Distribution box for transurethral and vaginal rigid endoscopic surgical robot

Abstract

A power distribution box of a transurethral and vaginal rigid endoscopic surgical robot comprises eight external interfaces and five internal modules, wherein the eight external interfaces are one power input interface, two RJ45 interfaces, one DB9 interface, one 7P interface, one 9P interface, one 12P interface and one 14P interface; the five modules are a plugging terminal strip, an Ether CAT, a switching power supply, an Elmo driver and a relay. The application of the electrical control box brings excellent technical effects of improving energy efficiency, enhancing working efficiency, improving safety, facilitating maintenance and management and the like, and provides powerful guarantee for stable operation and long-term reliability of equipment.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and specifically relates to a distribution box for a transurethral and transvaginal rigid endoscopic surgical robot. Background Art

[0002] In recent years, single-arm surgical robots have been widely used around the world, covering many disciplines.

[0003] As a single-arm surgical robot for medical purposes, in addition to ensuring the normal use of its basic functions, safety during operation is particularly important.

[0004] For safety, the large and complex electrical components are an important part that cannot be ignored. Among them, the electrical control box, which serves as the energy and communication hub of the surgical robot, is of utmost importance.

[0005] Prior to this application, the common practice in the art was to use a huge number of cables to connect circuits. In the absence of an electrical control box, numerous cables are stacked together in a disorderly manner, which not only makes the interior of the equipment look messy, but more importantly, this chaotic wiring method is very likely to cause electrical line failures. The interweaving and entanglement of cables makes daily maintenance and repair extremely difficult, and once a fault occurs, it is difficult to quickly locate and repair it. Utility Model Content

[0006] The introduction of the electrical control box of this application has completely changed this situation. It provides a centralized and orderly wiring environment, and all cables and lines are neatly stored in the control box, which not only makes the interior of the equipment look neater, but more importantly, this orderly wiring method greatly reduces the risk of electrical line failure. At the same time, since the cables and lines are centrally managed, daily maintenance and repairs have become simpler and more efficient.

[0007] Therefore, the application of electrical control boxes not only improves the aesthetics of the equipment, but more importantly, it greatly enhances the safety and reliability of the equipment, providing a strong guarantee for the long-term stable operation of the equipment.

[0008] In order to ensure the safe and stable operation of the surgical robot, the design of the electrical control box must be serious and rigorous. It is necessary to ensure that the layout of the internal components is reasonable and the wiring is simple, and the stable operation of the electrical system is guaranteed. This application proposes a transurethral and vaginal rigid endoscopic surgical robot distribution box. The application of this electrical control box not only optimizes the wiring and organization inside the equipment, but also brings a number of excellent technical effects. By introducing the electrical control box, the interior of the equipment of this application has achieved significant cleanliness and safety improvements.

[0009] The utility model provides a transurethral and vaginal rigid endoscopic surgical robot distribution box, which includes eight external interfaces and five internal modules. The eight external interfaces are: 1 power input interface, 2 RJ45 interfaces, 1 DB9 interface, 1 7P interface, 1 9P interface, 1 12P interface, and 1 14P interface; the five modules are: a plug-in terminal block, an Ether CAT, a switching power supply, an Elmo driver, and a relay.

[0010] According to one embodiment of the utility model, for example, the power input interface is one, serving as the total power supply of the electrical control box, and the working voltage is AC220V; the power input interface is connected to the input of the switching power supply inside the distribution box.

[0011] According to an implementation mode of the present invention, for example, the switching power supply is responsible for switching the entire circuit on and off, and each of the internal neutral and live wires is equipped with a fuse.

[0012] According to one embodiment of the utility model, for example, the plug-in terminal block is used to transfer the 24V output of the switching power supply, and the terminal block is electrically connected to the Elmo driver, the relay, and the Ether CAT module respectively, and supplies power to them.

[0013] According to an implementation of the utility model, for example, there are two RJ45 interfaces, wherein the first RJ45 interface is a network port communication, and the communication protocol is Ether CAT communication; the slave end mechanical arm chassis is connected to the Ether CAT module through the first RJ45 interface;

[0014] The second RJ45 interface is a spare interface, reserving a line channel for subsequent product upgrades.

[0015] According to one embodiment of the utility model, for example, the internal protocol of the DB9 interface is RS-232, the DB9 interface communicates with the motor encoder of the end effector externally and with the Elmo driver internally, forming a complete circuit loop with the J3-14P interface to realize the movement of the end effector motor, thereby driving the movement of the endoscopic electrosurgical resection device.

[0016] According to one embodiment of the present invention, for example, the 12P interface configuration provides a stable path for the Elmo drive, which is a high-performance servo drive.

[0017] According to one embodiment of the utility model, for example, the 12P interface is connected to the foot pedal, drag, and one-key self-test button to ensure the normal operation of the corresponding function;

[0018] The 7P interface transfers 24V power through the plug-in terminal block to provide working voltage and current for the end effector motor;

[0019] The 9P interface is connected to a 24V power supply and is used as a backup power supply line, which is an effective safeguard against system power failure.

[0020] First, in terms of energy efficiency, the electrical control box realizes effective energy management. It can realize intelligent energy distribution and regulation through the layout and routing of built-in electrical components, thereby improving the energy utilization efficiency of the equipment and reducing unnecessary energy consumption.

[0021] Secondly, the electrical control box improves the working efficiency of the equipment. Since all cables and lines are neatly stored in the control box, the electrical system of the equipment is more stable and reliable, thus reducing equipment failures caused by chaotic lines. In addition, the electrical control box can also monitor the working status of the equipment through the operating indicator light, making it convenient for staff to detect the system status.

[0022] Thirdly, the electrical control box enhances the safety of the equipment. By centrally managing and controlling the electrical system, the electrical control box can monitor the operating status of the equipment in real time, and promptly detect and deal with potential electrical safety hazards. In addition, it can also be equipped with safety functions such as overload protection and short circuit protection to ensure that the equipment can be safely shut down under abnormal conditions to avoid equipment damage and personal injury.

[0023] Finally, the electrical control box also facilitates the maintenance and management of equipment. By simplifying cable wiring and centralized control, it makes the daily maintenance and overhaul of equipment simpler and more efficient. Maintenance personnel can quickly locate and repair equipment failures through inspection and operation of the electrical control box, reduce equipment downtime, and improve equipment maintenance efficiency.

[0024] In summary, the application of electrical control boxes has brought about excellent technical effects in many aspects, such as improved energy efficiency, enhanced work efficiency, improved safety, and convenient maintenance and management, providing a strong guarantee for the stable operation and long-term reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a component layout diagram of a power distribution box for a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model.

[0026] Figure 2 It is a schematic diagram of an electrical controller of a power distribution box of a transurethral and transvaginal rigid endoscopic surgical robot provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0027] Figure 1 This is a layout diagram of the components of the power distribution box of the transurethral and transvaginal rigid endoscopic surgical robot provided by the present utility model. Figure 1As shown, the distribution box includes eight external interfaces and five internal modules. The eight external interfaces are: 1 power input interface, 2 RJ45 interfaces, 1 DB9 interface, 1 7P interface, 1 9P interface, 1 12P interface, and 1 14P interface; the five modules are: plug-in terminal block, Ether CAT, switching power supply, Elmo driver, and relay. They realize the structural composition of the entire distribution box.

[0028] There is one power input interface, which is used as the main power supply of the electrical control box, and the working voltage is AC220V. The power input interface is connected to the input of the switch power supply inside the distribution box.

[0029] The power switch is responsible for turning the entire circuit on and off. The internal neutral and live wires are each equipped with a fuse, which can effectively prevent overcurrent and overvoltage in the input circuit, thus playing a role in protecting the circuit.

[0030] The main function of the plug-in terminal block is to transfer the 24V output of the switching power supply. The terminal blocks are used to power modules such as Elmo drivers, relays, and Ether CAT.

[0031] In this way, the regularity and rationality of line wiring can be ensured, and the power supply independence between modules can be ensured, thus avoiding the situation where a single module failure causes the failure of the entire electrical control box and increasing the system's risk resistance.

[0032] There are two RJ45 interfaces. The first RJ45 interface is for network communication, and the communication protocol is Ether CAT communication. The slave-end robot chassis is connected to the Ether CAT module through the first RJ45 interface. As the most important communication hub of the entire surgical robot, it ensures smooth communication between the master-end operating handle and the slave-end robot, and realizes the master-slave control of the surgical robot.

[0033] The second RJ45 interface is a spare interface, reserving a line channel for subsequent product upgrades.

[0034] The internal protocol of the DB9 interface is RS-232. The interface communicates with the motor encoder of the end effector externally and with the Elmo driver internally, forming a complete circuit loop with the J3-14P interface to realize the movement of the end effector motor, thereby driving the movement of the endoscopic electrosurgical device to achieve the removal of the patient's lesion. As one of the most important communication circuits of the entire surgical robot, the DB9 interface also has the highest requirements for the stability of the electrical system.

[0035] The DB9 interface is a common serial communication interface, which is widely used for data transmission between computers and external devices. Its structural features are as follows:

[0036] 1. Physical structure: The DB9 interface adopts a D-shaped design, with 9 pins arranged in two rows. This design makes the DB9 interface have good mechanical stability and protection performance, and is suitable for various industrial and communication equipment.

[0037] 2. Pin function: Each pin of the DB9 interface has a specific function, such as data carrier detect (DCD), receive data (RXD), transmit data (TXD), etc. The existence of these pins enables the DB9 interface to achieve a variety of functions, including data transmission, device status detection, etc.

[0038] The DB9 interface can meet the requirements of ensuring the stability of the electrical system, mainly due to the following advantages:

[0039] 1. Stable data transmission: DB9 interface supports a variety of serial communication protocols, such as RS-232, RS-422 and RS-485, which have different requirements in terms of data transmission speed, distance and reliability. Through different pin connection methods and electrical characteristics, DB9 interface can adapt to different communication requirements and ensure high-speed data transmission and reliability.

[0040] 2. Wide compatibility: DB9 interface is a universal interface standard, which is supported by many computers and external devices. This wide application and compatibility ensures the interconnection between different devices, allowing users to easily connect and use various devices.

[0041] 3. Easy to expand and maintain: The design of the DB9 interface is simple and clear. Users only need to insert the plug into the interface to complete the connection. In addition, the DB9 interface also supports a variety of expansion modules and adapters to meet the connection requirements between different devices, improving the flexibility and scalability of the interface. This easy expansion and maintenance feature helps reduce the maintenance cost of the system and improve the stability of the system.

[0042] The main function of the 12P interface is to provide a stable path for the Elmo drive, which is a high-performance servo drive that provides a wide range of applications for motion control solutions. The Elmo drive has the following main functions:

[0043] 1. Motion control: Elmo drivers are mainly used to control the output torque of the motor, thereby achieving precise control of the output torque of the flexible joint. This includes position following, speed feedback, current control and other control methods.

[0044] 2. Advanced control algorithm: Elmo drive has built-in advanced servo control algorithm, which can achieve ultra-high motion control accuracy and response speed. It provides precise EtherCAT network control, with faster cycle time, higher coordination, and near zero latency.

[0045] 3. Communication and interface: Elmo actuator supports a variety of communication interfaces, such as CAN fieldbus and RS232 communication interface, which can easily connect and communicate with various sensors and actuators. In addition, it also supports a variety of different sensor signals, allowing the actuator to flexibly adapt to different application scenarios.

[0046] 4. Safety and protection: Elmo driver has perfect safety protection function. It can process instructions and provide power output to the motor through the internal chip, and it also has current feedback function and protection device to prevent the motor from being damaged by excessive current. In addition, it also provides emergency stop function, which can quickly cut off the power supply in an emergency to protect the safety of equipment and personnel.

[0047] 5. Synchronization and coordination: Elmo drives support multiple feedback modes, including primary feedback control and auxiliary feedback control, which can realize synchronous feedback control of different types of motors. At the same time, it also supports the simultaneous operation of multiple feedback signals, such as two absolute encoders working at the same time, which improves the coordination and stability of the system.

[0048] 6. Scalability and flexibility: Elmo drives are designed with multiple I / O reserved interfaces, which not only support the implementation of existing functions, but also facilitate users to develop secondary functions. This makes the drive highly scalable and flexible, and can adapt to different application requirements.

[0049] In short, Elmo drive is a powerful and excellent servo drive with the characteristics of high precision, high response and high safety. It is widely used in industrial automation, robotics, aerospace and other fields.

[0050] In addition, the 12P interface is connected to the foot pedal, drag, and one-touch self-test button to ensure the normal operation of the corresponding functions.

[0051] The 7P interface transfers the 24V power supply through the plug-in terminal block to provide the working voltage and current for the end effector motor.

[0052] The 9P interface is connected to a 24V power supply and is used as a backup power supply line, which is an effective safeguard against system power failure.

[0053] System innovations:

[0054] This device realizes the transmission function of signals or power supply through a variety of different interfaces. It not only realizes physical anti-misconnection and effectively prevents the wrong connection of interfaces, but also realizes the functional division of different modules to ensure that each module will not be affected by each other.

[0055] In this way, the purpose of intuitive and concise system wiring is achieved, and the risk resistance of the electrical system is increased, ensuring the stability of the electrical system.

Claims

1. A power distribution box for a transurethral and transvaginal rigid endoscopic surgical robot, characterized in that: The power distribution box of the transurethral and vaginal rigid endoscopic surgical robot includes eight external interfaces and five internal modules. The eight external interfaces are: 1 power input interface, 2 RJ45 interfaces, 1 DB9 interface, 1 7P interface, 1 9P interface, 1 12P interface, and 1 14P interface; the five modules are: a plug-in terminal block, an Ether CAT, a switching power supply, an Elmo driver, and a relay. The power input interface is 1, which serves as the main power supply of the electrical control box, and the working voltage is AC220V; the power input interface is connected to the input of the switching power supply inside the distribution box; The switching power supply is responsible for switching the entire circuit on and off, and each of the internal neutral and live wires is equipped with a fuse; The plug-in terminal block is used to transfer the 24V output of the switching power supply. The terminal block is electrically connected to the Elmo driver, relay, and Ether CAT module, and supplies power to them; There are two RJ45 interfaces, of which the first RJ45 interface is for network communication, and the communication protocol is Ether CAT communication; the slave end robot arm chassis is connected to the Ether CAT module through the first RJ45 interface; The second RJ45 interface is a spare interface, which reserves a line channel for subsequent product upgrades; The internal protocol of the DB9 interface is RS-232. The DB9 interface communicates with the motor encoder of the end effector externally and with the Elmo driver internally, forming a complete circuit loop with the J3-14P interface to realize the movement of the end effector motor and then drive the movement of the endoscopic electrosurgical device.

2. The power distribution box of the transurethral and transvaginal rigid endoscopic surgical robot according to claim 1, characterized in that: The 12P interface configuration provides a stable path for the Elmo drive, which is a high-performance servo drive.

3. The power distribution box of the transurethral and transvaginal rigid endoscopic surgical robot according to claim 1, characterized in that: The 12P interface is connected to the foot pedal, drag, and one-touch self-check button to ensure the normal operation of the corresponding functions; The 7P interface transfers 24V power through the plug-in terminal block to provide working voltage and current for the end effector motor; The 9P interface is connected to a 24V power supply and is used as a backup power supply line, which is an effective safeguard against system power failure.

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