1, characterized in that, Two sets of sensors are arranged at different positions in the touch area, both of which are connected to the controller; the controller is connected to the two sets of drivers; the drivers are connected to the corresponding two sets of moving mechanisms; the controller independently controls the operation of the two sets of moving mechanisms according to the movement signals of the two sets of sensors.

3. The system according to claim 1 or 2, characterized in that, The rudder is mounted on the column of the operating trolley; the rudder includes a first touch area and a second touch area; the sensor includes a first sensor and a second sensor; the first sensor is mounted in the first touch area, and the second sensor is mounted in the second touch area; The first sensor is configured to generate a first movement signal in response to a first touch action; the second sensor is configured to generate a second movement signal in response to a second touch action. The controller is configured to: If the first movement signal and the second movement signal are received simultaneously, and / or if the second movement signal is received when the first movement signal is received, then the driver is controlled to operate according to the first movement signal and the second movement signal.

4. The system according to claim 3, characterized in that, It also includes touch switches, which include a first touch switch and a second touch switch; wherein, after the first touch switch is triggered, the first sensor generates a first movement signal based on the touch action; after the second touch switch is triggered, the second sensor generates a second movement signal based on the touch action; the controller is configured to: If only the first movement signal or the second movement signal is received, the movement of the operating trolley is not controlled.

5. The system according to claim 3, characterized in that, The drive includes a first drive and a second drive; the operating trolley includes a first moving mechanism and a second moving mechanism; the first drive is connected to the first moving mechanism, and the second drive is connected to the second moving mechanism; The controller is configured to: The first driver is controlled to operate based on the first movement signal, so that the first driver drives the first moving mechanism to operate; and the second driver is controlled to operate based on the second movement signal, so that the second driver drives the second moving mechanism to operate.

6. The system according to claim 5, characterized in that, The operating trolley includes a chassis, and the chassis is equipped with an electrical control box; the drive power supply is located inside the electrical control box, and the first moving mechanism and the second moving mechanism are respectively located on both sides of the chassis.

7. The system according to claim 6, characterized in that, The first moving mechanism includes a first motor, a first reducer, and a first drive wheel; the first motor is connected to the first drive wheel via the first reducer. The second moving mechanism includes a second motor, a second reducer, and a second drive wheel; the second motor is connected to the second drive wheel through the second reducer.

8. The system according to claim 7, characterized in that, in, The controller is configured as follows: The first driver is driven based on the first movement signal to control the first rotational speed of the first moving mechanism, and the second driver is driven based on the second movement signal to control the second rotational speed of the second moving mechanism; wherein the direction of movement of the operating trolley is related to the speed difference between the first rotational speed and the second rotational speed.

9. A laparoscopic surgical robot, characterized in that, The invention includes a motion control system for a laparoscopic surgical robot as described in any one of claims 1-8, wherein the motion control system is used to control the movement of the trolley of the laparoscopic surgical robot.

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