Mechanical arm replacement system and method, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a mechanical arm replacement system, method and device, electronic equipment and a storage medium. The system comprises a controller and at least two mechanical arms, any mechanical arm is connected with the controller based on a mechanical arm identifier of the current mechanical arm, and an operation instruction transmitted by the controller is received and executed; the controller is used for monitoring the operation state of each mechanical arm, determining a to-be-replaced mechanical arm based on the operation state of the mechanical arm, and controlling other mechanical arms to continuously execute the operation instruction corresponding to each mechanical arm in the replacement process of the to-be-replaced mechanical arm; the operation state comprises an operation fault state and an operation instruction state; and the controller is further used for acquiring an operation instruction corresponding to the mechanical arm to be replaced and performing network configuration on the replaced target mechanical arm after the mechanical arm to be replaced is recognized to be replaced, so that the target mechanical arm continues to execute the operation instruction corresponding to the mechanical arm to be replaced, the operation difficulty of equipment replacement is reduced, and the replacement efficiency is improved. And the stability and the safety of the operation are improved.

Description

[0001] This application is a divisional application of patent application No. 202111357910.1 (the original application date is November 16, 2021, and the invention name is mechanical arm replacement system, method, electronic device, and storage medium). TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of intelligent robot devices, in particular to a mechanical arm replacement system, method, device, electronic device, and storage medium. BACKGROUND

[0003] The existing surgical robot is a bedside mechanical arm system of Da Vinci, which is composed of a column and four mechanical arms based on the column. In this system, since the four mechanical arms are controlled by a set of system, if the mechanical arm is damaged during use, it cannot be replaced, and only the entire bedside mechanical arm system can be returned to the factory for repair. Another type of surgical robot is a CMR type multi-column bedside mechanical arm system, which is composed of one or more independent columns, each column having a separate mechanical arm. In this system, since the system also controls multiple mechanical arms by a set of system, if a mechanical arm is damaged during use, the system needs to be shut down, a new mechanical arm needs to be connected, and the system needs to be initialized after being started again, or multiple standby mechanical arms need to be connected in advance before the operation starts, so as to solve the problem of replacing multiple mechanical arms through redundancy.

[0004] In the replacement process of the above two types of surgical robots, the mechanical arm needs to be shut down to connect a different mechanical arm, so that the entire surgical robot hardware system needs to be reconfigured (initialized) before the newly connected mechanical arm can be used. The initialization requires the system and the doctor to set the related configuration again, which makes the replacement of the surgical robot difficult to operate during maintenance, requires a high maintenance cost, and requires the entire surgical robot system to be reconfigured after replacing the mechanical arm, which may cause the operation to be interrupted and thus cause the risk of the operation. SUMMARY

[0005] The present application provides a mechanical arm replacement system, method, device, electronic device, and storage medium to reduce the operation difficulty of replacing the device and flexibly configure the replaced mechanical arm, thereby increasing the stability and safety of the operation.

[0006] In a first aspect, embodiments of the present application provide a mechanical arm replacement system, which comprises:

[0007] a controller and at least two mechanical arms, any mechanical arm being connected to the controller based on the mechanical arm identifier of the current mechanical arm, receiving and executing the operation instruction transmitted by the controller;

[0008] The controller is configured to listen to the operation states of the mechanical arms, determine a mechanical arm to be replaced based on the operation states of the mechanical arms, and control other mechanical arms to continue executing the operation instructions corresponding to each of the mechanical arms during the replacement of the mechanical arm to be replaced; wherein the operation states include an operation failure state and an operation instruction state.

[0009] The controller is further configured to obtain the operation instructions corresponding to the mechanical arm to be replaced, and perform network configuration on a target mechanical arm after identifying that the mechanical arm to be replaced has been replaced, so that the target mechanical arm continues to execute the operation instructions corresponding to the mechanical arm to be replaced.

[0010] In a second aspect, an embodiment of the present application provides a mechanical arm replacement system, which comprises:

[0011] A controller and at least two mechanical arms, any mechanical arm is connected to the controller based on the mechanical arm identifier of the current mechanical arm, receives and executes the operation instructions transmitted by the controller;

[0012] The controller is configured to listen to the operation states of the mechanical arms, and determine a mechanical arm to be replaced based on the operation states of the mechanical arms.

[0013] The controller is further configured to obtain the operation instructions corresponding to the mechanical arm to be replaced, and perform network configuration on a target mechanical arm after identifying that the mechanical arm to be replaced has been replaced, so that the target mechanical arm continues to execute the operation instructions corresponding to the mechanical arm to be replaced.

[0014] In a third aspect, an embodiment of the present application provides a mechanical arm replacement system, which comprises:

[0015] A controller and at least two mechanical arms, any mechanical arm is connected to the controller based on the mechanical arm identifier of the current mechanical arm, receives and executes the operation instructions transmitted by the controller;

[0016] The controller is configured to listen to the operation states of the mechanical arms, determine a mechanical arm to be replaced based on the operation states of the mechanical arms, and control other mechanical arms to continue executing the operation instructions corresponding to each of the mechanical arms during the replacement of the mechanical arm to be replaced; wherein the operation states include an operation failure state and an operation instruction state.

[0017] In a fourth aspect, an embodiment of the present application further provides a mechanical arm replacement method, which comprises:

[0018] Listening to the operation states of the mechanical arms; wherein the operation states include an operation failure state and an operation instruction state.

[0019] Determining a mechanical arm to be replaced based on the operation states of the mechanical arms.

[0020] In a fifth aspect, an embodiment of the present application further provides a mechanical arm replacement device, which comprises:

[0021] an operation state monitoring module, configured to monitor operation states of the mechanical arms, wherein the operation states comprise operation fault states and operation instruction states;

[0022] a mechanical arm to be replaced determining module, configured to determine the mechanical arm to be replaced based on the operation states of the mechanical arms.

[0023] In a sixth aspect, an embodiment of the present application further provides an electronic device, which comprises:

[0024] one or more processors;

[0025] a storage device, configured to store one or more programs,

[0026] when the one or more programs are executed by the one or more processors, the one or more processors implement the mechanical arm replacement method provided by any of the embodiments of the present application.

[0027] In a seventh aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the mechanical arm replacement method provided by any of the embodiments of the present application.

[0028] The technical scheme of the embodiment is that the controller interfaces of the controller are configured with corresponding mechanical arm configuration information in advance before performing a surgery task, so that each controller interface can be connected to a preset mechanical arm. Of course, the number of the controller interfaces that have been configured is more than the number of the mechanical arms needed for daily surgery, so that the mechanical arms can be replaced when the mechanical arms fail. Furthermore, each mechanical arm is connected to each controller interface of the controller independently based on the industrial Ethernet, so as to build a mechanical arm replacement system. The mechanical arm of the surgery robot is replaced based on the mechanical arm replacement system, so that the replacement operation of the mechanical arm is simple, and the mechanical arm can be directly replaced without closing the system. After the replacement is completed, the surgery task can be continued, which reduces the operation difficulty of replacing the equipment and increases the stability and safety of the surgery by flexibly configuring the replaced mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical scheme of the example embodiments of the present application, the drawings needed in the description of the embodiments are briefly introduced as follows. Obviously, the drawings introduced are only a part of the drawings of the embodiments to be described by the present application, and not all the drawings. Those skilled in the art can obtain other drawings according to these drawings without creating labor.

[0030] Figure 1 is a structural schematic diagram of a mechanical arm replacement system provided by an embodiment of the present application;

[0031] Figure 2 is a structural schematic diagram of a mechanical arm replacement system provided by an embodiment of the present application;

[0032] Figure 3 is a structural schematic diagram of a mechanical arm replacement system provided by an embodiment of the present application;

[0033] Figure 4 is a flowchart of a mechanical arm replacement method provided by an embodiment of the present application;

[0034] Figure 5 is a structural schematic diagram of a mechanical arm replacement device provided by an embodiment of the present application;

[0035] Figure 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0037] Before introducing the technical solutions of the embodiments of the present application, exemplary introduction will be given to the application scenarios of the technical solutions. Of course, the following application scenarios are only optional application scenarios, and the embodiments of the present application can also be implemented in other application scenarios, and the embodiments of the present application do not limit the application scenarios of the technical methods. Specifically, the application scenarios include: in the process of using a surgical robot to perform surgery, the surgical robot may be damaged during use, i.e., cannot continue to execute the operation instructions of the controller. In the above case, the existing technology generally has two methods for replacing the mechanical arm. One is that if the surgical robot is a single column supporting multiple mechanical arms, the system needs to be closed and the column and the mechanical arm are replaced together, and then the system is reconnected after replacement; the other is that if the surgical robot is a single column supporting a single mechanical arm, the system is closed, a new mechanical arm is connected, and initialization is started again.

[0038] In the above two surgical robot replacement processes, the first replacement method needs to be replaced entirely, is cumbersome to operate, and requires high maintenance costs; the second replacement method needs to be shut down to re-connect different mechanical arms, so that the entire surgical robot hardware system needs to be reconfigured (initialized) before the newly connected mechanical arm can be used. Initialization requires the system and the doctor to set up the relevant configuration again, resulting in a cumbersome replacement operation of the surgical robot during maintenance, and the need to reconfigure the entire surgical robot system after replacing the mechanical arm, which can cause the surgery to be interrupted, thereby causing a risk of surgery.

[0039] Therefore, in view of the above technical problems, the technical scheme of the embodiment of the present application is improved on the basis of the second replacement method.

[0040] Figure 1 The mechanical arm replacement system provided by the embodiment of the present application has a structure diagram, and the embodiment can be applied to the case of replacing the mechanical arm of a surgical robot in operation.

[0041] Referring to Figure 1 The mechanical arm replacement system specifically comprises a controller 110 and at least two mechanical arms 120, and any mechanical arm 120 is connected to the controller 110 based on the mechanical arm identifier of the current mechanical arm 120 and receives and executes the operation instruction transmitted by the controller 110.

[0042] In the embodiment of the present disclosure, any mechanical arm 120 is connected to the controller 110 based on the mechanical arm identifier of the current mechanical arm 120. Optionally, any mechanical arm 120 is connected to the controller 110 through an industrial Ethernet based on the mechanical arm identifier of the current mechanical arm 120, receives and executes the operation instruction transmitted by the controller 110. The industrial Ethernet can also be called real-time Ethernet, real-time industrial Ethernet. For example, Ethercat, ProfiNet, Ethernet / IP, etc. all belong to industrial Ethernet. In the embodiment, when any mechanical arm 120 is connected to the controller 110, the type of Ethernet used can be connected by using the above-mentioned industrial Ethernet, or can be connected by using the above-mentioned industrial Ethernet which is not exemplified, and the embodiment does not limit the specific connection method used.

[0043] In the embodiment of the present application, the controller 110 comprises a plurality of interfaces 111, and each controller interface 111 is configured with corresponding mechanical arm configuration information. The mechanical arm configuration information can include but is not limited to the coding identifier of the mechanical arm 120, which is used for information verification when the mechanical arm 120 is connected to the controller interface 111, to determine that the mechanical arm 120 and the controller interface 111 are connected correspondingly, so that the operation instruction sent by the controller 110 can be executed.

[0044] It should be noted that the number of controller interfaces 111 in the controller 110 needs to be more than the number of mechanical arms 120 required for daily surgical tasks; in other words, in the present embodiment, there needs to be an idle interface on the controller 110 so that the mechanical arm 120 can be replaced when it fails.

[0045] In the embodiment of the present application, before the mechanical arm 120 is replaced, the controller 110 is further configured to pre-configure each controller interface 111 of the controller 110 based on the mechanical arm configuration information, so that the controller 110 can control the corresponding mechanical arm 120 based on each controller interface 111.

[0046] Specifically, the network configuration of the controller interface 111 can be to configure the mechanical arm configuration information of the mechanical arm 120 corresponding to the controller interface 111 on the corresponding controller interface 111, so that the controller interface 111 can be connected with the preset mechanical arm 120. Wherein, each mechanical arm 120 corresponding to the mechanical arm configuration information of each controller interface 111 has the same mechanical structure and hardware settings, so that when any mechanical arm 120 fails, other mechanical arms 120 can be used for replacement. Correspondingly, any mechanical arm 120 is connected with the controller 110 based on the mechanical arm identifier of the current mechanical arm 120 through the industrial Ethernet, receives and executes the operation instruction transmitted by the controller 110.

[0047] For example, N controller interfaces 111 are pre-configured in the operating system of the controller 110, and are all set to optional connection mode, and are all provided with the mechanical arm identifier of the connectable mechanical arm 120. The system identifies the mechanical arm identifier of the connected mechanical arm 120, automatically numbers each detected and normally identified mechanical arm 120, starting from 1, and the default is 1, 2, 3 groups online in the normal booting condition, representing 3 sets of pre-installed mechanical arms 120. At the same time, the system also reserves the number space of 4-10 groups of mechanical arms 120, which is automatically detected by the operating system when running. Once a new device is connected, it can be automatically assigned a group number by the system according to the mechanical arm identifier of the mechanical arm 120 (i.e. whether it belongs to a set of replaceable mechanical arms 120), and the remote operation state of the surgical arm is switched through a user interface or system preset value.

[0048] Specifically, the controller 110 is configured to connect each of the robot arms 120 to the corresponding controller interface 111 of the controller 110 based on the industrial Ethernet, thereby building the robot arm replacement system. In other words, the technical solution of the present embodiment is to enable each of the controller interfaces 111 of the controller 110 to communicate with the corresponding robot arm 120 independently based on the industrial Ethernet and the preconfigured network, thereby enabling the controller 110 to control any of the robot arms 120 to execute the operation instruction independently, and further enabling the controller 110 to replace any of the robot arms 120 without shutting down the system.

[0049] In the present embodiment, the idle interface is used to replace the original interface to replace the robot arm 120 when the robot arm 120 fails during the surgery, thereby enabling the surgical robot to continue the surgery task quickly and reducing the risk of the surgery caused by the interruption of the surgery. The reason is that the original controller interface 111 connected to the robot arm 120 fails due to the failure of the robot arm 120 or the interface, so the new robot arm 120 is connected to the new interface to enable the work to be resumed quickly, and the failure reason can be investigated after the surgery task is completed.

[0050] The controller 110 is configured to listen to the operation state of each of the robot arms 120, determine the robot arm 120 to be replaced based on the operation state of the robot arm 120, and control the other robot arms 120 to continue to execute the corresponding operation instruction of each of the robot arms 120 during the replacement of the robot arm 120 to be replaced.

[0051] The operation state includes an operation failure state and an operation instruction state. The operation instruction state can include a state of whether the current operation instruction is executed. For example, an unexecuted state, an executing state, and an executed state.

[0052] The controller 110 is further configured to obtain the operation instruction corresponding to the robot arm 120 to be replaced, and perform network configuration on the target robot arm 120 after identifying that the robot arm 120 to be replaced is replaced, so as to enable the target robot arm 120 to continue to execute the operation instruction corresponding to the robot arm 120 to be replaced.

[0053] In the embodiment of the present application, the target robot arm 120 has the same mechanical structure and hardware configuration as the robot arm 120 to be replaced, so that when any robot arm 120 fails, the other robot arm 120 can be used for replacement; the controller interface 111 corresponding to the target robot arm 120 is different from the controller interface 111 corresponding to the robot arm 120 to be replaced. Specifically, it can be understood that the target robot arm 120 and the robot arm 120 to be replaced have the same part category, quantity combination mode, and the target robot arm 120 and the robot arm 120 to be replaced can execute the same operation instruction, so that the target robot arm 120 after replacement can continue to execute the operation instruction of the robot arm 120 to be replaced.

[0054] Optionally, the method for network configuration of the target robot arm 120 can include: sending network information to each servo in the target robot arm 120; wherein the network information is used to obtain the configuration parameters of each servo. Specifically, after the controller 110 discovers that the robot arm 120 is replaced, that is, the controller 110 scans the control network of the robot arm 120 to discover the control network change and reconfigure the network topology. Further, the controller 110 initializes the network configuration and parameter configuration of each servo in the current target robot arm 120. For example, the controller 110 can read the configuration of each servo in the robot arm 120 through the broadcast mode, so as to configure the new network topology information.

[0055] Based on this, the network configuration of the target robot arm 120 after replacement is the network configuration of the No. 4 robot arm 120 in the above example, so that the right-hand controller 110 of the surgeon's console can control the No. 4 robot arm to continue the operation.

[0056] In the embodiment of the present application, the controller 110 is also used to generate replacement prompt information of the robot arm 120 to be replaced; and / or, the controller 110 is also used to obtain the required number of robot arms 120 and the installed number of connected robot arms 120, and if the required number and the installed number are not equal, generate number change prompt information for increasing or decreasing the number of robot arms 120.

[0057] In the embodiment of the present application, when the controller 110 listens to the operation state of each mechanical arm 120 during the operation, it can detect whether there is a connection failure of each mechanical arm 120. If it is detected that one or more mechanical arms 120 cannot continue to be used due to mechanical failure, a replacement prompt information of replacing the mechanical arm 120 is generated. The staff places the standby mechanical arm 120 beside the patient bed and connects it to the integrated hub; after successful connection, the replaced mechanical arm 120 will be automatically powered, and the software system will automatically detect and identify the connection of the new mechanical arm 120; the user interface of the integrated hub will prompt the user to select the arm number / color that needs to be replaced, and after confirming the replacement arm, the staff will remove the mechanical arm 120 to be replaced and disconnect it from the integrated hub; of course, the embodiment can also remove the mechanical arm 120 to be replaced first, and then connect the new mechanical arm 120; the replacement can also be performed simultaneously, and the embodiment does not limit the order of replacement. The removal in the embodiment of the present application can mean that the mechanical arm 120 is removed from the trolley, or the entire trolley together with the mechanical arm 120 is removed. Optionally, the mechanical arm 120 of the surgical robot in the embodiment of the present application can be composed of a trolley and a mechanical arm 120, and the mechanical arm 120 is detachably mounted on the trolley, so that the mechanical arm 120 can be flexibly moved, thereby more flexibly executing the operation instructions of the controller 110.

[0058] In the above example, when the controller 110 listens to the operation state of the 2nd mechanical arm 120 controlled by the right hand of the doctor during the operation, it is determined that the 2nd mechanical arm 120 needs to be replaced, and the new replacement mechanical arm 120 is the 4th mechanical arm. Further, the replacement prompt information of switching the 4th arm to replace the 2nd arm can be generated through the interface, and the staff performs the replacement of the mechanical arm 120. After completion, the right hand controller 110 of the doctor's console starts to control the 4th arm to continue the operation. Of course, during the process of replacing the mechanical arm 120 by the staff, the 1st and 3rd corresponding mechanical arms 120 are controlled by the original controller 110 to continue to perform the original operation task.

[0059] In the embodiment of the present application, the controller 110 determines the required number of mechanical arms 120 required by the received operation instruction, and determines the connected number of mechanical arms 120 connected to each controller interface 111. The required number of mechanical arms 120 is compared with the connected number, and if the required number and the connected number are not equal, the number change prompt information of increasing or decreasing the number of mechanical arms 120 is generated.

[0060] For example, if the required number is greater than the connected number, the number change prompt information of increasing the number of mechanical arms 120 is generated; if the required number is less than the connected number, the number change prompt information of decreasing the number of mechanical arms 120 is generated.

[0061] In the embodiment of the present application, the controller 110 is further configured to: if it is determined that the mechanical arm 120 needs to be added, acquire the interface state of the controller interface 111; if there is an idle interface of the controller 110, assign the idle interface to the mechanical arm 120 to be added; and if there is no idle interface of the controller 110, generate an increase prompt information that the mechanical arm 120 cannot be added.

[0062] Further, after generating the quantity change prompt information of adding or reducing the number of the mechanical arms 120, in other words, if it is determined that the mechanical arm 120 needs to be added, the interface state of the controller interface 111 is acquired; if there is an idle interface of the controller 110, the idle interface is assigned to the mechanical arm 120 to be added; and if there is no idle interface of the controller 110, an increase prompt information that the mechanical arm 120 cannot be added is generated.

[0063] The technical scheme of the embodiment is that the corresponding mechanical arm configuration information is configured for each controller interface of the controller in advance before the surgical task is performed, so that each controller interface can be connected to the preset mechanical arm. Of course, the number of the controller interfaces that have been configured is more than the number of the mechanical arms required for daily surgery, so that the mechanical arm can be replaced when the mechanical arm fails. Further, each mechanical arm is independently connected to each controller interface of the controller, thereby building a mechanical arm replacement system. Based on the mechanical arm replacement system, the mechanical arm of the surgical robot is replaced, the replacement operation of the mechanical arm is simple, and the mechanical arm can be directly replaced without closing the system. After the replacement is completed, the surgical task can be continued, the operation difficulty of replacing the equipment is reduced, and only the replaced mechanical arm is flexibly configured, thereby increasing the stability and safety of the surgery.

[0064] Figure 2 The mechanical arm replacement system provided in the embodiment of the present application is shown in the structural schematic diagram. The embodiment can be applied to the case of replacing the mechanical arm of the surgical robot in work.

[0065] Referring to Figure 2 The mechanical arm replacement system specifically comprises: a controller 210 and at least two mechanical arms 220. Any mechanical arm 220 is connected to the controller 210 based on the mechanical arm identifier of the current mechanical arm 220, and receives and executes the operation instruction transmitted by the controller 210.

[0066] In the embodiments of the present disclosure, any of the robot arms 220 is connected with the controller 210 based on the robot arm identifier of the current robot arm 220. Optionally, any of the robot arms 220 is connected with the controller 210 based on the robot arm identifier of the current robot arm 220 through an industrial Ethernet, receives and executes the operation instruction transmitted by the controller 210. The industrial Ethernet can also be called real-time Ethernet, real-time industrial Ethernet. For example, Ethercat, ProfiNet, Ethernet / IP, etc. all belong to the industrial Ethernet. In the embodiments of the present disclosure, the type of the Ethernet used when any of the robot arms 220 is connected with the controller 210 can be the above-mentioned industrial Ethernet, or can be the above-mentioned industrial Ethernet not mentioned in the embodiments, and the specific connection mode adopted in the embodiments is not limited.

[0067] In the embodiments of the present disclosure, the controller 210 comprises a plurality of interfaces 211, and each controller interface 211 is configured with corresponding robot arm configuration information. The robot arm configuration information can include but is not limited to the coding identifier of the robot arm 220, which is used for information verification when the robot arm 220 is connected with the controller interface 211, so as to determine that the robot arm 220 and the controller interface 211 are connected correspondingly, so that the operation instruction transmitted by the controller 210 can be executed.

[0068] It should be noted that the number of controller interfaces 211 in the controller 210 needs to be more than the number of robot arms 220 required for daily execution of surgical tasks. In other words, in the embodiments of the present disclosure, there needs to be an idle interface on the controller 210, so that the robot arm 220 can be replaced when the robot arm 220 fails.

[0069] Before the robot arm 220 is replaced, the controller 210 is further configured to pre-configure the network of each controller interface 211 of the controller 210 based on the robot arm configuration information, so that the controller 210 can control the corresponding robot arm 220 based on each controller interface 211.

[0070] Specifically, the network configuration of the controller interface 211 can be that the robot arm configuration information of the robot arm 220 corresponding to the controller interface 211 is configured on the corresponding controller interface 211, so that the controller interface 211 can be connected with the preset robot arm 220. The robot arm configuration information of each controller interface 211 corresponds to each robot arm 220 with the same mechanical structure and hardware settings, so that when any of the robot arms 220 fails, other robot arms 220 can be used for replacement. Correspondingly, any of the robot arms 220 is connected with the controller 210 through an industrial Ethernet based on the robot arm identifier of the current robot arm 220, receives and executes the operation instruction transmitted by the controller 210.

[0071] Specifically, the controller 210 is configured to connect each of the mechanical arms 220 to the corresponding controller interface 211 of the controller 210 based on the industrial Ethernet, thereby building the mechanical arm replacement system. In other words, the technical solution of the present embodiment is to enable each of the controller interfaces 211 of the controller 210 to communicate with the corresponding mechanical arm 220 independently based on the industrial Ethernet and the preconfigured network, thereby enabling any of the mechanical arms 220 to be controlled to execute the operation instruction and enabling any of the mechanical arms 220 to be replaced without shutting down the system.

[0072] In the present embodiment, when the mechanical arm 220 fails during the surgery, the idle interface is used to replace the original interface to replace the mechanical arm 220, thereby enabling the surgical robot to continue the surgery task quickly and reducing the risk of the surgery caused by the interruption of the surgery. The reason is that the original controller interface 211 connected to the mechanical arm 220 may fail due to the mechanical arm 220 or the interface, so the new mechanical arm 220 is connected to the new interface to enable the work to be resumed quickly, and the failure reason can be investigated after the surgery task is completed.

[0073] In the present embodiment, the controller 210 is configured to listen to the operation state of each of the mechanical arms 220 and determine the mechanical arm 220 to be replaced based on the operation state of the mechanical arm 220.

[0074] The operation state includes an operation failure state and an operation instruction state. The operation instruction state can include a state of whether the current operation instruction is executed, such as an unexecuted state, an executing state, and an executed state.

[0075] The controller 210 is further configured to obtain the operation instruction corresponding to the mechanical arm 220 to be replaced and perform network configuration on the target mechanical arm 220 after identifying that the mechanical arm 220 to be replaced is replaced, so that the target mechanical arm 220 continues to execute the operation instruction corresponding to the mechanical arm 220 to be replaced.

[0076] In the embodiment of the present application, the target mechanical arm 220 has the same mechanical structure and hardware configuration as the mechanical arm to be replaced, so that when any mechanical arm 220 fails, the other mechanical arm 220 can be used for replacement; the controller interface 211 corresponding to the target mechanical arm 220 is different from the controller interface 211 corresponding to the mechanical arm to be replaced. Specifically, it can be understood that the target mechanical arm 220 and the mechanical arm to be replaced have the same part category, quantity combination mode, and the target mechanical arm 220 and the mechanical arm to be replaced can execute the same operation instruction, so that the target mechanical arm 220 after replacement can continue to execute the operation instruction of the mechanical arm to be replaced.

[0077] Optionally, the method for network configuration of the target mechanical arm 220 can include: sending network information to each servo in the target mechanical arm 220; wherein the network information is used to obtain the configuration parameters of each servo. Specifically, after the controller 210 discovers that the mechanical arm 220 is replaced, the controller 210 scans the control network of the mechanical arm 220 to discover the control network change and reconfigure the network topology. Further, the controller 210 initializes the network configuration and parameter configuration of each servo in the current target mechanical arm 220. For example, the controller 210 can read the configuration of each servo in the mechanical arm 220 through broadcast mode, thereby configuring new network topology information.

[0078] The technical scheme of the embodiment of the present application is based on the mechanical arm replacement system for replacing the mechanical arm of the surgical robot, which makes the replacement operation of the mechanical arm simple, and the mechanical arm can be directly replaced without closing the system, and after the replacement is completed, the surgical task can be continued to be executed, which reduces the operation difficulty of replacing the device, and only the replaced mechanical arm is flexibly configured, which increases the stability and safety of the surgery.

[0079] Figure 3 The mechanical arm replacement system provided in the embodiment of the present application has a structure diagram, and the embodiment can be applied to the case of replacing the mechanical arm of the surgical robot in work.

[0080] Referring to Figure 3 The mechanical arm replacement system specifically includes: a controller 310 and at least two mechanical arms 320, any mechanical arm 320 is connected with the controller 310 based on the mechanical arm identifier of the current mechanical arm 320, and receives and executes the operation instruction transmitted by the controller 310.

[0081] In the embodiments of the present disclosure, any of the mechanical arms 320 is connected with the controller 310 based on the mechanical arm identifier of the current mechanical arm 320. Optionally, any of the mechanical arms 320 is connected with the controller 310 through industrial Ethernet based on the mechanical arm identifier of the current mechanical arm 320, receives and executes the operation instruction transmitted by the controller 310. Wherein, the industrial Ethernet can also be called real-time Ethernet, real-time industrial Ethernet. For example, Ethercat, ProfiNet, Ethernet / IP, etc. all belong to industrial Ethernet. In the embodiments, the type of Ethernet used when any of the mechanical arms 320 is connected with the controller 310 can be connected by using the above-mentioned industrial Ethernet, or can be connected by using the above-mentioned industrial Ethernet which is not exemplified, and the specific connection mode adopted in the embodiments is not limited.

[0082] It should be noted that the number of controller interfaces 311 in the controller 310 needs to be more than the number of mechanical arms 320 required for daily execution of surgical tasks; in other words, in the embodiments, there needs to be an idle interface on the controller 310, so that the mechanical arm 320 can be replaced when the mechanical arm 320 fails.

[0083] The controller 310 is configured to monitor the operation state of each mechanical arm 320, determine the mechanical arm 320 to be replaced based on the operation state of the mechanical arm 320, and control other mechanical arms 320 to continue executing the corresponding operation instruction of each mechanical arm 320 during the replacement process of the mechanical arm 320 to be replaced.

[0084] Wherein, the operation state includes an operation failure state and an operation instruction state. The operation instruction state can include a state of whether the current operation instruction is executed. For example, an unexecuted state, an executing state and an executed state.

[0085] Specifically, the controller 310 is configured to, after configuring each controller interface 311, connect each mechanical arm 320 with each controller interface 311 of the controller 310 independently based on the industrial Ethernet, so as to build a mechanical arm replacement system. In a popular way, the technical solution of the embodiments is to make each controller interface 311 in the controller 310 communicate independently between the corresponding mechanical arm 320 through the industrial Ethernet and the pre-network configuration, so as to realize the execution of the operation instruction by any of the mechanical arms 320, and also realize the replacement of any of the mechanical arms 320 without the need to shut down the system.

[0086] Exemplarily, N controller interfaces 311 are preconfigured in the operating system of the controller 310, and are all set to the optional connection mode, and are all provided with the mechanical arm identifier of the connectable mechanical arm 320. The system identifies the mechanical arm identifier of the connected mechanical arm 320, and automatically numbers each detected and normally identified mechanical arm 320, starting from 1, and the default 1, 2 and 3 groups are online in the normal booting condition, representing 3 sets of preinstalled mechanical arms 320. At the same time, the system also reserves the numbering space of the 4-10 groups of mechanical arms 320, and automatically detects the connection condition of the new arm during the operation of the operating system. Once a new device is detected to be connected, a group number can be automatically assigned by the system according to the mechanical arm identifier of the mechanical arm 320 (that is, whether it belongs to a set of replaceable mechanical arms 320), and the remote operation state of the surgical arm can be switched through a user interface or a system preset value.

[0087] Based on this, during the operation process, the controller 310 listens to the damage of the No. 2 mechanical arm 320 controlled by the right hand of the doctor, and the staff replaces the mechanical arm 320. Of course, during the process of replacing the mechanical arm 320 by the staff, the No. 1 and No. 3 corresponding mechanical arms 320 continue to execute the original surgical task under the control of the original controller 310.

[0088] In the embodiment of the application, the controller 310 is further configured to generate replacement prompt information of the mechanical arm 320 to be replaced; and / or the controller 310 is further configured to acquire the required number of mechanical arms 320 and the installed number of connected mechanical arms 320, and generate number change prompt information of increasing or decreasing the number of mechanical arms 320 if the required number and the installed number are not equal.

[0089] In the embodiment of the present application, the controller 310 is further configured to generate a replacement prompt information of the mechanical arm 320 to be replaced. Specifically, when the controller 310 monitors the operation state of each mechanical arm 320 during the surgery, it can detect whether there is a connection failure of each mechanical arm 320. If it is detected that one or more mechanical arms 320 cannot continue to be used due to mechanical failure, the replacement prompt information of the mechanical arm 320 to be replaced is generated. The staff places the standby mechanical arm 320 beside the patient bed and connects it to the integrated hub. After successful connection, the replaced mechanical arm 320 will be automatically powered, and the software system will automatically detect and identify the connection of the new mechanical arm 320. The user interface of the integrated hub will prompt the user to select the arm number / color to be replaced. After confirming the replacement arm, the staff removes the mechanical arm 320 to be replaced and disconnects it from the integrated hub. Of course, the embodiment can also remove the mechanical arm 320 to be replaced first, and then connect the new mechanical arm 320. The replacement can also be performed simultaneously, and the embodiment does not limit the order of replacement. The removal in the embodiment refers to the removal of the mechanical arm 320 from the trolley or the removal of the trolley together with the mechanical arm 320. Optionally, the mechanical arm 320 of the surgical robot in the embodiment can be composed of a trolley and a mechanical arm 320, and the mechanical arm 320 is detachably installed on the trolley, so that the mechanical arm 320 can be flexibly moved to more flexibly execute the operation instructions of the controller 310.

[0090] In the above example, when the controller 310 detects that the No. 2 mechanical arm 320 controlled by the right hand of the doctor is damaged during the surgery, the replacement prompt information of the No. 2 mechanical arm 320 to be replaced and the No. 4 mechanical arm to be replaced is generated. Further, the replacement prompt information of switching the No. 4 arm to replace the No. 2 arm can be generated through the interface, and the staff performs the replacement of the mechanical arm 320. After completion, the right hand controller 310 of the doctor's console starts to control the No. 4 arm to continue the surgery.

[0091] In the embodiment of the present application, the controller 310 determines the required number of mechanical arms 320 required by the received operation instruction, and determines the connected number of mechanical arms 320 connected to each controller interface 311. The required number of mechanical arms 320 is compared with the connected number, and if the required number and the connected number are not equal, the number change prompt information of increasing or decreasing the number of mechanical arms 320 is generated.

[0092] For example, if the required number is greater than the connected number, the number change prompt information of increasing the number of mechanical arms 320 is generated; if the required number is less than the connected number, the number change prompt information of decreasing the number of mechanical arms 320 is generated.

[0093] In the embodiment of the present application, the controller 310 is further configured to, if it is determined that the mechanical arm 320 needs to be added, acquire the interface state of the controller interface 311; if there is an idle interface of the controller 310, assign the idle interface to the mechanical arm 320 to be added; and if there is no idle interface of the controller 310, generate an adding prompt information that the mechanical arm 320 cannot be added.

[0094] Further, after generating the number change prompt information of adding or reducing the number of the mechanical arms 320, in other words, if it is determined that the mechanical arm 320 needs to be added, the interface state of the controller interface 311 is acquired; if there is an idle interface of the controller 310, the idle interface is assigned to the mechanical arm 320 to be added; and if there is no idle interface of the controller 310, an adding prompt information that the mechanical arm 320 cannot be added is generated.

[0095] The technical scheme of the embodiment of the present application is based on the mechanical arm replacement system for replacing the mechanical arm of the surgical robot, so that the replacement operation of the mechanical arm is simple, and the mechanical arm can be directly replaced without shutting down the system, and after the replacement is completed, the surgical task can be continued to be executed, which reduces the operation difficulty of replacing the equipment and increases the stability and safety of the surgery by only flexibly configuring the replaced mechanical arm.

[0096] The following is an embodiment of the mechanical arm replacement method provided by the embodiment of the present application. The method and the mechanical arm replacement system of each of the above embodiments belong to the same inventive concept. Details not described in the embodiment of the mechanical arm replacement method can be referred to the embodiments of the mechanical arm replacement system.

[0097] Figure 4 A flowchart of a mechanical arm replacement method provided by the embodiment of the present application. The embodiment can be applied to the case of replacing the mechanical arm of the surgical robot in operation. The method can be executed by a mechanical arm replacement device, which can be realized by software and / or hardware. As shown in the figure, the method specifically includes the following steps: Figure 4

[0098] S410, listen to the operation state of each mechanical arm; wherein the operation state includes an operation failure state and an operation instruction state.

[0099] S420, determine the mechanical arm to be replaced based on the operation state of the mechanical arm.

[0100] On the basis of the above embodiment, the method further includes: in the process of replacing the mechanical arm to be replaced, controlling other mechanical arms to continue to execute the operation instructions corresponding to each mechanical arm; and / or generating a replacement prompt information of the mechanical arm to be replaced.

[0101] ​On the basis of the above-mentioned embodiments, after replacing the to-be-replaced mechanical arm, further comprising: network configuring the target mechanical arm corresponding to the to-be-replaced mechanical arm, so that the target mechanical arm continues to execute the operation instruction corresponding to the to-be-replaced mechanical arm based on the obtained operation instruction corresponding to the to-be-replaced mechanical arm.

[0102] Optionally, the network configuration of the target mechanical arm corresponding to the to-be-replaced mechanical arm comprises: sending network information to each servo in the target mechanical arm; wherein the network information is used to obtain the configuration parameters of each servo.

[0103] The mechanical arm replacement method provided by the technical scheme of the embodiment makes the replacement operation of the mechanical arm simple, and the mechanical arm can be directly replaced without shutting down the system, and after the replacement is completed, the surgical task can be continued to be executed, thereby reducing the operation difficulty of replacing the device and increasing the stability and safety of the surgery by only flexibly configuring the replaced mechanical arm.

[0104] The following is an embodiment of a mechanical arm replacement device provided by the embodiment of the application. The device belongs to the same inventive concept as the mechanical arm replacement method and system described above. Details not described in the embodiment of the mechanical arm replacement device can be referred to the embodiments of the mechanical arm replacement method and system.

[0105] Figure 5 The structure diagram of the mechanical arm replacement device provided by the embodiment of the application can be applied to the replacement of the mechanical arm of the surgical robot in operation. Referring to Figure 5 The specific structure of the mechanical arm replacement device comprises an operation state monitoring module 510 and a to-be-replaced mechanical arm determination module 520; wherein

[0106] The operation state monitoring module 510 is used to monitor the operation state of each mechanical arm; wherein the operation state comprises an operation failure state and an operation instruction state; and the to-be-replaced mechanical arm determination module 520 is used to determine the to-be-replaced mechanical arm based on the operation state of the mechanical arm.

[0107] The mechanical arm replacement device provided by the technical scheme of the embodiment makes the replacement operation of the mechanical arm simple, and the mechanical arm can be directly replaced without shutting down the system, and after the replacement is completed, the surgical task can be continued to be executed, thereby reducing the operation difficulty of replacing the device and increasing the stability and safety of the surgery by only flexibly configuring the replaced mechanical arm.

[0108] Optionally, the device further comprises a control module. The control module is used to control the normal operation of other mechanical arms during the replacement of the to-be-replaced mechanical arm.

[0109] The mechanical arm replacing device provided by the embodiment of the present application can execute the mechanical arm replacing method provided by any embodiment of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0110] It is worth noting that, in the embodiments of the mechanical arm replacing device described above, each unit and module included is only divided according to the function logic, but is not limited to the division described above, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for the convenience of mutual differentiation, and are not used to limit the protection scope of the present application.

[0111] Figure 6 A structural schematic diagram of an electronic device provided by the embodiment of the present application is provided. Figure 6 A block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present application is shown. Figure 6 The electronic device 12 shown is merely an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0112] As shown in Figure 6 The electronic device 12 is shown in the form of a general computing electronic device. The components of the electronic device 12 can include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

[0113] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration bus, a processor or local bus using any of a variety of bus architectures including an industry standard architecture (ISA), micro-channel architecture (MAC), enhanced ISA (EISA), Video Electronics Standards Association (VESA) local bus, and a peripheral component interconnect (PCI) bus.

[0114] The electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the electronic device 12 and includes both volatile and non-volatile media, removable and non-removable media.

[0115] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be provided for reading from and writing to non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 6 Not shown is an example, commonly referred to as a "hard disk drive". Although Figure 6A disk drive, a floppy disk drive, a CD-ROM drive, a DVD-ROM drive, or other removable media drive, a flash memory card drive (such as a compact flash drive), and a tape drive, a tape backup device, or any other storage device, which can be located in the computer 12, can provide storage of computer-readable instructions, data structures, program modules, and other data for the computer 12. Although the exemplary environment 10 is described herein as computing environment, the present application is operational with other general purpose or special purpose computing environments, including mobile devices having computer functionality and hand-held devices.

[0116] Program / utility 40, having a set (at least one) of program modules 42, can be stored in system memory 28 by way of example, and can include an operating system, one or more application programs, other program modules, program data, and a user interface utility, etc., which can each, or a combination thereof, provide functionality to implement embodiments of the present application.

[0117] The electronic device 12 can also communicate with one or more external devices 14 such as a keyboard or pointing device, a display 24, etc.; other devices such as are necessary equivalents or play back devices, etc. which enable a user to interact with the electronic device 12; and / or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate in any way with other computing devices or systems or devices such as the Internet or one or more intranets. Such communication can be facilitated, by way of Input / Output (I / O) interface 22. Still yet, the electronic device 12 can communicate with one or more networks, such as a local area network (LAN), a general wide area network (WAN), and / or a public network, such as the Internet, via network adapter 20. As Figure 6 illustrated, network adapter 20 communicates to the other components of the electronic device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software components could be used in conjunction with the electronic device 12. These components, as well as any other components of the electronic device 12, could be configured to perform one or more operations described herein in connection with the example embodiments of the present application. Figure 6 It is to be appreciated that the software modules described herein can be any combination of hardware and / or software that can be stored on or otherwise provided to a computer, a mobile device, or any other hardware device that is capable of performing the functions described herein. The software modules can also be moved from one computer or device to another computer or device by way of computer-readable media.

[0118] The processing unit 16 performs various functions by executing program instructions stored in the system memory 28, such as to implement a method for replacing a robot arm, the method comprising:

[0119] controlling at least two robot arms, any robot arm being connected to the controller based on a robot arm identifier of the current robot arm, receiving and executing operation instructions transmitted by the controller;

[0120] The controller is configured to monitor the operation states of the mechanical arms, determine a mechanical arm to be replaced based on the operation states of the mechanical arms, and control other mechanical arms to continue executing the operation instructions corresponding to the mechanical arms during replacement of the mechanical arm to be replaced.

[0121] The controller is further configured to obtain the operation instructions corresponding to the mechanical arm to be replaced, and perform network configuration on the target mechanical arm after identifying that the mechanical arm to be replaced has been replaced, so that the target mechanical arm continues to execute the operation instructions corresponding to the mechanical arm to be replaced.

[0122] Of course, those skilled in the art can understand that the processor can also implement the technical solutions of the sample data acquisition method provided by any embodiment of the application.

[0123] The embodiment provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement, for example, a mechanical arm replacement method provided by the embodiment, the mechanical arm replacement method comprising:

[0124] The operation states of the mechanical arms are monitored, wherein the operation states include operation fault states and operation instruction states; a mechanical arm to be replaced is determined based on the operation states of the mechanical arms, and replacement prompt information for replacing the mechanical arm to be replaced is generated; and other mechanical arms are controlled to continue executing the operation instructions corresponding to the mechanical arms during replacement of the mechanical arm to be replaced.

[0125] The computer storage medium of the embodiment of the application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0126] A computer readable signal medium can include a propagated data signal with computer executable prograrn code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that can be

[0127] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0128] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0129] Those skilled in the art will appreciate that the modules or steps of the present application described above can be implemented in a general purpose computer, and they can be centralized in a single computer or distributed over a network of multiple computers, and optionally, they can be implemented in program code executable by a computer, and thus they can be stored in a storage device and executed by a computer, or they can be made into individual integrated circuit modules, or a plurality of modules or steps can be made into a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.

[0130] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A robot arm exchange system, characterized in that, The system comprises: a controller and at least two mechanical arms, any mechanical arm being connected to the controller based on a mechanical arm identifier of the current mechanical arm, receiving and executing operation instructions transmitted by the controller; the controller is configured to monitor operation states of each of the mechanical arms, determine a mechanical arm to be replaced based on the operation states of the mechanical arms, and control other mechanical arms to continue executing corresponding operation instructions of each of the mechanical arms during a replacement process of the mechanical arm to be replaced, wherein the operation states comprise an operation failure state and an operation instruction state; the controller is further configured to obtain the operation instructions corresponding to the mechanical arm to be replaced, and perform network configuration on a target mechanical arm after identifying that the mechanical arm to be replaced has been replaced, so that the target mechanical arm continues to execute the operation instructions corresponding to the mechanical arm to be replaced.

2. The system of claim 1, wherein, The controller comprises a plurality of interfaces, and each controller interface is configured with corresponding mechanical arm configuration information; the controller is further configured to perform network configuration on each controller interface of the controller in advance based on the mechanical arm configuration information, so that the controller can control corresponding mechanical arms based on each controller interface.

3. The system of claim 1, wherein the target mechanical arm has the same mechanical structure and hardware configuration as the mechanical arm to be replaced; and the controller interface corresponding to the target mechanical arm is different from the controller interface corresponding to the mechanical arm to be replaced.

4. The system of claim 1, wherein, The controller is further configured to generate replacement prompt information of the mechanical arm to be replaced; and / or the controller is further configured to obtain a required number of mechanical arms and an installed number of connected mechanical arms, and generate number change prompt information for increasing or decreasing the number of mechanical arms if the required number and the installed number are not equal.

5. The system of claim 4, wherein, The controller is further configured to obtain an interface state of the controller interface if it is determined that a mechanical arm needs to be added; if there is an idle interface of the controller, the idle interface is allocated to the mechanical arm to be added; and if there is no idle interface of the controller, increase prompt information indicating that the mechanical arm cannot be added is generated.

6. A robot arm exchange system, characterized in that The system comprises: a controller and at least two mechanical arms, any mechanical arm being connected to the controller based on a mechanical arm identifier of the current mechanical arm, receiving and executing operation instructions transmitted by the controller; the controller is configured to monitor operation states of each of the mechanical arms, determine a mechanical arm to be replaced based on the operation states of the mechanical arms; the controller is further configured to obtain the operation instructions corresponding to the mechanical arm to be replaced, and perform network configuration on a target mechanical arm after identifying that the mechanical arm to be replaced has been replaced, so that the target mechanical arm continues to execute the operation instructions corresponding to the mechanical arm to be replaced.

7. The system of claim 6, wherein, The controller comprises a plurality of interfaces, and each controller interface is configured with corresponding mechanical arm configuration information; the controller is further configured to perform network configuration on each controller interface of the controller in advance based on the mechanical arm configuration information, so that the controller can control corresponding mechanical arms based on each controller interface.

8. A robot arm exchange system, characterized in that The system comprises: a controller and at least two mechanical arms, Any robotic arm connects to the controller based on its current robotic arm identifier, and receives and executes the operation instructions transmitted by the controller; The controller is used to monitor the operation status of each robotic arm, determine the robotic arm to be replaced based on the operation status of the robotic arm, and control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm during the replacement process of the robotic arm to be replaced; wherein, the operation status includes operation fault status and operation instruction status.

9. The system of claim 8, wherein, The controller is also configured to generate a replacement prompt message for the robotic arm to be replaced; and / or the controller is also configured to obtain the required number of robotic arms and the number of connected robotic arms already installed. If the required number and the number of installed robotic arms are not equal, a quantity change prompt message is generated to increase or decrease the number of robotic arms.

10. The system of claim 9, wherein, The controller is also configured to, if it is determined that a robotic arm needs to be added, obtain the interface status of the controller interface; if the controller has an idle interface, allocate the idle interface to the robotic arm to be added; if the controller does not have an idle interface, generate an addition prompt message indicating that a robotic arm cannot be added.

11. A robot arm replacement method characterized by comprising: The robotic arm replacement system according to any one of claims 1-10 includes: Monitor the operational status of each robotic arm; wherein, the operational status includes operational fault status and operational command status; The robotic arm to be replaced is determined based on its operating status.

12. The method of claim 11, wherein, The method further includes: During the replacement of the robotic arm to be replaced, control the other robotic arms to continue to execute the operation commands corresponding to each robotic arm; And / or, generate replacement prompt information for the robotic arm to be replaced.

13. The method of claim 11, wherein, After replacing the robotic arm to be replaced, the process also includes: The target robotic arm corresponding to the robotic arm to be replaced is configured via network so that the target robotic arm continues to execute the operation instructions corresponding to the robotic arm to be replaced based on the obtained operation instructions corresponding to the robotic arm to be replaced.

14. The method of claim 13, wherein, The network configuration of the target robotic arm corresponding to the robotic arm to be replaced includes: Network information is sent to each servo in the target robotic arm; wherein the network information is used to obtain configuration parameters for each servo.

15. A robot arm changing device, characterized in that include: An operation status monitoring module is used to monitor the operation status of each robotic arm; wherein, the operation status includes operation fault status and operation command status; The module for determining the robotic arm to be replaced is used to determine the robotic arm to be replaced based on the operating state of the robotic arm.

16. The apparatus of claim 15, wherein, Also includes: The control module is used to control the normal operation of other robotic arms during the replacement of the robotic arm to be replaced.

17. An electronic device, comprising: include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the robotic arm replacement method as described in any one of claims 11-14.

18. A computer readable storage medium having stored thereon a computer program, characterized in that, When the program is executed by the processor, it implements the robotic arm replacement method as described in any one of claims 11-14.

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