Power supply control method and system for surgical robot, equipment and medium

Abstract

The invention provides a power supply control method, system and device of a surgical robot and a medium. The surgical robot comprises a power supply control module (2) used for outputting a power supply. The control method comprises the following steps: reading starting time sequence information of corresponding electric equipment of the surgical robot (S1); and controlling the power supply control module (2) to supply power to the electric equipment in sequence according to the starting time sequence information (S2). According to the invention, based on the analysis of different power utilization parts of the surgical robot, the corresponding power utilization control logic is reasonably designed, so that the system assembly of the surgical robot can obtain independent direct current power supply. By controlling the power-on time of the electric component, current surge can be effectively prevented from being generated when the electric component is powered on, and safe and stable work of the surgical robot is effectively guaranteed.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of surgical robots, and particularly relates to a power supply control method, system, device and medium for a surgical robot. Background Art

[0002] With the popularization of robotic surgical systems, more and more surgical operations are realized through surgical robots. The functional iteration and update of surgical robots also make the equipment tend to be more complex and refined. There are usually multiple motors in the system. If they are powered on simultaneously during operation, it is very likely that devices such as the PSU (Power Supply Unit) will blow the fuse due to current surges. This will not only affect the normal use of the surgical robot, but may even lead to medical accidents, imposing great limitations on the application of surgical robots. Summary of the Invention

[0003] The technical problem to be solved by the present disclosure is to overcome the above-mentioned defects in the prior art and provide a power supply control method for a surgical robot. The surgical robot includes a power supply control module for outputting power. The control method includes:

[0004] Reading the startup timing information of the corresponding electrical equipment of the surgical robot;

[0005] Controlling the power supply control module to supply power to the electrical equipment in sequence according to the startup timing information.

[0006] Preferably, the power supply control module includes at least one DC power supply control board and at least one AC power supply control board; the electrical equipment includes DC electrical equipment and AC electrical equipment; the DC power supply control board is used to output DC power to the DC electrical equipment, and the AC power supply control board is used to output AC power to the AC electrical equipment; the step of controlling the power supply control module to supply power to the electrical equipment in sequence includes:

[0007] Controlling the AC power supply control board and the DC power supply control board respectively to supply power to the DC electrical equipment and the AC electrical equipment in sequence; wherein, the startup timing information is set according to the working parameters of the DC electrical equipment and the AC electrical equipment, and the working parameters include at least one of startup current and rated current.

[0008] Preferably, the DC electrical equipment includes the electrical equipment corresponding to the surgical robot; the AC electrical equipment includes the computer equipment corresponding to the surgical robot;

[0009] The power supply sequence to the DC-powered device and the AC-powered device is to supply power to the computer device first, and then to the corresponding electrical device and electric device.

[0010] Preferably, after the surgical robot is started, the step of reading the start timing information of the corresponding power-consuming devices of the surgical robot is executed.

[0011] The present disclosure also provides a power supply control system for a surgical robot. The surgical robot includes a power supply control module for outputting power. The control system includes:

[0012] An information reading module for reading the start timing information of the corresponding power-consuming devices of the surgical robot;

[0013] A power supply control module for controlling the power supply control module to supply power to the power-consuming devices in sequence according to the start timing information.

[0014] Preferably, the power supply control module includes at least one DC power supply control board and at least one AC power supply control board; the power-consuming devices include DC-powered devices and AC-powered devices; the DC power supply control board is used to output DC power to the DC-powered devices, and the AC power supply control board is used to output AC power to the AC-powered devices;

[0015] The power supply control module is used to separately control the AC power supply control board and the DC power supply control board to supply power to the DC-powered devices and the AC-powered devices in sequence; wherein, the start timing information is set according to the working parameters of the DC-powered devices and the AC-powered devices, and the working parameters include at least one of the start current and the rated current.

[0016] Preferably, the DC-powered devices include the corresponding electrical devices and electric devices of the surgical robot; the AC-powered devices include the corresponding computer devices of the surgical robot;

[0017] The power supply sequence of the power supply control module to the DC-powered devices and the AC-powered devices is to supply power to the computer device first, and then to the corresponding electrical devices and electric devices.

[0018] Preferably, the information reading module is called after the surgical robot is started.

[0019] The present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the power supply control method of the surgical robot described above is implemented.

[0020] The present disclosure also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the power supply control method of the surgical robot described above is implemented.

[0021] The positive and progressive effects of the present disclosure are as follows: By providing a power supply control method, system, device, and medium for a surgical robot, based on the analysis of different power-consuming components of the surgical robot, the corresponding power consumption control logic is reasonably designed, so as to achieve independent DC power supply for the components of the surgical robot system. By controlling the power-on time of the power-consuming components, it is possible to effectively prevent current surges during power-on, and effectively ensure the safe and stable operation of the surgical robot, which has industry promotion significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flowchart of the power supply control method of the surgical robot in Embodiment 1 of the present disclosure.

[0023] Figure 2 It is a schematic diagram of the startup timing information for power supply control in Embodiment 1 of the present disclosure.

[0024] Figure 3 It is a schematic diagram of the modules of the power supply control system of the surgical robot in Embodiment 2 of the present disclosure.

[0025] Figure 4 It is a block diagram of the structure of the electronic product in Embodiment 3 of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

[0027] As shown in this specification, unless the context clearly indicates an exception, words such as "a", "an", "one", and / or "the" are not specifically singular, but may also include the plural. Generally speaking, the terms "including" and "comprising" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0028] Embodiment 1

[0029] As Figure 1As shown, this embodiment specifically provides a power supply control method for a surgical robot. The surgical robot includes a power supply control module for outputting power, and the control method includes:

[0030] S1. Read the startup timing information of the corresponding electrical equipment of the surgical robot;

[0031] S2. According to the startup timing information, control the power supply control module to supply power to the electrical equipment in sequence.

[0032] The surgical robot may include a main body and different external electrical equipment. The power supply control method in this embodiment is based on the power supply control module of the surgical robot to supply power to different devices. In a preferred embodiment, the power supply control module outputs a DC power supply for power supply by converting and controlling the input power supply.

[0033] In step S1, for different electrical equipment, obtain their corresponding startup timing information. The timing information can be expressed by relative time, absolute time, or a combination thereof; relative time such as the startup sequence of several devices; absolute time such as turning on a certain device when reaching a certain moment, etc. On this basis, in step S2, control the power supply control module to power on each electrical equipment in sequence according to the startup timing, so as to achieve power consumption peak shifting and avoid corresponding overcurrent phenomena. Of course, several electrical equipment involved in the startup timing can be started simultaneously, and it is not required that they must have a sequence as long as the requirements of overcurrent protection are met. Preferably, after the surgical robot is started, step S1 is automatically executed to start the detection and control of power supply. As Figure 2 shown in the schematic diagram of the startup timing information, it can be seen that the power supply system first meets the working requirements of the corresponding DC and AC conversion modules. At the same time, the mechanical control system and related components can be powered on prior to the computer equipment.

[0034] As a preferred embodiment, the power supply control module includes at least one DC power supply control board and at least one AC power supply control board; the electrical equipment includes DC electrical equipment and AC electrical equipment; the DC power supply control board is used to output DC power to the DC electrical equipment, and the AC power supply control board is used to output AC power to the AC electrical equipment; step S2 includes:

[0035] Control the AC power supply control board and the DC power supply control board respectively to supply power to the DC electrical equipment and the AC electrical equipment in sequence; wherein, the startup timing information is set according to the working parameters of the DC electrical equipment and the AC electrical equipment, and the working parameters include at least one of the startup current and the rated current.

[0036] When the power supply system is respectively provided with a DC power output and an AC power output, this embodiment differentiates the types of the above power outputs and performs corresponding control in combination with the types of corresponding electrical equipment. Specifically, the startup timing can be determined according to the operating parameters such as the startup current and rated current of the electrical equipment, so as to ensure stable output in the case where the power supply system corresponds to multiple different devices.

[0037] As a preferred embodiment, the DC electrical equipment includes the mechanical components corresponding to the surgical robot; the AC electrical equipment includes the computer equipment corresponding to the surgical robot.

[0038] In step S2, the order of supplying power to the DC electrical equipment and the AC electrical equipment in sequence is to supply power to the computer equipment first, and then supply power to the corresponding electrical equipment and electric devices.

[0039] This embodiment specifically performs power transmission control on two types of electrical equipment often involved in the application scenario of the surgical robot. First, power is supplied to the computer equipment, so that corresponding control instructions can be issued. Then, power is supplied to the corresponding electrical equipment and electric devices, so as to meet various application requirements in the surgical robot operating environment.

[0040] The power supply control method of the surgical robot in this embodiment is based on the analysis of different electrical components of the surgical robot, and reasonably designs the corresponding power control logic, thereby realizing that the system components of the surgical robot obtain independent DC power supply. By controlling the power-on time of the electrical components, it can effectively prevent current surges during power-on, and effectively ensure the safe and stable operation of the surgical robot, which has industry promotion significance.

[0041] Embodiment 2

[0042] As Figure 3 shown, this embodiment specifically provides a power supply control system for a surgical robot. The surgical robot includes a power control module for outputting power. The control system includes:

[0043] An information reading module 1 for reading the startup timing information of the electrical equipment corresponding to the surgical robot.

[0044] A power supply control module 2 for controlling the power control module to supply power to the electrical equipment in sequence according to the startup timing information.

[0045] The surgical robot may include a body and different external electrical equipment. The power supply control method in this embodiment is based on the power control module of the surgical robot supplying power to different devices. In a preferred embodiment, the power control module outputs DC power for power supply through the conversion and control of the input power supply.

[0046] For different electrical devices, the information reading module 1 obtains the corresponding startup timing information, which can be expressed by relative time, absolute time, or a combination thereof; for example, the relative time is the startup sequence of several devices; the absolute time is, for example, turning on a certain device at a certain moment. On this basis, the power supply control module 2 controls the power supply control module to power on each electrical device in sequence according to the startup timing, so as to achieve peak shaving of electricity consumption and avoid the occurrence of corresponding overcurrent phenomena. Of course, several electrical devices involved in the startup timing can be started simultaneously, and there is no restriction that they must have a sequential order, as long as the requirements of overcurrent protection are met. Preferably, after the surgical robot is started, the information reading module 1 is automatically called to start the detection and control of the power supply.

[0047] As a preferred embodiment, the power supply control module includes at least one DC power supply control board and at least one AC power supply control board; the electrical devices include DC electrical devices and AC electrical devices; the DC power supply control board is used to output DC power to the DC electrical devices, and the AC power supply control board is used to output AC power to the AC electrical devices; specifically, the power supply control module 2 is used for:

[0048] Controlling the AC power supply control board and the DC power supply control board respectively to supply power to the DC electrical devices and the AC electrical devices in sequence; wherein, the startup timing information is set according to the working parameters of the DC electrical devices and the AC electrical devices, and the working parameters include at least one of the startup current and the rated current.

[0049] When the power supply system is respectively provided with DC power output and AC power output, this embodiment distinguishes the types of the above power outputs and performs corresponding control in combination with the types of the corresponding electrical devices. Specifically, the startup timing can be determined according to the working parameters such as the startup current and the rated current of the electrical devices, so as to ensure stable output in the case of a power supply system corresponding to multiple different devices.

[0050] As a preferred embodiment, the DC electrical devices include the electric devices corresponding to the surgical robot; the AC electrical devices include the computer devices corresponding to the surgical robot;

[0051] The order in which the power supply control module 2 supplies power to the DC electrical devices and the AC electrical devices in sequence is to supply power to the computer devices first, and then to the corresponding electrical devices and electric devices.

[0052] This embodiment specifically performs power transmission control on two types of electrical devices often involved in the application scenario of the surgical robot, first satisfying the relevant mechanical components of the robot, which usually better meets the application requirements in the surgical environment; at the same time, the power input of the computer device usually has more choices, so the adjustable range is larger.

[0053] Based on the analysis of different power-consuming components of the surgical robot in this embodiment, the power supply control system rationally designs the corresponding power control logic, thereby enabling the components of the surgical robot system to obtain independent DC power supply. By controlling the power-on time of the power-consuming components, it can effectively prevent current surges during power-on and effectively ensure the safe and stable operation of the surgical robot, which has industry promotion significance.

[0054] Embodiment 3

[0055] Figure 4 It is a schematic structural diagram of an electronic device provided for this embodiment. The electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the power supply control method of the surgical robot in the above embodiment. Figure 4 The displayed electronic device 30 is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0056] As Figure 4 shown, the electronic device 30 can be presented in the form of a general computing device, for example, it can be a server device. The components of the electronic device 30 may include, but are not limited to: the above-mentioned at least one processor 31, the above-mentioned at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0057] The bus 33 includes a data bus, an address bus, and a control bus.

[0058] The memory 32 may include volatile memory, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0059] The memory 32 may further include a program / utilities 325 having a set (at least one) of program modules 324. Such program modules 324 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0060] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the power supply control method of the surgical robot as described above in the present disclosure.

[0061] The electronic device 30 can also communicate with one or more external devices 34 (such as a keyboard, a pointing device, etc.). Such communication can be carried out through the input / output (I / O) interface 35. Moreover, the model generation device 30 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 36. As Figure 4 shown, the network adapter 36 communicates with other modules of the model generation device 30 through the bus 33. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the model generation device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (redundant array of independent disks) systems, tape drives, and data backup storage systems, etc.

[0062] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more of the above-described units / modules can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0063] Embodiment 4

[0064] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps in the power supply control method of the surgical robot as described in the above embodiment. Among them, the readable storage medium can be more specifically and can include but not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0065] In a possible implementation manner, the present disclosure can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to enable the terminal device to execute the steps in the power supply control method of the surgical robot as described above. Among them, the program code for executing the present disclosure can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, executed as an independent software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0066] Although the specific embodiments of the present disclosure have been described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Without departing from the principle and essence of the present disclosure, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A power supply control method for a surgical robot, characterized in that, The surgical robot includes a power control module for outputting power, and the control method includes: Reading the startup timing information of the corresponding electrical devices of the surgical robot; Controlling the power control module to supply power to the electrical devices in sequence according to the startup timing information.

2. The power supply control method of the surgical robot according to claim 1, wherein, The power control module includes at least one DC power control board and at least one AC power control board; the electrical devices include DC electrical devices and AC electrical devices; the DC power control board is used to output DC power to the DC electrical devices, and the AC power control board is used to output AC power to the AC electrical devices; the step of controlling the power control module to supply power to the electrical devices in sequence includes: Controlling the AC power control board and the DC power control board respectively to supply power to the DC electrical devices and the AC electrical devices in sequence; wherein, the startup timing information is set according to the working parameters of the DC electrical devices and the AC electrical devices, and the working parameters include at least one of startup current and rated current.

3. The power supply control method of the surgical robot according to claim 2, wherein The DC electrical devices include the electrical devices corresponding to the surgical robot; the AC electrical devices include the computer devices corresponding to the surgical robot; The sequence of supplying power to the DC electrical devices and the AC electrical devices in sequence is to supply power to the computer devices first, and then supply power to the corresponding electrical devices and electric devices.

4. The power supply control method of the surgical robot according to claim 3, wherein After the surgical robot is started, the step of reading the startup timing information of the corresponding electrical devices of the surgical robot is executed.

5. A power supply control system for a surgical robot, characterized in that, The surgical robot includes a power control module for outputting power, and the control system includes: An information reading module for reading the startup timing information of the corresponding electrical devices of the surgical robot; A power supply control module for controlling the power control module to supply power to the electrical devices in sequence according to the startup timing information.

6. The power supply control system of the surgical robot according to claim 5, characterized in that, The power control module includes at least one DC power control board and at least one AC power control board; the electrical devices include DC electrical devices and AC electrical devices; the DC power control board is used to output DC power to the DC electrical devices, and the AC power control board is used to output AC power to the AC electrical devices; The power supply control module is used to control the AC power control board and the DC power control board respectively to supply power to the DC electrical devices and the AC electrical devices in sequence; wherein, the startup timing information is set according to the working parameters of the DC electrical devices and the AC electrical devices, and the working parameters include at least one of startup current and rated current.

7. The power supply control system of the surgical robot according to claim 6, characterized in that, The DC electrical devices include the corresponding electrical devices corresponding to the surgical robot; the AC electrical devices include the computer devices corresponding to the surgical robot; The sequence of the power supply control module supplying power to the DC electrical devices and the AC electrical devices in sequence is to supply power to the computer devices first, and then supply power to the corresponding electrical devices and electric devices.

8. The power supply control system of the surgical robot according to claim 7, characterized in that, After the surgical robot is started, the information reading module is called.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the power supply control method of the surgical robot as described in any one of claims 1-4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the power supply control method of the surgical robot as described in any one of claims 1-4.

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