Surgical robot and control system thereof

Abstract

The invention relates to the field of surgical robots, in particular to a surgical robot and a control system thereof. The system comprises a driving control module and a plurality of surgical robot joints, the surgical robot joint comprises a sensor module and a local data processing module; the sensor module is used for collecting state information; the local data processing module is used for processing the state information and sending the processed state information to the driving control module through a data bus; and the driving control module is used for generating a joint driving signal of the surgical robot according to the state information processed by the local data processing module. After the local data processing module is arranged in the joint for processing, the processed state information is sent to the driving control module through the data bus, so that the number of motion cables in the joint can be effectively reduced, the precision of force control is improved, the reliability is improved, the size of the joint is reduced, and heat generated in the joint is reduced; and miniaturization design of the robot is facilitated.

Description

Technical Field

[0001] This application relates to the field of surgical robots, and more particularly to surgical robots and their control systems. Background Technology

[0002] Surgical robots are increasingly being used in surgery due to their advantages of smaller incisions, less bleeding, and faster recovery.

[0003] Surgical robots consist of multiple joints. Traditional surgical robots place the motor drivers and controllers inside the joints. However, due to the limited space within the joints, it's impossible to accommodate large motor drivers, and heat dissipation becomes a problem. To reduce joint size and heat generation, a centralized control method is often used, placing the motor drivers and controllers outside the joint. However, surgical robots have many joints, and controlling each joint requires numerous cables. The bending and twisting of these cables introduces additional resistance, negatively impacting the accuracy of lifting force control and ultimately hindering the reliability of the surgical robot. Summary of the Invention

[0004] In view of this, embodiments of this application provide a surgical robot and its control system to solve the problem that existing surgical robots are not conducive to the accuracy of lifting force control and reduce the reliability of the robot system.

[0005] A first aspect of this application provides a surgical robot control system, comprising:

[0006] Drive control module and multiple surgical robot joints;

[0007] The surgical robot joint includes a sensor module and a local data processing module;

[0008] The sensor module is used to collect the status information of the joints of the surgical robot;

[0009] The local data processing module is used to process the state information of the surgical robot joints and send the processed state information to the drive control module through the data bus.

[0010] The drive control module is used to generate joint drive signals for the surgical robot based on the state information processed by the local data processing module.

[0011] In conjunction with the first aspect, in a first possible implementation of the first aspect, the local data processing modules of the plurality of surgical robot joints are connected by a daisy chain structure, and the status information processed by the local data processing modules of all surgical robot joints is sent to the drive control module through the daisy chain structure.

[0012] In conjunction with the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the local data processing module is used to send the status information of all robot joints on the data bus after processing by the local data module to the drive control module, including:

[0013] Based on the positional relationship of the local data processing module on the daisy chain, the status information processed by the local data processing module is transmitted step by step until it reaches the end node of the daisy chain. The processed status information is then sent to the drive control module via the data bus through the end node.

[0014] In conjunction with the second possible implementation of the first aspect, in the third possible implementation of the first aspect, the status information processed by the local data processing module is transmitted step by step according to the positional relationship of the local data processing module on the daisy chain, until it is transmitted to the end node of the daisy chain. The processed status information is then sent to the drive control module via the data bus through the end node, including:

[0015] According to the order of the local data processing modules on the daisy chain, when there is no local data processing module at the previous position, the sensor data of the surgical robot joint where the local data processing module at the current position is located is combined and processed to obtain the combined data processed by the local data processing module at the current position, and the combined data is transmitted to the next node on the daisy chain.

[0016] When there is a local data processing module at the previous position, the combined data processed by the local data processing module at the previous position is combined with the sensor data of the surgical robot joint where the local data processing module at the current position is located, to obtain the combined data processed by the local data processing module at the current position. The combined data is then sent to the next node on the daisy chain until the local data processing module at the current position is at the end of the daisy chain. At the end of the daisy chain, the combined data is transmitted to the drive control module through the local data processing module at the end.

[0017] In conjunction with the first aspect, in a fourth possible implementation of the first aspect, the drive control module includes a surgical robot controller and a motor driver; the drive control module is used to generate joint drive signals based on the state information processed by the local data processing module, including:

[0018] The surgical robot controller generates joint control commands for the surgical robot based on the status information processed by the local data processing module, and the motor driver generates joint drive signals for the surgical robot based on the control commands.

[0019] In conjunction with the first aspect, in a fifth possible implementation of the first aspect, the sensor module includes at least one of a motor speed sensor, a motor position sensor, and a joint position sensor.

[0020] In conjunction with the fifth possible implementation of the first aspect, in the sixth possible implementation of the first aspect, the motor position sensor is an incremental encoder and the joint position sensor is an absolute encoder.

[0021] In conjunction with the fifth possible implementation of the first aspect, in the seventh possible implementation of the first aspect, the local data processing module is used to process the state information of the surgical robot joints, including:

[0022] The local data processing module is used to receive motor position signals and joint position signals via a transceiver, and to perform at least one of the following processes based on the signals received by the transceiver: determining the motor speed, motor acceleration, and motor position based on the motor position signals, and determining the position, speed, and acceleration of the surgical robot joints based on the joint position signals.

[0023] In conjunction with any one of the first to the seventh possible implementations of the first aspect, in the eighth possible implementation of the first aspect, the drive control module is located in the base or link of the surgical robot.

[0024] A second aspect of this application provides a surgical robot, the surgical robot including the surgical robot control system described in any of the first aspects.

[0025] A third aspect of this application provides a control method for a surgical robot, the method being based on the surgical robot control system described in any of the first aspects, the method comprising:

[0026] The status information of the surgical robot joint is collected by sensor modules inside the joint.

[0027] The state information of the surgical robot joint is processed by a local data processing module within the joint.

[0028] The processed status information is sent to the drive control module via a data bus through the local data processing module inside the joint of the surgical robot.

[0029] The surgical robot's joint drive signal is generated from the processed state information by the drive control module outside the joint.

[0030] In conjunction with the third aspect, in the first possible implementation of the third aspect, the step of sending the processed status information to the drive control module via the data bus includes:

[0031] Based on the position of the drive control module on the daisy chain, the status information processed by the local data processing module is transmitted step by step until the local data processing module at the end node of the daisy chain receives the processed status information and sends the processed status information to the drive control module through the data bus.

[0032] A fourth aspect of this application provides a control device for a surgical robot, the device being based on the surgical robot control system according to any one of the first aspects, the device comprising:

[0033] The status information acquisition unit is used to acquire the status information of the surgical robot joint through the sensor module inside the surgical robot joint;

[0034] An information processing unit is used to process the state information of the surgical robot joint through a local data processing module within the surgical robot joint.

[0035] The information transmission unit is used to send the processed status information to the drive control module via a data bus through the local data processing module inside the joint of the surgical robot.

[0036] The drive signal generation unit is used to generate a joint drive signal for the surgical robot from the processed state information through the drive control module outside the joint of the surgical robot.

[0037] A fifth aspect of this application provides yet another surgical robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any of the third aspects.

[0038] A sixth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any of the third aspects.

[0039] The beneficial effects of this application embodiment compared with the prior art are as follows: by setting a local data processing module in the joint and sending the joint status information collected by the sensor module to the drive control module through the data bus, the number of cables arranged inside the robot can be effectively reduced, the accuracy of the robot's force control can be improved and the reliability of the robot can be increased. Furthermore, the drive control module is set in other positions outside the joint, which can effectively reduce the joint volume and reduce the heat generated inside the joint, which is conducive to the miniaturization design of the robot. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a surgical robot control system provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of a drive control module for a surgical robot provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of a surgical robot joint provided in an embodiment of this application;

[0044] Figure 4 This is a schematic diagram of a connection structure between a local data processing module and a drive control module through a daisy chain structure provided in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram illustrating the implementation process of a control method for a surgical robot provided in an embodiment of this application;

[0046] Figure 6 This is a schematic diagram of a control device for a surgical robot provided in an embodiment of this application;

[0047] Figure 7 This is a schematic diagram of a surgical robot provided in an embodiment of this application. Detailed Implementation

[0048] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0049] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0050] The surgical robot in this embodiment can be a force-controlled robot comprising multiple joints, that is, a robot that performs tasks by sensing and controlling the interaction of forces between the robot and its environment. During surgery, the operating space is limited, and the volume of the robot's joints is restricted due to the requirement for control precision. Furthermore, to ensure the reliability of the surgical robot and protect the surgical object and electronic components in the joints, the temperature of the robot's joints must be controlled to prevent excessively high temperatures.

[0051] Traditional surgical robot control systems employ two main control methods: distributed and centralized. In distributed control, the robot's controller is located in a base or an external control cabinet, while the motors, motor drivers, Hall effect sensors, motor position sensors, and joint position sensors are distributed across each joint. The controller and motor drivers communicate via a high-speed bus. However, for multi-joint force-controlled surgical robots, the limited joint space makes it difficult to accommodate large motor drivers. Furthermore, the numerous electronic components within these drivers contribute to high joint temperatures, hindering the robot's operational requirements.

[0052] To reduce the size requirements and temperature of surgical robot joints, a distributed control approach can be employed. This involves placing the robot's motors, Hall effect sensors, motor position sensors, and joint position sensors within the joints, while the controller and motor drivers are housed in an external control cabinet. This layout saves joint space and reduces joint temperature. However, acquiring joint status information requires a large number of cables within the robot. For force-controlled surgical robots, bending and twisting of these cables during joint movement introduces additional resistance. Under varying resistance, the same control command may produce different response postures, reducing the robot's control accuracy. Furthermore, the large number of motion cables can decrease the reliability of the surgical robot system.

[0053] To address the aforementioned problems, embodiments of this application propose a surgical robot control system, such as... Figure 1As shown, the surgical robot control system includes a drive control module 1 and multiple surgical robot joints 2 (represented as the first joint, second joint, ..., Nth joint in the figure). Each surgical robot joint includes a sensor module 21 and a local data processing module 22. The sensor module 21 collects the state information of the surgical robot joints; the local data processing module 22 processes the state information of the surgical robot joints and sends the processed state information to the drive control module 1 via a data bus; the drive control module 1 generates drive signals for the surgical robot joints based on the state information processed by the local data processing module 22.

[0054] By placing the drive control module 1 outside the surgical robot joints and acquiring the status information collected by the sensor modules 21 after processing by the local data processing modules 22 at each surgical robot joint via a data bus, the number of cables between the surgical robot joints 2 and the drive control module outside the joints can be greatly reduced. During the movement of the surgical robot joints, the resistance generated by the bending and twisting of the cables is small, thus effectively reducing the impact of the cables on the movement of the surgical robot joints and enabling more precise control of the surgical robot joints. At the same time, by reducing the number of motion cables, the reliability of the surgical robot can be effectively improved, reducing the probability of the surgical robot's normal operation being affected by motion cable failures.

[0055] The drive control module provided in this application embodiment may include a surgical robot controller and a motor driver. The surgical robot controller receives status information processed by a local data processing module via a data bus and generates control commands based on this status information. The motor driver converts the control commands into joint drive signals for the surgical robot, driving the joints to rotate to a target position. For example, when the surgical robot performs a motion task, it needs to move its joints to the target position corresponding to the task. A sensor module can collect joint position signals and motor position signals in real time. The surgical robot controller determines at least one of the following based on the received status information processed by the local data processing module: the joint position, the motor position, and the motor speed. It compares the received status information with a predetermined standard state and generates joint control commands based on the differences, adjusting the motor speed, joint position, and motor position to ensure the surgical robot joints can move stably and reliably to the target position.

[0056] The position of a surgical robot's joints can be represented by the angle of joint rotation, and the position of a motor can be represented by the angle of motor rotation. For example, the position of a joint can be the angle of rotation of its current position relative to its initial position; the rotation angle can include clockwise and counterclockwise rotation relative to the initial position.

[0057] Figure 2 This is a schematic diagram of a drive control module for a surgical robot provided in an embodiment of this application. The drive control module 1 includes a robot controller 11, a motor driver 12, and a current detection device 13. The robot controller 11 receives state information processed by a local data processing module, compares the received state information with the required target state information, and determines the differences between the state information. Based on the differences between the state information, it generates joint control commands for the surgical robot.

[0058] The motor driver 12 can respond to the joint control commands of the surgical robot and generate corresponding drive voltages according to the joint control commands of the surgical robot to adjust at least one of the speed of the surgical robot joints, the speed of the motor, the position of the surgical robot joints, and the position of the motor.

[0059] For example, the joint control commands of a surgical robot can adjust the position of the joints or motors based on positional differences, including differences in the position of the motors or the joints themselves, so that the joints or motors move to the target position. Alternatively, the joint control commands can adjust the rotational speed of the motors based on speed differences, so that the motors operate at a set rotational speed.

[0060] In this embodiment, the current detection device 13 in the drive control module 1 can be used to detect the magnitude of the drive current output by the motor driver. This current detection device may include current detection devices such as Hall sensors. By detecting the current output by the motor driver through the current detection device 13, the operating status information of the motor can be effectively detected, including changes in the motor's load. The surgical robot controller 11 can adjust the drive voltage output by the motor driver based on the current signal detected by the current detection device 13, thereby enabling the motor to operate more stably and reliably.

[0061] Figure 3This is a schematic diagram of a surgical robot joint provided in an embodiment of this application. The surgical robot joint includes a sensor module 21 and a local data processing module 22. The sensor module 21 may include, for example, a motor position sensor 211, a joint position sensor 212, or may further include a current sensor 213. The current sensor 213 may include a Hall sensor. The current sensor 213 can be used to detect the operating current of the motor to determine the operating state of the motor.

[0062] The local data processing module 22 can be used to combine and process signals from multiple sensors. For example... Figure 3 As shown, multiple transceivers 23 can be used to convert the differential signals collected by the sensor into state information that can be recognized by the local data processing module. The local data processing module then combines and processes the multiple state information according to a predetermined data format. The transceivers 23 can be positioned between the local data processing module and the sensor module to convert the sensing data (such as differential format analog signals) collected by the sensor module into digital signals that can be recognized by the local data processing module.

[0063] In one possible implementation, the transceiver can also be integrated into the local data processing module, which directly converts and combines the received sensor data. By combining and processing multiple status information entries before transmitting them to the drive control module via the data bus, the number of motion cables can be significantly reduced, thereby improving the control accuracy of the surgical robot and enhancing system reliability.

[0064] The position sensors used to detect the position of the motor and the joints of the surgical robot can be either incremental encoders or absolute encoders. Incremental encoders determine position changes by counting the number of pulses during joint or motor rotation. Compared to absolute encoders, incremental encoders are less expensive, but require a reference position to be established at startup. The absolute position of the surgical robot joints or motors is then determined based on the reference position and the number of pulses from the incremental encoder. Absolute encoders can directly obtain the absolute position of the surgical robot joints or motors, but their cost is higher than that of incremental encoders.

[0065] To reduce system costs, embodiments of this application can detect the motor position using an incremental encoder and the joint position using an absolute encoder. Detecting the absolute position of the surgical robot joints with an absolute encoder effectively improves the joint positioning accuracy, while detecting the relative position of the motors with incremental encoders allows for adjustments to the motor positions.

[0066] In the embodiments of this application, the local data processing module can not only combine and process the state information collected by the sensor module 22, but also determine at least one of the following based on the sensor signals collected by the sensor module 22: the joint position of the surgical robot, the position of the motor, the speed of the motor, the speed of the joint of the surgical robot, the acceleration of the motor, and the acceleration of the joint of the surgical robot.

[0067] In possible implementations, the surgical robot in this application embodiment may include two or more joints, each joint outputting processed status information, which can be directly transmitted to the drive control module or indirectly transmitted to the drive control module.

[0068] When the local data processing module transmits the processed status information to the drive control module indirectly, a daisy-chain structure can be used. Multiple local data processing modules are treated as nodes in the daisy chain, connected sequentially according to the joint positions. The daisy-chain structure then sends the processed status information from all local data processing modules to the drive control module. To optimize the connection, the local data processing module of the surgical robot joint closest to the drive control module can be designated as the end of the daisy chain, and the local data processing module of the surgical robot joint farthest from the drive control module can be designated as the beginning of the daisy chain.

[0069] When transmitting processed status information through a daisy-chain structure, the status information can be transmitted step by step according to the positional relationship of the local data processing modules on the daisy chain, until it is transmitted to the end node of the daisy chain. Then, the end node transmits the information to the drive control module outside the joint through the data bus.

[0070] Among the possible implementations, it is not limited to the daisy chain structure. It can also include other different structures that can connect the various local data processing modules to transmit the processed state information, such as the Y-shaped structure, the rice-shaped structure, etc.

[0071] During status information transmission, except for the farthest node, each local data processing module needs to receive status information collected by the sensor module and processed status information transmitted by the previous local data processing module. The collected and received status information are then combined to obtain the processed status information for that local data processing module. The farthest node does not need to receive processed status information from other local data processing modules; therefore, it only needs to combine the status information collected by the sensor module to obtain the processed status information.

[0072] like Figure 4The diagram illustrates a daisy-chain connection structure between a local data processing module and a drive control module, as provided in an embodiment of this application. The surgical robot comprises N joints. Assuming the last node in the daisy chain is backward and the farthest node is forward, the joints in the daisy chain, from front to back, are sequentially the first joint, the second joint, ..., the Nth joint. The Nth joint is connected to the drive control module via a data bus, and the first joint is the farthest node in the daisy chain.

[0073] The first joint includes a first local data processing module. Since there are no other joints in front of it, the first local data processing module can be used to transmit the status information collected by the sensor module at the first joint to the next node, namely the second local data processing module.

[0074] The second local data processing module in the second joint receives the status information transmitted by the first local data processing module, and combines the status information collected by the sensor module in the second joint with the status information transmitted by the first local data processing module to obtain the status information processed by the second local data processing module.

[0075] Following the same method, the third local data processing module in the third joint combines the status information processed by the second local data processing module with the status information collected in the third joint to obtain the processed status information, and sends it to the fourth local data processing module. This process continues until the Nth local data processing module transmits the processed status message to the drive control module outside the joint. In other words, all status information is processed by the combination of local data processing modules on the daisy chain, and only needs to be sent to the control drive module outside the joint through the last local data processing module, i.e., the Nth local data processing module. Compared with the method of sending the information separately by each joint, the number of motion cables can be effectively reduced.

[0076] In addition, such as Figure 4 As shown, the electric motors included in the joints of the surgical robot can be connected to the drive control module, which adjusts the working state of each motor according to the drive voltage output by the drive control module.

[0077] The control drive module in this embodiment can be located in other positions outside the surgical robot, such as in the base of the surgical robot or in the linkage of the surgical robot.

[0078] Figure 5 The following is a detailed flowchart illustrating the implementation of a control method for a surgical robot proposed in this application:

[0079] In S501, the state information of the surgical robot joint is collected by the sensor module inside the joint.

[0080] The status information of the surgical robot may include information such as the position information of the motor inside the joint of the surgical robot, the position information of the joint of the surgical robot, or information such as the current of the motor.

[0081] In S502, the state information of the surgical robot joint is processed by the local data processing module within the surgical robot joint.

[0082] The local data processing module processes the state information of the surgical robot joints, including combining the state information within the surgical robot joint where the local data processing module is located, i.e., the sensor data collected by the sensor module within the surgical robot joint, and combining the state information processed by the local data processing module at the previous position in the daisy chain structure with the state information collected at the current position to obtain the state information processed by the node.

[0083] In S503, the processed status information is sent to the drive control module via a data bus through the local data processing module within the joint of the surgical robot.

[0084] The processed status information can be transmitted step by step through a daisy chain structure until it reaches the last node, which is the last node in the daisy chain. At the last node, the processed status information (including the status information processed by all local data processing modules in the daisy chain structure) is transmitted to the drive control module.

[0085] In S504, the surgical robot joint drive signal is generated from the processed state information by the drive control module outside the surgical robot joint.

[0086] The drive control module may include a surgical robot controller and a motor driver. The surgical robot controller can compare the received status information with the target information to determine the joint control command of the surgical robot. After receiving the joint control command, the drive control module generates the corresponding drive voltage to drive the motor to adjust its status according to the corresponding requirements.

[0087] Figure 5 The control method of the surgical robot shown corresponds to the control system of the surgical robot described above.

[0088] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0089] Figure 6 This is a schematic diagram of a control device for a surgical robot provided in an embodiment of this application. The device includes:

[0090] The status information acquisition unit 601 is used to acquire the status information of the surgical robot joint through the sensor module inside the surgical robot joint.

[0091] Information processing unit 602 is used to process the state information of the surgical robot joint through a local data processing module within the surgical robot joint;

[0092] The information sending unit 603 is used to send the processed status information to the drive control module via a data bus through the local data processing module inside the joint of the surgical robot.

[0093] The drive signal generation unit 604 is used to generate a surgical robot joint drive signal from the processed state information through the drive control module outside the surgical robot joint.

[0094] Figure 6 The control device of the surgical robot shown is Figure 5 The control method of the surgical robot shown corresponds to this.

[0095] This application also provides a surgical robot, which may include the control system of the surgical robot described above. Additionally, Figure 7 This is a schematic diagram of a surgical robot provided in an embodiment of this application. Figure 7 As shown, the surgical robot 7 of this embodiment includes: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as a control program for the surgical robot. When the processor 70 executes the computer program 72, it implements the steps in the control method embodiments of the various surgical robots described above. Alternatively, when the processor 70 executes the computer program 72, it implements the functions of each module / unit in the various device embodiments described above.

[0096] For example, the computer program 72 may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 72 in the surgical robot 7.

[0097] The surgical robot 7 can be a desktop computer, laptop, handheld computer, or cloud server, etc. The surgical robot may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will understand that... Figure 7This is merely an example of a surgical robot 7 and does not constitute a limitation on the surgical robot 7. It may include more or fewer components than shown, or combine certain components, or different components. For example, the surgical robot may also include input / output devices, network access devices, buses, etc.

[0098] The processor 70 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0099] The memory 71 can be an internal storage unit of the surgical robot 7, such as a hard drive or memory of the surgical robot 7. The memory 71 can also be an external storage device of the surgical robot 7, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the surgical robot 7. Furthermore, the memory 71 can include both internal storage units and external storage devices of the surgical robot 7. The memory 71 is used to store the computer program and other programs and data required by the surgical robot. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0100] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0101] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0102] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0106] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0107] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A surgical robot control system, characterized in that, include: Drive control module and multiple surgical robot joints; The surgical robot joint includes a sensor module and a local data processing module; The sensor module is used to collect the status information of the joints of the surgical robot; The local data processing module is used to process the state information of the surgical robot joints and send the processed state information to the drive control module through the data bus. The drive control module is used to generate joint drive signals for the surgical robot based on the state information processed by the local data processing module.

2. The surgical robot control system according to claim 1, characterized in that, The local data processing modules of the multiple surgical robot joints are connected by a daisy chain structure, and the status information processed by the local data processing modules of all surgical robot joints is sent to the drive control module through the daisy chain structure.

3. The surgical robot control system according to claim 2, characterized in that, The local data processing module is used to send the status information of all robot joints on the data bus after processing by the local data module to the drive control module, including: Based on the positional relationship of the local data processing module on the daisy chain, the status information processed by the local data processing module is transmitted step by step until it reaches the end node of the daisy chain. The processed status information is then sent to the drive control module via the data bus through the end node.

4. The surgical robot control system according to claim 3, characterized in that, Based on the positional relationship of the local data processing module on the daisy chain, the processed status information of the local data processing module is transmitted step by step until it reaches the end node of the daisy chain. The processed status information is then sent to the drive control module via the data bus through the end node, including: According to the order of the local data processing modules on the daisy chain, when there is no local data processing module at the previous position, the sensor data of the surgical robot joint where the local data processing module at the current position is located is combined and processed to obtain the combined data processed by the local data processing module at the current position, and the combined data is transmitted to the next node on the daisy chain. When there is a local data processing module at the previous position, the combined data processed by the local data processing module at the previous position is combined with the sensor data of the surgical robot joint where the local data processing module at the current position is located, to obtain the combined data processed by the local data processing module at the current position. The combined data is then sent to the next node on the daisy chain until the local data processing module at the current position is at the end of the daisy chain. At the end of the daisy chain, the combined data is transmitted to the drive control module through the local data processing module at the end.

5. The surgical robot control system according to claim 1, characterized in that, The drive control module includes a surgical robot controller and a motor driver; The drive control module is used to generate joint drive signals based on the state information processed by the local data processing module, including: The surgical robot controller generates joint control commands for the surgical robot based on the status information processed by the local data processing module, and the motor driver generates joint drive signals for the surgical robot based on the control commands.

6. The surgical robot control system according to claim 1, characterized in that, The sensor module includes at least one of a motor speed sensor, a motor position sensor, and a joint position sensor.

7. The surgical robot control system according to claim 6, characterized in that, The motor position sensor is an incremental encoder, and the joint position sensor is an absolute encoder.

8. The surgical robot control system according to claim 6, characterized in that, The local data processing module is used to process the state information of the surgical robot joints, including: The local data processing module is used to receive motor position signals and joint position signals via a transceiver, and to perform at least one of the following processes based on the signals received by the transceiver: determining the motor speed, motor acceleration, and motor position based on the motor position signals, and determining the position, speed, and acceleration of the surgical robot joints based on the joint position signals.

9. The surgical robot control system according to any one of claims 1-8, characterized in that, The drive control module is located in the base or linkage of the surgical robot.

10. A surgical robot, characterized in that, The surgical robot includes the surgical robot control system according to any one of claims 1-9.

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