Surgical robot mechanical arm fault control system and computer equipment

Abstract

The invention relates to a surgical robot mechanical arm fault control system and computer equipment. According to the fault control system for the mechanical arm of the surgical robot, adjacent joints of a plurality of joints are in communication connection; when any one of the joints breaks down, the joints can be self-locked, and the joints in communication connection with the joints are locked. By the adoption of the system, when it is determined that the joint is in the fault state, self-locking can be conducted immediately, other mechanical arm joints except the joint are locked, and therefore the mechanical arm fault control system of the surgical robot does not need to pass through a control center in the fault control process, and the fault control efficiency is improved. Instead, fault control over all the mechanical arm joints can be achieved only through control over any joint, and therefore the efficiency of the fault control process can be improved.

Description

Technical Field

[0001] This application relates to the field of medical technology, and particularly to a fault control system for a robotic arm of a surgical robot and a computer device. Background Art

[0002] With the development of robot technology, more and more robots are applied in the medical field. Among them, surgical robots are becoming more and more popular for their advantages of less bleeding and faster recovery. Using surgical robots to assist in surgery can improve the efficiency and quality of surgery. A surgical robot includes a robotic arm. When a fault occurs in the robotic arm, it is necessary to perform fault handling on the robotic arm through a fault control system for the robotic arm of the surgical robot to ensure that the surgical robot can work normally, and further ensure that the surgery can be performed safely and smoothly.

[0003] However, the current fault control system for the robotic arm of a surgical robot needs to be processed by a control center, resulting in low processing efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a fault control system for a robotic arm of a surgical robot and a computer device that can improve processing efficiency in view of the above technical problems.

[0005] In a first aspect, this application provides a fault control system for a robotic arm of a surgical robot. The robotic arm includes a plurality of joints, and is characterized in that it includes:

[0006] Adjacent joints of the plurality of joints are communicatively connected; when any one of the plurality of joints fails, it will lock itself and lock the joints communicatively connected to it.

[0007] In one embodiment, any one of the plurality of joints is specifically configured to send a safety interlock signal to the joints communicatively connected to it and / or the control center, and send the safety interlock signal to all joints along a plurality of sequentially communicatively connected joints.

[0008] In one embodiment, any one of the plurality of joints is further configured to determine the status information of the any one joint when receiving a fault detection instruction; and determine whether the any one joint has failed according to the status information.

[0009] In one embodiment, the plurality of joints are sequentially communicatively connected to form a communication chain;

[0010] A control center is communicatively connected to a joint at one end of the communication chain.

[0011] In one embodiment, the control center is further communicatively connected to a joint at the other end of the communication chain.

[0012] In one embodiment, the control center is further configured to receive the safety interlock signal sent by the joint in communication connection, and determine the faulty joint according to the safety interlock signal.

[0013] In one embodiment, the control center is further configured to determine whether the faulty joint needs to be repaired according to the position information of the faulty joint; if the faulty joint does not need to be repaired, unlock the other joints except the faulty joint.

[0014] In one embodiment, the control center is further configured to, if the faulty joint needs to be repaired, unlock each of the joints after the repair of the faulty joint is completed.

[0015] In one embodiment, the control center is further configured to send the fault detection instruction to any one of the plurality of joints.

[0016] In a second aspect, the present application further provides a computer device. The computer device includes a control center, the control center includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the system in any one of the above embodiments are implemented.

[0017] For the above surgical robot manipulator fault control system and computer device, adjacent joints of the plurality of joints are in communication connection; when any one of the plurality of joints fails, it will self-lock and lock the joints in communication connection with it. In the present application, any one of the joints can immediately self-lock when it determines that the joint itself is in a fault state, and lock the other manipulator joints except the joint. Therefore, in the process of fault control of the surgical robot manipulator fault control system in the embodiments of the present application, it does not need to go through the control center, but only through the control of any one of the joints itself, the fault control of all manipulator joints can be realized, thereby improving the efficiency of the fault control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a system schematic diagram of a surgical robot manipulator fault control system in one embodiment;

[0020] Figure 2 It is a system schematic diagram of a surgical robot manipulator fault control system including a control center in one embodiment;

[0021] Figure 3 Overall schematic diagram of a robotic arm with cascaded connections in an embodiment;

[0022] Figure 4 Structural schematic diagram of a robotic arm joint with cascaded connections in an embodiment;

[0023] Figure 5 Structural schematic diagram of a robotic arm joint with annular connections in an embodiment;

[0024] Figure 6 Structural schematic diagram of a robotic arm joint with star connections in an embodiment;

[0025] Figure 7 Structural schematic diagram of a robotic arm joint with star connections in an exemplary embodiment;

[0026] Figure 8 Flow schematic diagram of a method for controlling faults in a robotic arm of a surgical robot in an embodiment;

[0027] Figure 9 Internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0031] References to "embodiments" in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0032] With the development of medical technology, surgical robots have emerged. A surgical robot is a tool for performing surgeries using advanced technologies. Compared with doctors, surgical robots can reduce surgical risks, enhance surgical accuracy, improve surgical outcomes, provide real-time monitoring, correction, and increase doctors' work efficiency. Therefore, using a surgical robot to assist in surgery can improve the efficiency and quality of the surgery. A surgical robot includes robotic arms. When a robotic arm malfunctions, it is necessary to handle the fault of the robotic arm through a fault control system for the robotic arm of the surgical robot to ensure that the surgical robot can work properly and thus ensure that the surgery can be carried out smoothly. Among them, fault handling includes processes such as shutdown, safety interlock, and fault recovery. Therefore, when the surgical robot is working, it is necessary to provide an effective safety interlock scheme to prevent various risks that the surgical robot may encounter, so as to avoid consequences such as surgery termination, damage to the surgical robot equipment, reduction of surgical outcomes, and even harm to patients and doctors, thereby ensuring the safety of patients and medical staff and providing high-quality and high-efficiency medical services.

[0033] In the fault control system for the robotic arm of a traditional surgical robot, the control center detects whether the surgical robot malfunctions and issues interruption or avoidance instructions to the joints in the robotic arm through the control center, thereby performing safety interlock on each joint of the robotic arm. However, when the control center processes the fault of the robotic arm, it requires a certain reaction time. Therefore, the current fault control system for the robotic arm of a surgical robot needs to be processed by the control center, resulting in low processing efficiency. Furthermore, due to the low efficiency of fault handling in traditional technologies, some problems with relatively low joint safety may occur.

[0034] In one embodiment, a fault control system for the robotic arm of a surgical robot is provided. The robotic arm includes multiple joints, and the fault control system for the robotic arm of the surgical robot includes:

[0035] Adjacent joints of the multiple joints are communicatively connected; when any one of the multiple joints malfunctions, it will self-lock and lock the joints communicatively connected to it.

[0036] Wherein, as Figure 1 shown, Figure 1It is a system schematic diagram of a fault control system for a robotic arm of a surgical robot in an embodiment. The fault control system for the robotic arm of the surgical robot includes a surgical robot, the surgical robot includes a robotic arm, the robotic arm includes a plurality of robotic arm joints, and adjacent joints of the plurality of robotic arm joints are communicatively connected. By controlling the movement of the plurality of robotic arm joints in the surgical robot, the surgical process can be intelligently executed. The connection manner between the plurality of robotic arm joints may include, but is not limited to, a serial connection manner (or a cascade connection manner), a ring connection manner, a star connection manner, etc. Of course, the embodiment of the present application does not limit the connection manner between the plurality of robotic arm joints.

[0037] In the embodiment of the present application, when any one of the plurality of joints (referred to as the current robotic arm joint) determines that it has a fault, it will immediately lock itself and lock the joints communicatively connected to it, so that the current robotic arm joint can lock other robotic arm joints except the current robotic arm joint. Herein, the current robotic arm joint refers to any one of the robotic arm joints on the robotic arm of the surgical robot. Optionally, the current robotic arm joint can simultaneously control other robotic arm joints except the current robotic arm joint to lock; or, the current robotic arm joint can also control other robotic arm joints except the current robotic arm joint to lock in a preset order. For example, the current robotic arm joint can first control the robotic arm joint closer to the current robotic arm joint to lock, and then control the robotic arm joint farther from the current robotic arm joint to lock until all other robotic arm joints except the current robotic arm joint are locked. Of course, the embodiment of the present application does not limit the preset order.

[0038] In the above-mentioned fault control system for the robotic arm of the surgical robot, adjacent joints of the plurality of joints are communicatively connected; when any one of the plurality of joints has a fault, it will lock itself and lock the joints communicatively connected to it. In the present application, any one joint can immediately lock itself and lock other robotic arm joints except the joint when it determines that the joint itself is in a fault state. Therefore, in the process of fault control, the fault control system for the robotic arm of the surgical robot in the embodiment of the present application does not need to go through the control center, but can realize the fault control of all robotic arm joints only through the control of any one joint itself, thereby improving the efficiency of the fault control process.

[0039] In an embodiment, a method for implementing a safety interlock is provided. Any one of the plurality of joints is specifically configured to send a safety interlock signal to the joints communicatively connected to it and / or the control center, and send the safety interlock signal to all joints along the plurality of joints communicatively connected in sequence.

[0040] Among them, as Figure 2 shown, Figure 2It is a system schematic diagram of a surgical robot manipulator fault control system including a control center in an embodiment. The surgical robot manipulator fault control system includes a surgical robot and a control center. The surgical robot includes a manipulator, and the manipulator includes a plurality of manipulator joints. Adjacent joints of the plurality of manipulator joints are communicatively connected. The control center is communicatively connected to at least one manipulator joint in the manipulator. By controlling the movement of the plurality of manipulator joints in the surgical robot, the surgical process can be intelligently executed.

[0041] In the embodiments of the present application, any one of the plurality of joints can pre-determine the joints and / or the control center communicatively connected to it. Thus, after the joint completes self-locking, it can immediately send a safety interlock signal to the joints (referred to as adjacent manipulator joints) and / or the control center communicatively connected to it. Then, the adjacent manipulator joints and / or the control center perform self-locking according to the safety interlock signal and send the safety interlock signal to all joints along the plurality of joints communicatively connected in sequence. Among them, the joints communicatively connected to it refer to the manipulator joints associated or communicatively connected with the current manipulator joint, and there may be more than one adjacent manipulator joint. The safety interlock signal is a signal sent by the current manipulator joint to the joints communicatively connected to it for instructing the joints communicatively connected to it to perform self-locking. In addition, if the current manipulator joint is not communicatively connected to the control center, it does not need to send a safety interlock signal to the control center.

[0042] After the adjacent manipulator joints also complete self-locking, optionally, the current manipulator joint or the adjacent manipulator joint can simultaneously control the manipulator joints other than the current manipulator joint and the adjacent manipulator to be locked to lock all the manipulator joints of the manipulator; or, the current manipulator joint or the adjacent manipulator joint can also control the manipulator joints other than the current manipulator joint and the adjacent manipulator to be locked in a preset order to lock all the manipulator joints of the manipulator. Of course, the embodiments of the present application do not limit the preset order; or, the current manipulator joint or the adjacent manipulator joint can also control the manipulator joints other than the current manipulator joint and the adjacent manipulator to be locked through the control center to lock all the manipulator joints of the manipulator.

[0043] It should be noted that at least one sensor is provided on each manipulator joint in the embodiments of the present application to independently detect the state information of the manipulator joint itself, and the safety interlock signals on each manipulator joint are directly connected. If a certain manipulator joint fails, the manipulator joint will immediately perform self-locking and activate the safety interlock of other manipulator joints. In this way, the entire manipulator can be locked even without passing through the control center.

[0044] In this embodiment, any one of the multiple joints is specifically configured to send a safety interlock signal to the joints communicatively connected thereto and / or the control center, and transmit the safety interlock signal to all joints along the multiple joints communicatively connected in sequence. Thus, the current robotic arm joint can lock other robotic arm joints except the current robotic arm joint. Therefore, the embodiment of the present application can achieve the safety interlock of the robotic arm only through the control of the robotic arm joint itself, which can improve the efficiency of the safety interlock.

[0045] In one embodiment, any one of the multiple joints is further configured to determine the status information of any one joint when receiving a fault detection instruction; and determine whether any one joint has a fault according to the status information.

[0046] The fault detection instruction is an instruction for performing a fault detection on the current robotic arm joint. The fault detection instruction may be issued by the control center or other servers. The process of the fault detection may include but is not limited to the power-on self-check of the robotic arm and the motion self-check of the robotic arm. The status information of the current robotic arm joint may include but is not limited to that the current robotic arm joint is in a normal state or the current robotic arm joint is in a fault state. The fault state refers to the state where the robotic arm joint has a fault or the robotic arm joint is damaged due to the doctor's misoperation or other external uncontrollable factors.

[0047] In the embodiment of the present application, when it is necessary to perform a fault detection on the robotic arm, the control center or other servers may send a fault detection instruction to the current robotic arm joint. Thus, the current robotic arm joint can receive the fault detection instruction and perform a fault detection on itself according to the fault detection instruction to obtain the status information of the current robotic arm joint.

[0048] Exemplarily, when the current robotic arm joint receives the fault detection instruction, the current robotic arm joint may perform a power-on self-check of the robotic arm to obtain the power-on self-check result of the robotic arm. If the power-on self-check result of the current robotic arm joint is a failure in the power-on self-check, the current robotic arm joint may determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a fault state; if the power-on self-check result of the current robotic arm joint is a success in the power-on self-check, the current robotic arm joint may then perform a motion self-check of the robotic arm to obtain the motion self-check result of the robotic arm. If the motion self-check result of the current robotic arm joint is a failure in the motion self-check, the current robotic arm joint may determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a fault state; if the motion self-check result of the current robotic arm joint is a success in the motion self-check, the current robotic arm joint may determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a normal state. In addition, when it is determined that the status information of the current robotic arm joint is that the current robotic arm joint is in a normal state, the current robotic arm joint may continue to detect its own status information in real time.

[0049] Thus, the current robotic arm joint can determine whether any joint has failed based on the status information. For example, if the current robotic arm joint determines that the status information of the current robotic arm joint is that the current robotic arm joint is in a failed state, that is, the current robotic arm joint determines that it is in a failed state based on the status information.

[0050] In one embodiment, a connection method between robotic arm joints is provided, which is applicable to the above safety interlock method, and specifically includes: multiple joints are sequentially communicatively connected to form a communication chain;

[0051] A control center is communicatively connected to the joint at one end of the communication chain.

[0052] In the embodiments of the present application, multiple robotic arm joints are cascaded, and any one of the robotic arm joints is connected to the control center. Exemplarily, as Figure 3 shown, Figure 3 is an overall schematic diagram of a cascaded robotic arm in one embodiment. Among them, the robotic arm includes multiple robotic arm joints, and the multiple robotic arm joints include Joint 1, Joint 2, Joint 3, Joint 4, Joint 5, Joint 6, Joint 7, and Joint 8. And the above-mentioned robotic arm joints are sequentially communicatively connected to form a communication chain, and the joint 1 at one end of the communication chain is also communicatively connected to the control center. As Figure 4 shown, Figure 4 is a structural schematic diagram of the cascaded robotic arm joints in one embodiment. Figure 4 The cascading connection method in Figure 3 is the same as the cascading connection method in

[0053] Exemplarily, assume that Joint 2 determines that it is in a failed state. At this time, Joint 2 can lock itself and send a safety interlock signal to the adjacent Joint 1 and Joint 3 to instruct the adjacent Joint 1 and Joint 3 to immediately lock themselves according to the safety interlock signal. Then, Joint 1 can immediately send a chain signal to the adjacent control center to notify the control center that Joint 2 has failed. At the same time, Joint 3 can immediately send a safety interlock signal to the adjacent Joint 4 to instruct the adjacent Joint 4 to lock itself according to the safety interlock signal. Thus, Joint 4 can then send a safety interlock signal to the robotic arm joint adjacent to Joint 4 until all the robotic arm joints of the robotic arm are locked. Among them, Figure 4 the dashed arrows in

[0054] In one of the embodiments, a connection method between robotic arm joints is also provided, which is applicable to the above safety interlock method, and specifically includes: the control center is also communicatively connected to the joint at the other end of the communication chain.

[0055] In the embodiments of the present application, multiple robotic arm joints are sequentially communicatively connected to form a communication chain. One end of the communication chain is connected to one end of the control center, and the other end of the communication chain is connected to the other end of the control center, that is, a ring connection is formed between the multiple robotic arm joints and the control center. Exemplarily, as Figure 5 shown Figure 5 FIG. 4 is a schematic structural diagram of robotic arm joints with a ring connection in an embodiment. Among them, the robotic arm includes multiple robotic arm joints, and the multiple robotic arm joints include Joint 1, Joint 2, Joint 3, Joint 4, Joint 5, etc. The above-mentioned robotic arm joints are connected in series, and Joint 1 at one end of the communication chain is connected to one end of the control center, and the joint at the other end of the communication chain is connected to the other end of the control center.

[0056] In one embodiment, a connection method between robotic arm joints is further provided, which is applicable to the above-mentioned safety interlock method, and specifically includes: each robotic arm joint is connected to the control center.

[0057] In the embodiments of the present application, each robotic arm joint is connected to the control center, that is, a star connection is formed between the multiple robotic arm joints and the control center. Exemplarily, as Figure 6 shown Figure 6 FIG. 14 is a schematic structural diagram of robotic arm joints with a star connection in an embodiment. Among them, the robotic arm includes multiple robotic arm joints, and the multiple robotic arm joints include Joint 1, Joint 2, Joint 3, Joint 4,..., Joint N, etc., and the above-mentioned robotic arm joints are all connected to the control center.

[0058] Exemplarily, assume that Joint 2 determines that it is in a fault state. At this time, Joint 2 can lock itself and send a safety interlock signal to the control center. Thus, the control center can receive the safety interlock signal sent by Joint 2 and control the other robotic arm joints except the current robotic arm joint to lock according to the safety interlock signal, so as to lock all the robotic arm joints of the robotic arm. Optionally, the control center can simultaneously control the other robotic arm joints except the current robotic arm joint to lock, so as to lock all the robotic arm joints of the robotic arm; or, the control center can also control the other robotic arm joints except the current robotic arm joint to lock in a preset order, so as to lock all the robotic arm joints of the robotic arm. Of course, the embodiments of the present application do not limit the preset order.

[0059] In one of the embodiments, the connection method between robotic arm joints may further include: cascading connection between multiple robotic arm joints.

[0060] In the embodiments of the present application, each robotic arm joint is connected to the control center, that is, a star connection is formed between the multiple robotic arm joints and the control center, and the multiple robotic arm joints are cascaded. Exemplarily, as Figure 7As shown Figure 7 is a schematic structural diagram of a star-connected robotic arm joint in an exemplary embodiment. Among them, the robotic arm includes multiple robotic arm joints, and the multiple robotic arm joints include Joint 1, Joint 2, Joint 3, Joint 4,..., Joint N, etc. Moreover, each of the above robotic arm joints is connected to the control center. In addition, the above robotic arm joints are cascaded with each other.

[0061] In this embodiment, each robotic arm joint is connected to the control center, so that the current robotic arm joint can send a safety interlock signal to the control center to instruct the control center to lock other robotic arm joints, so that other robotic arm joints can be directly locked by the control center.

[0062] In one embodiment, the control center is further configured to receive a safety interlock signal sent by a communicatively connected joint and determine a faulty joint according to the safety interlock signal.

[0063] Among them, the control center can be a computer device. The safety interlock signal refers to a signal sent by a robotic arm joint in the robotic arm to the control center for notifying or reporting a faulty joint in the robotic arm joint to the control center. The robotic arm joint that sends the safety interlock signal is a robotic arm joint associated or communicatively connected with the control center. Based on this, the safety interlock signal is not only used to lock the robotic arm joint, but also used to notify or report a faulty joint in the robotic arm joint to the control center. A faulty joint refers to a robotic arm joint in a faulty state. In the embodiment of the present application, a robotic arm joint in the robotic arm can send a safety interlock signal to the control center. Thus, the control center can receive the safety interlock signal sent by the robotic arm joint communicatively connected to it and determine a faulty joint according to the safety interlock signal.

[0064] In one embodiment, the control center is further configured to determine whether a faulty joint needs to be repaired according to the position information of the faulty joint; if the faulty joint does not need to be repaired, unlock other joints except the faulty joint.

[0065] Among them, the position information of the faulty joint may include the position information of the faulty joint in the overall robotic arm. In the embodiment of the present application, after determining the faulty joint, the control center can determine whether the faulty joint needs to be repaired according to the position information of the faulty joint, that is, determine whether the faulty joint will affect the surgical operation. If the control center determines that the faulty joint does not need to be repaired, that is, the control center determines that the faulty joint will not affect the surgical operation, the control center can unlock other robotic arm joints except the faulty joint, so that the surgical process can be continued first without repairing the faulty joint.

[0066] Optionally, if the control center determines that the faulty joint does not need to be repaired, that is, the control center determines that the faulty joint will not affect the surgical operation, the control center may send an unlocking signal to the other robotic arm joints except the faulty joint. Thus, the other robotic arm joints can receive the unlocking signal sent by the control center and unlock themselves according to the unlocking signal; or, the control center may also directly control the other robotic arm joints except the faulty joint to unlock. Of course, the embodiments of the present application do not limit the unlocking method. Wherein, the unlocking signal is a signal sent by the control center to the other robotic arm joints for instructing the other robotic arm joints to unlock.

[0067] In this embodiment, when the faulty joint will not affect the surgical operation, the other robotic arm joints except the faulty joint can be unlocked so that the functions of the normal robotic arm joints are not affected by the faulty joint, and the surgical process can be continued without repairing the faulty joint, thus ensuring the smooth execution of the surgical process.

[0068] In one embodiment, the control center is further configured to, if the faulty joint needs to be repaired, unlock each joint after the faulty joint is repaired.

[0069] In the embodiments of the present application, if the control center determines that the faulty joint needs to be repaired, that is, the control center determines that the faulty joint will affect the surgical operation, the control center may first repair the faulty joint and then unlock each robotic arm joint after the faulty joint is repaired. Optionally, after the faulty joint is repaired, the control center may send an unlocking signal to the other robotic arm joints except the faulty joint. Thus, the other robotic arm joints can receive the unlocking signal sent by the control center and unlock themselves according to the unlocking signal; or, the control center may also directly control the other robotic arm joints except the faulty joint to unlock. Of course, the embodiments of the present application do not limit the unlocking method. Wherein, the unlocking signal is a signal sent by the control center to the other robotic arm joints for instructing the other robotic arm joints to unlock.

[0070] In this embodiment, if the faulty joint needs to be repaired, the control center may unlock each robotic arm joint after the faulty joint is repaired, so that each robotic arm joint can be unlocked after the fault is repaired to ensure safety during the execution of the surgical process.

[0071] In one embodiment, the control center is further configured to send a fault detection instruction to any one of the multiple joints.

[0072] In the embodiments of the present application, when it is necessary to perform fault detection on each robotic arm joint in the robotic arm, the control center can send a fault detection instruction to any one of the multiple joints. Thus, the current robotic arm joint can receive the fault detection instruction and perform self-diagnosis on itself according to the fault detection instruction to obtain the status information of the current robotic arm joint. Among them, the specific method of fault detection can refer to the above embodiments and will not be elaborated here.

[0073] In an alternative embodiment, as Figure 8 shown, a method for controlling faults of a robotic arm of a surgical robot is provided, which is applied to the fault control system of the robotic arm of the surgical robot in any one of the above embodiments, and includes:

[0074] S90. When the current robotic arm joint receives the fault detection instruction, the current robotic arm joint can perform power-on self-diagnosis of the robotic arm to obtain the result of the power-on self-diagnosis of the robotic arm;

[0075] S91. If the result of the power-on self-diagnosis of the current robotic arm joint is a failure in the power-on self-diagnosis, the current robotic arm joint can determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a fault state;

[0076] S92. If the result of the power-on self-diagnosis of the current robotic arm joint is a success in the power-on self-diagnosis, the current robotic arm joint can then perform motion self-diagnosis of the robotic arm to obtain the result of the motion self-diagnosis of the robotic arm;

[0077] S93. If the result of the motion self-diagnosis of the current robotic arm joint is a success in the motion self-diagnosis, the current robotic arm joint can determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a normal state, and the current robotic arm joint can also continue to detect its own status information in real time;

[0078] S94. If the result of the motion self-diagnosis of the current robotic arm joint is a failure in the motion self-diagnosis, the current robotic arm joint can determine that the status information of the current robotic arm joint is that the current robotic arm joint is in a fault state;

[0079] S95. When the current robotic arm joint determines that it is in a fault state according to the status information, it performs self-locking and locks other robotic arm joints except the current robotic arm joint;

[0080] S96. The control center receives the safety interlock signal sent by the robotic arm and determines the faulty joint according to the safety interlock signal;

[0081] S97. The control center determines whether the faulty joint needs to be repaired according to the position information of the faulty joint;

[0082] S98. If the faulty joint does not need to be repaired, unlock the other robotic arm joints except the faulty joint;

[0083] S99. If the faulty joint needs to be repaired, after the repair of the faulty joint is completed, unlock each robotic arm joint.

[0084] In addition, after each robotic arm joint is unlocked, that is, when each robotic arm joint resumes normal operation, each robotic arm joint can return to execute S92, that is, the current robotic arm joint can then perform a self-check on the movement of the robotic arm to detect whether there are still faulty joints missed previously. Additionally, during the above-mentioned fault handling process, the robotic arm joint can be switched to the power-off state at any time, that is, the above-mentioned fault handling process can be stopped.

[0085] In the above-mentioned robotic arm fault control method of the surgical robot, the current robotic arm joint can perform a fault detection on itself to obtain its own status information, and when it is determined that the current robotic arm joint itself is in a faulty state, it can perform self-locking and lock the other robotic arm joints except the current robotic arm joint. Therefore, in the embodiment of the present application, the fault detection and fault handling process do not need to pass through the control center, but can immediately implement the fault detection and fault handling of the robotic arm only through the control of the current robotic arm joint itself, thereby improving the efficiency of fault detection and fault handling, and further improving the safety when using the robotic arm.

[0086] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of the steps or stages in other steps or other steps.

[0087] In an exemplary embodiment, a computer device is provided. The computer device includes a control center. The computer device can be a terminal, or the computer device can also be a server, and its internal structure diagram can be as Figure 9As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a fault control system for a surgical robot manipulator. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the outer shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0088] Those skilled in the art can understand that Figure 9 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0089] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0090] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0091] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A failure control system for a surgical robot manipulator, the manipulator comprising a plurality of joints, characterized in that, Comprising: Adjacent joints of the multiple joints are communicatively connected; When any one of the multiple joints fails, it will self-lock and lock the joints communicatively connected to it.

2. The system according to claim 1, wherein Any one of the multiple joints is specifically configured to send a safety interlock signal to the joints communicatively connected to it and / or the control center, and transmit the safety interlock signal to all joints along the multiple joints communicatively connected in sequence.

3. The system according to claim 1 or 2, characterized in that, Any one of the multiple joints is further configured to determine the status information of the any one joint when receiving a fault detection instruction; and judge whether the any one joint fails according to the status information.

4. The system according to claim 1 or 2, characterized in that, The multiple joints are communicatively connected in sequence to form a communication chain; A control center is communicatively connected to a joint at one end of the communication chain.

5. The system according to claim 4, characterized in that, The control center is also communicatively connected to a joint at the other end of the communication chain.

6. The system according to claim 2, wherein The control center is further configured to receive the safety interlock signal sent by the communicatively connected joint, and determine the faulty joint according to the safety interlock signal.

7. The system according to claim 6, wherein The control center is further configured to determine whether the faulty joint needs to be repaired according to the position information of the faulty joint; if the faulty joint does not need to be repaired, unlock the other joints except the faulty joint.

8. The system according to claim 7, characterized in that, The control center is further configured to, if the faulty joint needs to be repaired, unlock each of the joints after the faulty joint is repaired.

9. The system according to claim 3, wherein The control center is further configured to send the fault detection instruction to any one of the multiple joints.

10. A computer device, the computer device includes a control center, the control center includes a memory and a processor, the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the system according to any one of claims 1 to 9.

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