Surgical robot

Abstract

The invention discloses a surgical robot which comprises at least one robot composition unit, and each robot composition unit comprises a driving unit used for sending out a sound production driving signal; and the at least one motor is connected with the driving unit and used for receiving the sound production driving signal from the driving unit and making a sound based on the sound production driving signal, and the sound is used for state indication or alarm. According to the surgical robot provided by the invention, the motor receives the sound production driving signal from the driving unit and makes a sound based on the sound production driving signal for state indication or alarm, so that accurate positioning of a fault is facilitated, an additional indication unit is avoided, the system complexity and the production cost are reduced, and the working efficiency is improved. And the system reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot. BACKGROUND

[0002] Surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, fearlessness of radiation and infection, etc., and are widely used in various surgeries. Generally, surgical robots have indication and alarm units for prompting the working state of the surgical robot.

[0003] However, surgical robots usually include one mechanical arm (such as an orthopedic surgery robot) or multiple mechanical arms (such as a laparoscopic surgery robot), each mechanical arm including an end effector and one or more connecting arms. In actual application, the mechanical arm may have faults related to motor modules, sensors and other modules, for example, the sensor may not be able to correctly read data, and the effector may not be able to perform the predetermined task, resulting in the robot being unable to operate normally. In the prior art, an indication unit is usually provided on the mechanical arm, however, the existing indication and alarm unit can only indicate the overall state of the surgical robot, and cannot locate the fault area.

[0004] Therefore, it is necessary to propose a new surgical robot to solve the above problems. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solution, nor to attempt to determine the protection scope of the claimed technical solution.

[0006] The present application provides a surgical robot, comprising at least one robot component unit, each robot component unit comprising:

[0007] a driving unit for issuing a sound driving signal; and

[0008] at least one motor connected with the driving unit for receiving the sound driving signal from the driving unit and issuing a sound based on the sound driving signal, the sound being used for state indication or alarm.

[0009] Exemplarily, each robot component further comprises one or more matching components connected with the driving unit.

[0010] Exemplarily, the surgical robot comprises at least a first robot component unit,

[0011] When at least one of the matching components of the first robot component unit is abnormal or fails, the driving unit of the first robot component unit sends a sound-emitting driving signal to the motor, and the motor emits a sound based on the sound-emitting driving signal to indicate the fault position.

[0012] Exemplarily, the surgical robot comprises at least a first robot component unit and a second robot component unit, and the driving unit of the first robot component unit is communicatively connected with the driving unit of the second robot component unit.

[0013] When the motor of the first robot component unit cannot emit a sound, the driving unit of the first robot component unit transmits a fault detection signal to the driving unit of the second robot component unit, and after receiving the fault detection signal, the driving unit of the second robot component unit sends a sound-emitting driving signal to the motor of the second robot component unit, and the motor of the second robot component unit emits a sound based on the sound-emitting driving signal to indicate the fault position of the first robot component unit.

[0014] Exemplarily, the surgical robot comprises at least a first robot component unit, the first robot component unit comprises at least a first motor and a second motor, and the matching component comprises at least a first partial matching component and a second partial matching component, when one or more of the first partial matching component is abnormal or fails, the driving unit sends a sound-emitting driving signal to the first motor, and when one or more of the second partial matching component is abnormal or fails, the driving unit sends a sound-emitting driving signal to the second motor.

[0015] Exemplarily, when the first motor cannot emit a sound, the driving unit sends a sound-emitting driving signal to the second motor, and the second motor emits a sound to indicate that one or more of the first motor, the first partial matching component, and / or the second partial matching component is abnormal or fails.

[0016] Exemplarily, the matching component comprises one or more of an input encoder, an output encoder, a communication module, and a brake module.

[0017] Exemplarily, the sound-emitting driving signal comprises voltage pulse signals with different pulse width modulations, so that the motor emits different sounds.

[0018] Exemplarily, the different sounds comprise sounds with different timbres, sounds with different frequencies, or combinations thereof.

[0019] Exemplarily, the different sounds are respectively used to indicate faults of different robot component units.

[0020] Exemplarily, the different sounds are respectively used to indicate faults of different matching components, the motor or the driving unit.

[0021] Exemplarily, the surgical robot further comprises a control unit configured to send operation information to the driving unit to control operation of the driving unit.

[0022] Exemplarily, the driving unit is further configured to receive operation information from the control unit and send operation driving signals to the motor based on the operation information.

[0023] Exemplarily, the motor is further configured to receive the operation driving signals from the driving unit and perform operation based on the operation driving signals.

[0024] Exemplarily, the robot component unit comprises an end effector of a mechanical arm or a connecting arm of a mechanical arm.

[0025] According to the surgical robot provided by the present application, the motor receives the sound driving signals from the driving unit and sends sounds based on the sound driving signals for state indication or alarm, which facilitates accurate positioning of faults and avoids adding additional indication units, reduces system complexity and production cost, and improves system reliability. BRIEF DESCRIPTION OF DRAWINGS

[0026] The following drawings of the present application are hereby incorporated as part of the present application for the purpose of understanding the present application. The embodiments of the present application and their description shown in the drawings are used to explain the principles of the present application.

[0027] In the drawings:

[0028] Figure 1 Structure schematic diagram of a surgical robot according to an exemplary embodiment of the present application;

[0029] Figure 2 Structure schematic diagram of a surgical robot according to an exemplary embodiment of the present application;

[0030] Figure 3 Schematic diagram of a matching component when an abnormality or a fault occurs according to an exemplary embodiment of the present application;

[0031] Figure 4 Schematic diagram of a motor when a fault occurs according to an exemplary embodiment of the present application;

[0032] Figure 5 Schematic diagram of one of the motors when a fault occurs according to an exemplary embodiment of the present application.

[0033] Reference signs

[0034] 101, robot component unit

[0035] 102, drive unit

[0036] 103, motor

[0037] 104, control unit DETAILED DESCRIPTION

[0038] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily obscure the present application.

[0039] In order for the present application to be thoroughly understood, a detailed description will be taken in the following description with reference to the drawings, in which the surgical robot according to the present application is illustrated. It is apparent that the practice of the present application is not limited to the particular details as familiar to those skilled in the medical instrument field. The preferred embodiments of the present application are described in detail as follows, however, the present application can have other embodiments in addition to these detailed descriptions.

[0040] It is to be noted that the terms used herein are merely for the purpose of describing particular embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular forms are intended to include the plural forms as well unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "has," when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0041] Exemplary embodiments according to the present application will now be described in greater detail with reference to the accompanying drawings. These exemplary embodiments may, however, be implemented in many different ways and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be complete and full, and will fully convey the concept of the exemplary embodiments to those skilled in the art. In the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same reference numerals are used throughout the drawings to designate the same elements, so that the description will not be redundant.

[0042] The surgical robot is a robot that can remotely manipulate to perform surgery, and includes three components: a physician console, a patient-side manipulator system, and an imaging system.

[0043] The doctor console has a display unit for showing the environment of the surgical instrument, a doctor operation control mechanism, and an armrest, wherein the display unit is provided with an observation window for the doctor to observe, the operation control mechanism is corresponding to the movement of the surgical instrument, and the armrest is used for placing the doctor's arms.

[0044] The patient-side robotic arm system includes a plurality of robotic arms, each of which has a plurality of jointed arms, and adjacent two jointed arms are relatively movable with a specific degree of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement (such as 7 degrees of freedom, and different degrees of freedom can be achieved according to different instruments).

[0045] The surgical instrument includes a rear end mechanism, a main pipe extending from the rear end mechanism to a front end, and an end effector including a wrist mechanism at the front end of the main pipe, and the rear end mechanism is usually driven by the instrument driver to drive the wrist mechanism through the movement of a plurality of cables in the main pipe. During surgery, part of the main pipe and the wrist mechanism of the surgical instrument are inserted through the chest, abdominal wall and other tissues to replace the human hand to perform surgery.

[0046] The imaging system has a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0047] The above-mentioned patient-side robotic arm system usually includes one robotic arm (such as an orthopedic surgery robot) or multiple robotic arms (such as a laparoscopic surgery robot), each of which has a plurality of jointed arms, and adjacent two jointed arms are relatively movable with a specific degree of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement (such as 7 degrees of freedom, and different degrees of freedom can be achieved according to different instruments). The jointed arms are connected through a joint structure. In actual application, the robotic arm may have faults related to a motor module, a sensor module, an actuator module, etc. For example, the sensor may not be able to correctly read data, and the actuator may not be able to perform the scheduled task, resulting in the robot being unable to operate normally. In the prior art, an indication unit is usually provided on the robotic arm, which usually adopts an indicator light, a loudspeaker, a buzzer, a display, etc. However, the indication unit has the following problems: (1) the indication unit needs to be specially added in addition to the basic functions, which increases the production cost; (2) the indication unit can only indicate the overall state of the surgical robot, but cannot locate the fault area; (3) the indication unit is provided in multiple areas and modules, which further increases the production cost and affects the appearance of the equipment; (4) the indication method is not obvious or inconvenient, which is not conducive to the confirmation of the staff, especially the confirmation of the remote operator.

[0048] To solve the above problems, the application provides a surgical robot, as shown in the accompanying drawings, which comprises at least one robot component unit 101, each of which comprises: Figure 1

[0049] a driving unit 102 for sending a sound driving signal;

[0050] at least one motor 103 connected with the driving unit for receiving the sound driving signal from the driving unit and sending sound based on the sound driving signal, the sound being used for state indication or alarm.

[0051] Exemplarily, the robot component unit 101 comprises an end effector of a mechanical arm or a connecting arm of a mechanical arm.

[0052] In an exemplary embodiment, the end effector of the mechanical arm can be a motor pack (MPK) for driving a surgical tool fixed thereon to perform various surgical operations. The surgical tool (SGI) can be a tool for performing surgical operations (such as grabbing, cutting, cutting, pinching, suturing, etc.) on a target object, such as surgical forceps, surgical scissors, high-frequency electric knife, suture needle, etc. In an exemplary embodiment, the surgical tool (SGI) can also be a tool for assisting in performing surgical operations, such as various types of image acquisition devices, endoscopes, etc. It should be understood that the above-mentioned surgical tools are only examples and are not intended to limit the surgical tools, which can be any tool related to performing surgery, which is not limited herein.

[0053] In an exemplary embodiment, the mechanical arm comprises at least one connecting arm, and when the mechanical arm comprises at least two connecting arms, the at least two connecting arms are connected end to end and pivotably connected between adjacent two connecting arms. It should be understood that the number of connecting arms can be determined according to actual needs, for example, one, three or more.

[0054] Exemplarily, each of the robot component units further comprises one or more matching components, including but not limited to an input encoder, an output encoder, a communication module, a brake module.

[0055] In an exemplary embodiment, as shown in the accompanying drawings, Figure 2 each robot component unit 101 further comprises an input encoder, an output encoder and a brake module, and the input encoder, the output encoder, the brake module and the motor 103 are in communication connection with the driving unit 102.

[0056] ​Exemplarily, the surgical robot further comprises a control unit 104 configured to send operation information to the driving unit 102 to control the operation of the driving unit 102. In an exemplary embodiment, as shown in the figure, the surgical robot comprises only one control unit 104, which sends operation information to the driving units of each robot component unit 101. Figure 2

[0057] In an exemplary embodiment, the control unit 104 can be implemented by software, hardware, firmware or a combination thereof. In an exemplary embodiment, the control unit 104 can use at least one of a circuit, a single or multiple Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a PLC, a microcontroller, a microprocessor.

[0058] Exemplarily, the driving unit 102 is further configured to receive operation information from the control unit 104 and send operation driving signals to the motor 103 based on the operation information. The motor 103 is further configured to receive the operation driving signals from the driving unit 102 and perform operations based on the operation driving signals.

[0059] In an exemplary embodiment, the motor 103 can be a Compact Motor Drive (CMD).

[0060] In an exemplary embodiment, the control unit 104, the driving unit 102 and the motor 103 are the basic units of the surgical robot, and the working process is generally as follows: the control unit 104 is configured to control the operation of the entire surgical robot, which controls the driving unit 102 by sending operation information to the driving unit 102; the driving unit 102 receives operation information from the control unit 104 and sends operation driving signals to the motor 103 based on the operation information to drive the motor 103 to perform corresponding operations; the motor 103 receives the operation driving signals from the driving unit 102 and performs corresponding operations based on the operation driving signals.

[0061] ​In addition to the basic functions described above, the surgical robot provided by the present application further includes the following working process: the driving unit 102 sends a sound generating driving signal to the motor 103, the motor 103 receives the sound generating driving signal from the driving unit 102, and sounds based on the sound generating driving signal, which is used for state indication or alarm.

[0062] Exemplarily, the surgical robot at least includes a first robot component unit, when at least one of the matching components of the first robot component unit is abnormal or fails, the driving unit of the first robot component unit sends a sound generating driving signal to the motor, and the motor sounds based on the sound generating driving signal to indicate the fault position.

[0063] In one embodiment, as shown in Figure 3 When one or more matching components in a robot component unit are abnormal or fail, but the driving unit and the motor in the robot component unit are not abnormal or fail, the motor in the robot component unit sounds to prompt that the robot component unit fails. In addition, when the driving unit or the motor in the robot component unit is abnormal or fails, but the driving unit can still send a sound generating driving signal and make the motor sound, the motor in the robot component unit still sounds to prompt that the robot component unit fails.

[0064] Exemplarily, the surgical robot at least includes a first robot component unit and a second robot component unit, the driving unit of the first robot component unit is communicatively connected with the driving unit of the second robot component unit; when the motor of the first robot component unit cannot sound, the driving unit of the first robot component unit transmits a fault detection signal to the driving unit of the second robot component unit, after receiving the fault detection signal, the driving unit of the second robot component unit sends a sound generating driving signal to the motor of the second robot component unit, and the motor of the second robot component unit sounds based on the sound generating driving signal to indicate the fault position of the first robot component unit.

[0065] In one embodiment, as shown in Figure 4 When the motor of the first robot component unit is abnormal or fails, causing the motor of the first robot component unit to be unable to sound, the driving unit in the first robot component unit sends the detected fault signal to the driving unit of the second robot component unit, the driving unit of the second robot component unit sends a sound generating driving signal to the motor of the second robot component unit, and the motor of the second robot component unit which can sound sounds to prompt that the first robot component unit fails.

[0066] Exemplarily, the surgical robot comprises at least a first robot component unit, the first robot component unit comprises at least a first motor and a second motor, the matching component comprises at least a first part of the matching component and a second part of the matching component, when one or more of the first part of the matching component is abnormal or fails, the drive unit sends the sound-emitting driving signal to the first motor, when one or more of the second part of the matching component is abnormal or fails, the drive unit sends the sound-emitting driving signal to the second motor. Further, when the first motor cannot emit sound, the drive unit sends the sound-emitting driving signal to the second motor, and the second motor emits sound to indicate that the first motor, one or more of the first part of the matching component, and / or one or more of the second part of the matching component is abnormal or fails.

[0067] In one embodiment, as shown in FIG. 1, one drive unit of the present application can also drive multiple motors, the motors are used to receive the sound-emitting driving signal from the drive unit and emit sound based on the sound-emitting driving signal, for status indication or alarm. Each robot component unit also comprises one or more matching components, the matching components include but are not limited to input encoders, output encoders, communication modules, brake modules. When at least one of the matching components is abnormal or fails, the surgical robot can prompt the failure position by the motor emitting sound, specifically: 1) when at least one of the matching components is abnormal or fails, and the drive unit and the corresponding motor are not abnormal or fail, then the corresponding motor emits sound to prompt the failure position; 2) when at least one of the matching components is abnormal or fails, and the corresponding motor is abnormal or fails, then other motors in the robot component unit emit sound to prompt the failure position. Figure 5

[0068] Further, the sound-emitting driving signal comprises voltage pulse signals with different pulse width modulation, so that the motors emit different sounds, the different sounds include sounds with different tones, sounds with different frequencies, or combinations thereof.

[0069] In the exemplary embodiment, when the motor 103 emits different sounds based on voltage pulse signals with different pulse width modulation, the motor 103 still keeps the rotor and the stator relatively stationary, which does not affect the intended operation of the surgical robot.

[0070] ​It can be understood that the rotation speed of the motor can be accurately controlled by the voltage pulse signals with different pulse width modulation, so as to generate vibrations with different frequencies, and different sounds can be generated at different frequencies. In some embodiments, the vibration frequency and amplitude of the motor can be changed by changing the driving current amplitude of the motor, so as to generate different sounds. In some embodiments, the vibration characteristics of the motor can also be adjusted by changing the mechanical structure of the motor, so as to generate different sounds. For example, the frequency and amplitude of the vibration can be adjusted by changing the rotor design, bearing structure, etc. of the motor, so as to achieve different sound effects. It should be noted that the motor can achieve different sound effects by means other than those listed above, or by a combination of the above means, so as to achieve vibration sound effects with different frequencies, pitches and timbres.

[0071] In one embodiment, the different sounds are respectively used to indicate faults of different components in a robot component unit. Specifically, as shown in FIG. 1, different components in the robot component unit 101 include a driving unit 102, a motor 103, and one or more matching components, which include an input encoder, an output encoder, a communication module, and a brake module. When the input encoder in the first robot component unit is abnormal or faulty, the motor in the first robot component unit emits a first type of sound; when the communication module in the first robot component unit is abnormal or faulty, the motor in the first robot component unit emits a second type of sound, which will not be described herein again. Figure 2

[0072] In one embodiment, the different sounds are respectively used to indicate faults of different robot component units. Specifically, when there are multiple robot component units, the motor of the first robot component unit can emit a first type of sound to indicate that the first robot component unit is faulty; the motor of the first robot component unit can also emit a second type of sound to indicate that the second robot component unit is faulty, which will not be described herein again.

[0073] In one embodiment, the surgical robot provided by the present application does not have an additional indication unit, that is, in addition to indicating the working state or alarm by the motor sound, the surgical robot provided by the present application does not have devices such as indicator lights, loudspeakers, buzzers, or displays.

[0074] In another embodiment, the surgical robot provided by the present application further includes an indication unit (not shown) for indicating the working state or alarm of the surgical robot. The indication unit includes one or more indicator lights, one or more loudspeakers, one or more buzzers, or one or more displays. The indication unit of the present application can be integrated into any unit with electrical functions, including but not limited to a control unit, a driving unit, etc.

[0075] ​The motor completely replaces the indicating unit to emit sound, which is convenient for accurate positioning of faults, avoids adding additional indicating units, reduces system complexity and production cost, and improves system reliability.

[0076] According to the surgical robot provided by the application, the motor receives the sound emission driving signal from the driving unit, and emits sound based on the sound emission driving signal for state indication or alarm, which is convenient for accurate positioning of faults, avoids adding additional indicating units, reduces system complexity and production cost, and improves system reliability.

[0077] The application has been described by the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the application is not limited to the above-mentioned embodiments, and more kinds of variations and modifications can be made according to the teachings of the application, which all fall within the scope of the application claimed. The scope of protection of the application is defined by the attached claims and their equivalent scope.

Claims

1. A surgical robot, characterized by, comprising at least one robot component unit, each of the robot component units comprising: a driving unit for sending out a sound-emitting driving signal; and at least one motor connected with the driving unit for receiving the sound-emitting driving signal from the driving unit and emitting sound based on the sound-emitting driving signal, the sound being used for status indication or alarm.

2. The surgical robot of claim 1, wherein, Each of the robot components further comprises one or more matching components connected with the driving unit.

3. The surgical robot of claim 2, wherein, The surgical robot comprises at least a first robot component unit, When at least one of the matching components of the first robot component unit is abnormal or fails, the driving unit of the first robot component unit sends a sound-emitting driving signal to the motor, and the motor emits sound based on the sound-emitting driving signal to indicate the failure position.

4. The surgical robot of claim 2, wherein, The surgical robot comprises at least a first robot component unit and a second robot component unit, and the driving unit of the first robot component unit is communicatively connected with the driving unit of the second robot component unit; When the motor of the first robot component unit cannot emit sound, the driving unit of the first robot component unit transmits a failure detection signal to the driving unit of the second robot component unit, and after receiving the failure detection signal, the driving unit of the second robot component unit sends a sound-emitting driving signal to the motor of the second robot component unit, and the motor of the second robot component unit emits sound based on the sound-emitting driving signal to indicate the failure position of the first robot component unit.

5. The surgical robot of claim 2, wherein, The surgical robot comprises at least a first robot component unit, the first robot component unit comprises at least a first motor and a second motor, and the matching components comprise at least a first partial matching component and a second partial matching component, when one or more of the first partial matching components are abnormal or fail, the driving unit sends a sound-emitting driving signal to the first motor, and when one or more of the second partial matching components are abnormal or fail, the driving unit sends a sound-emitting driving signal to the second motor.

6. The surgical robot of claim 5, wherein, When the first motor cannot emit sound, the driving unit sends a sound-emitting driving signal to the second motor, and the second motor emits sound to indicate that the first motor, one or more of the first partial matching components, and / or one or more of the second partial matching components are abnormal or fail.

7. A surgical robot as claimed in any of claims 2 to 6, wherein, The matching components comprise one or more of an input encoder, an output encoder, a communication module, and a brake module.

8. The surgical robot of claim 7, wherein, The sound-emitting driving signal comprises voltage pulse signals with different pulse width modulations, so that the motor emits different sounds.

9. The surgical robot of claim 8, wherein, The different sounds comprise sounds with different timbres, sounds with different frequencies, or combinations thereof.

10. The surgical robot of claim 9, wherein, The different sounds are respectively used to indicate failures of different robot component units.

11. The surgical robot of claim 9, wherein, The different sounds are respectively used to indicate failures of different matching components, motors, or driving units.

12. The surgical robot of claim 1, wherein, Further comprising: a control unit for sending operation information to the driving unit to control the operation of the driving unit.

13. The surgical robot of claim 12, wherein, The driving unit is also configured to receive operation information from the control unit and send an operation driving signal to the same motor based on the operation information.

14. The surgical robot of claim 13, wherein, The motor is also configured to receive the operation driving signal from the driving unit and perform operation based on the operation driving signal.

15. The surgical robot of claim 1, wherein, The robot component unit includes an end effector of a mechanical arm or a connecting arm of the mechanical arm.

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