Automatic bleeder circuit and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses an automatic bleeder circuit and a surgical robot system. The automatic bleeder circuit comprises a first voltage-regulator tube and a bleeder circuit. The input end of the first voltage-regulator tube is connected with the bus circuit and used for detecting bus voltage and outputting a driving signal at the output end in response to the fact that the bus voltage exceeds a threshold value. The bleeder circuit is connected with the bus circuit, the bleeder circuit comprises a first bleeder resistor and a switching device, and the switching device is connected with the first bleeder resistor, is connected with the output end of the first voltage-regulator tube and is used for conducting the bleeder circuit under the driving of a driving signal of the first voltage-regulator tube.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular, to an automatic discharge circuit and a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical form that has gradually developed and been widely used in recent years. It has advantages such as small incisions, greatly reducing the patient's recovery time, discomfort experience, and postoperative side effects. Performing laparoscopic surgery, especially single-port laparoscopic surgery, through a surgical robot can optimize the surgical form through computer remote control technology.

[0003] The surgical robot includes a robotic arm. After the robotic arm stops operating, the motor of the robotic arm will generate an induced electromotive force. The induced electromotive force is superimposed on the motor, which may generate an excessive voltage and trigger the overvoltage protection of the motor driver, resulting in the motor being unable to work properly, thereby possibly having an adverse impact on the ongoing surgery. Utility Model Content

[0004] In some embodiments, the present disclosure provides an automatic discharge circuit, including:

[0005] A first zener diode, the input end of the first zener diode is connected to the bus circuit, for detecting the bus voltage and outputting a driving signal at the output end in response to the bus voltage exceeding a threshold;

[0006] A discharge line, the discharge line is connected to the bus circuit, and the discharge line includes:

[0007] A first discharge resistor; and

[0008] A switching device, connected to the first discharge resistor and the output end of the first zener diode, for conducting the discharge line under the drive of the driving signal of the first zener diode.

[0009] In some embodiments, the switching device includes a field effect transistor, the gate of the field effect transistor is connected to the output end of the first zener diode, the source of the field effect transistor is grounded, the first end of the first discharge resistor is connected to the bus circuit, and the second end of the first discharge resistor is connected to the drain of the field effect transistor.

[0010] In some embodiments, the automatic discharge circuit further includes:

[0011] A comparator, the first input end of the comparator is connected to the output end of the first zener diode, the second input end of the comparator is connected to a reference voltage, and the output end of the comparator is connected to the gate of the field effect transistor.

[0012] In some embodiments, the automatic discharge circuit further includes:

[0013] The first filtering resistor, the first end of the first filtering resistor is connected to the output end of the first voltage stabilizing diode, and the second end of the first filtering resistor is connected to the first input end of the comparator; and

[0014] The first filtering capacitor, the first end of the first filtering capacitor is connected between the second end of the first filtering resistor and the first input end of the comparator, and the second end of the first filtering capacitor is grounded.

[0015] In some embodiments, the automatic discharge circuit further includes:

[0016] The second voltage stabilizing diode, the input end of the second voltage stabilizing diode is connected between the second end of the first filtering resistor and the first input end of the comparator, and the output end of the second voltage stabilizing diode is grounded.

[0017] In some embodiments, the automatic discharge circuit further includes:

[0018] The second discharge resistor, the first end of the second discharge resistor is connected between the first filtering resistor and the first input end of the comparator, and the second end of the second discharge resistor is grounded.

[0019] In some embodiments, the automatic discharge circuit further includes:

[0020] The second filtering resistor, the first end of the second filtering resistor is connected to the second end of the first filtering resistor, and the second end of the second filtering resistor is connected to the first input end of the comparator; and

[0021] The second filtering capacitor, the first end of the second filtering capacitor is connected between the second end of the second filtering resistor and the first input end of the comparator, and the second end of the second filtering capacitor is grounded.

[0022] In some embodiments, the automatic discharge circuit further includes:

[0023] The third voltage stabilizing diode, the input end of the third voltage stabilizing diode is connected between the second end of the second filtering resistor and the first input end of the comparator, and the output end of the third voltage stabilizing diode is grounded.

[0024] In some embodiments, the automatic discharge circuit further includes:

[0025] The third filtering resistor, the first end of the third filtering resistor is connected to the output end of the comparator, and the second end of the third filtering resistor is connected to the gate of the field effect transistor; and

[0026] The third filtering capacitor, the first end of the third filtering capacitor is connected between the second end of the third filtering resistor and the gate of the field effect transistor, and the second end of the third filtering capacitor is grounded.

[0027] In some embodiments, the automatic discharge circuit further includes:

[0028] The TVS tube has its input terminal connected between the drain of the field effect transistor and the second terminal of the first discharge resistor, and its output terminal is grounded.

[0029] In some embodiments, the automatic discharge circuit further includes:

[0030] A fuse, with its first terminal connected to the bus circuit and its second terminal connected to the first terminal of the first discharge resistor.

[0031] In some embodiments, the automatic discharge circuit further includes:

[0032] A pull-down resistor, with its first terminal connected between the output terminal of the first voltage regulator tube and the first terminal of the first filter resistor, and its second terminal grounded.

[0033] In some embodiments, the present disclosure also provides a surgical robot system, including:

[0034] A surgical trolley, including at least one robotic arm; and

[0035] A main control trolley, communicatively connected to the surgical trolley, the main control trolley including at least one main operator for receiving operations from a user;

[0036] At least one power supply circuit for supplying power to at least one robotic arm and / or at least one main operator, and at least one power supply circuit may include an automatic discharge circuit according to any one of some embodiments of the present disclosure.

[0037] Some embodiments of the present disclosure have one or more of the following technical effects: When the bus voltage exceeds the threshold, under the drive of the drive signal output by the first voltage regulator tube, the bus voltage can automatically connect the discharge line, so that the excessive voltage can be discharged through the discharge line; it is beneficial to avoid the motor of the surgical robot system from failing to work properly due to excessive voltage in the motor circuit, and helps to improve the stability of the overall circuit operation; the automatic discharge circuit may include a first filter resistor, a first filter capacitor, a second filter resistor, and a second filter capacitor, so as to be able to discharge the bus voltage for a long time; the second voltage regulator tube can stabilize the voltage at the connection point between the second terminal of the first filter resistor and the first input terminal of the comparator at the rated voltage of the second voltage regulator tube, thus helping to avoid damage to the first filter capacitor due to excessive voltage; the third voltage regulator tube can stabilize the voltage at the connection point between the second terminal of the second filter resistor and the first input terminal of the comparator at the rated voltage of the third voltage regulator tube, thus helping to avoid damage to the comparator due to excessive input voltage of the comparator. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present disclosure. The accompanying drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can also be obtained based on the content of the embodiments of the present disclosure and these drawings.

[0039] Figure 1 The structural schematic diagram of an automatic discharge circuit according to some embodiments of the present disclosure is shown;

[0040] Figure 2 The schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0041] List of reference numerals:

[0042] 100, automatic discharge circuit; Z1, first voltage regulator diode; RB, first discharge resistor; Q1, field effect transistor; CMP, comparator; R1, first filter resistor; C1, first filter capacitor; Z2, second voltage regulator diode; Rx, second discharge resistor; R2, second filter resistor; C2, second filter capacitor; Z3, third voltage regulator diode; R3, third filter resistor; C3, third filter capacitor; Z4, TVS diode; F1, fuse; Rdn, pull-down resistor; Rup, pull-up resistor; Rr1, first reference resistor; Rr2, second reference resistor; Cr, reference capacitor;

[0043] 200, surgical robot system; 210, main control cart; 211, main operating device; 212, main control cart body; 220, surgical cart; 221, robotic arm; 222, surgical instrument; 223, surgical cart body. Detailed implementation manners

[0044] To make the technical problems solved by the present disclosure, the technical solutions adopted and the achieved technical effects clearer, the following will further describe in detail the technical solutions of the embodiments of the present disclosure with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0045] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "couple" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

[0047] In the present disclosure, one end close to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end or rear part, and the end opposite to the proximal end, proximal part, rear end or rear part is defined as the distal end, distal part, front end or front part. Alternatively, one end close to the operated object (such as a surgical patient) is defined as the distal end, distal part, front end or front part, and the end opposite to the distal end, distal part, front end or front part is defined as the proximal end, proximal part, rear end or rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0048] Some embodiments of the present disclosure provide an automatic discharge circuit. The automatic discharge circuit can be used in a surgical robot system. The surgical robot system can be any suitable surgical robot system including a laparoscopic surgical robot system. Figure 1 The structural schematic diagram of an automatic discharge circuit 100 according to some embodiments of the present disclosure is shown. The automatic discharge circuit 100 can include a first voltage stabilizing diode Z1 and a discharge line.

[0049] Those skilled in the art can understand that a voltage stabilizing diode is a semiconductor device and can include a zener diode. When the reverse voltage is lower than the reverse breakdown voltage of the voltage stabilizing diode, the reverse resistance of the voltage stabilizing diode is very large, and the voltage stabilizing diode in the circuit is equivalent to an open circuit; when the reverse voltage approaches the reverse breakdown voltage of the voltage stabilizing diode, the voltage stabilizing diode is broken down, and the reverse resistance of the voltage stabilizing diode can suddenly drop to a very small value and thus conduct; when the reverse voltage exceeds the reverse breakdown voltage of the voltage stabilizing diode, the voltage stabilizing diode can work in a broken-down state and can stabilize the voltage across the voltage stabilizing diode near the reverse breakdown voltage. In addition, the reverse breakdown of the voltage stabilizing diode is reversible. After the reverse voltage drops below the reverse breakdown voltage, the voltage stabilizing diode can restore the cut-off state with a very large reverse resistance value.

[0050] The input terminal of the first voltage regulator Z1 can be connected to the bus circuit (not shown in the figure, such as the bus voltage line in the bus circuit), and the first voltage regulator Z1 can be used to detect the bus voltage Vm and output a drive signal at the output terminal in response to the bus voltage exceeding a threshold value. Those skilled in the art can understand that the input terminal of the first voltage regulator Z1 is the negative electrode of the first voltage regulator Z1, and the output terminal of the first voltage regulator Z1 is the positive electrode of the first voltage regulator Z1. The bus voltage Vm can be the output voltage of the bus circuit.

[0051] In some embodiments, the threshold value of the bus voltage can be set based on the voltage threshold value for starting overvoltage protection of the motor driver (such as the motor driver of the motor of the robotic arm of the surgical robot system) to prevent the motor driver from automatically starting overvoltage protection and causing the motor to malfunction. For example, when the voltage threshold value for the motor driver to start overvoltage protection is 80V, the threshold value of the bus voltage can be set to a value lower than 80V, such as 60V. In some embodiments, the reverse breakdown voltage of the first voltage regulator Z1 can be less than or equal to the threshold value of the bus voltage, so that the first voltage regulator Z1 can respond when the bus voltage Vm exceeds the threshold value. When the bus voltage Vm exceeds the threshold value, the first voltage regulator Z1 is reversely broken down, and thus a drive signal can be output at the output terminal.

[0052] Those skilled in the art can understand that the drive signal output by the first voltage regulator Z1 can include a current signal, a voltage signal, etc. For example, the drive signal is a voltage signal with a magnitude equal to the threshold value of the bus voltage Vm. The drive signal can be directly transmitted to the switching device or transmitted to the switching device after being processed.

[0053] The discharge line can be connected to the bus circuit. The discharge line can include a first discharge resistor RB and a switching device. The switching device can be connected to the first discharge resistor RB and to the output terminal of the first voltage regulator Z1. The switching device can be used to conduct the discharge line under the drive of the drive signal of the first voltage regulator Z1. Those skilled in the art can understand that the switching device can be conducted under the drive of the drive signal of the first voltage regulator Z1, thereby conducting the discharge line. When the discharge line is conducted, the charge in the bus circuit can be discharged through the first discharge resistor RB. The first discharge resistor RB can include a braking resistor, and the braking resistor can help the motor (such as the motor of the robotic arm in the surgical robot system) convert the regenerative electric energy generated by its rapid braking into heat.

[0054] Based on this, when the bus voltage Vm exceeds the threshold value, the first voltage regulator Z1 can output a driving signal, and the switching device can be turned on under the drive of the driving signal to discharge the line. Thus, the charge in the bus line can be discharged through the first discharge resistor RB. This can prevent the voltage in the bus circuit from rising too high, which may cause the motor driver to activate overvoltage protection and affect the subsequent normal operation of the motor. Those skilled in the art can understand that when the bus voltage Vm does not exceed the threshold value, the first voltage regulator Z1 is cut off and the discharge line is open.

[0055] In some embodiments, the switching device may include a field effect transistor Q1. As Figure 1 shown, the gate G of the field effect transistor Q1 can be connected to the output terminal of the first voltage regulator Z1, the source S of the field effect transistor Q1 can be grounded (GND), and the drain D of the field effect transistor Q1 can be connected to the first discharge resistor RB. The first end of the first discharge resistor RB can be connected to the bus circuit, and the second end of the first discharge resistor RB can be connected to the drain D of the field effect transistor Q1. Based on this, the driving signal output by the first voltage regulator Z1 can drive the field effect transistor Q1 through the gate G of the field effect transistor Q1, the field effect transistor Q1 can be turned on, and the current in the discharge line 100 can flow from the drain D to the source S of the field effect transistor Q1. A path can be formed between the second end of the first discharge resistor RB and the ground. Based on this, the discharge line is turned on, and the charge in the bus circuit can thus be discharged through the discharge line.

[0056] In some embodiments, as Figure 1 shown, the field effect transistor Q1 can be an N-type MOS transistor. Those skilled in the art can understand that the switching device is not limited to a field effect transistor and can also include any suitable semiconductor device or a combination of a semiconductor device and other types of devices, etc.

[0057] In some embodiments, the automatic discharge circuit 100 may further include a comparator CMP. As Figure 1 shown, the first input terminal of the comparator CMP can be connected to the output terminal of the first voltage regulator Z1, the second input terminal of the comparator CMP can be connected to a reference voltage, and the output terminal of the comparator can be connected to the gate G of the field effect transistor Q1. The first input terminal of the comparator CMP can receive the driving signal output by the output terminal of the first voltage regulator Z1.

[0058] Those skilled in the art can understand that connecting the second input terminal to a reference voltage may mean that the second input terminal is connected to a reference voltage circuit, and the voltage received by the second input terminal is the reference voltage. As Figure 1As shown, in some embodiments, the reference voltage circuit may include a first reference resistor Rr1, a second reference resistor Rr2, and a reference capacitor Cr. The input voltage of the reference voltage circuit is V2. The first end of the first reference resistor Rr1 is connected to the input voltage V2, the second end of the first reference resistor Rr1 is connected to the first end of the second reference resistor Rr2, the second end of the second reference resistor Rr2 is grounded, the first end of the reference capacitor Cr is connected between the input voltage V2 and the first end of the first reference resistor Rr1, and the second end of the reference capacitor Cr is connected between the second end of the second reference resistor Rr2 and the ground.

[0059] In some embodiments, the drive signal output by the first voltage regulator Z1 may be a voltage signal with a magnitude equal to the threshold value of the bus voltage Vm. In some embodiments, the reference voltage may be slightly less than the threshold value of the bus voltage Vm. The parameters of the input voltage V2, the reference capacitor Cr, the first reference resistor Rr1, and the second reference resistor Rr2 may be determined based on the reference voltage so that the voltage between the first reference resistor Rr1 and the second reference resistor Rr2 is the reference voltage. Based on this, when the bus voltage Vm rises from not higher than the threshold value to higher than the threshold value, the voltage of the input signal at the first input terminal of the comparator CMP will rise from lower than the reference voltage to higher than the reference voltage, and thus the output signal of the comparator CMP will change. Based on this, the output signal of the changed comparator CMP is transmitted to the gate G of the field effect transistor Q1, which can turn on the field effect transistor Q1 and thus turn on the discharge circuit.

[0060] In some embodiments, the first input terminal of the comparator CMP is the positive input terminal of the comparator CMP, and the second input terminal is the negative input terminal of the comparator CMP. Based on this, when the drive signal received at the first input terminal of the comparator CMP is higher than the reference voltage received at the second input terminal, the comparator CMP can output a high-level signal to drive the discharge circuit to turn on.

[0061] In some embodiments, the automatic discharge circuit 100 may further include a pull-up resistor Rup provided at the output terminal of the comparator CMP. As Figure 1 shown, the first end of the pull-up resistor Rup may be connected to the input voltage V1, and the second end of the pull-up resistor Rup may be connected between the output terminal of the comparator CMP and the gate G of the field effect transistor Q1. Those skilled in the art can understand that providing a pull-up resistor Rup at the output terminal of the comparator CMP helps to improve the driving ability of the output terminal of the comparator CMP.

[0062] Those skilled in the art can understand that the comparator CMP is not an essential component. In some embodiments, the automatic discharge circuit 100 may not include the comparator CMP, and the field effect transistor Q1 may be directly driven by the drive signal output by the first voltage regulator Z1.

[0063] In some embodiments, the drive signal output by the first voltage regulator Z1 can be processed (such as filtering) before being transmitted to the comparator CMP. In some embodiments, the automatic discharge circuit 100 may further include a first filter resistor R1 and a first filter capacitor C1. As Figure 1 shown, the first end of the first filter resistor R1 can be connected to the output end of the first voltage regulator Z1, and the second end of the first filter resistor R1 can be connected to the first input end of the comparator CMP. The first end of the first filter capacitor C1 can be connected between the second end of the first filter resistor R1 and the first input end of the comparator CMP, and the second end of the first filter capacitor C1 can be grounded. Those skilled in the art can understand that the first filter resistor R1 and the first filter capacitor C1 can form an RC filter circuit, thereby filtering the drive signal output by the first voltage regulator Z1, filtering out high-frequency noise in the drive signal, and retaining the effective low-frequency signal in the drive signal.

[0064] In some embodiments, the automatic discharge circuit 100 may further include a second voltage regulator Z2. As Figure 1 shown, the input end of the second voltage regulator Z2 is connected between the second end of the first filter resistor R1 and the first input end of the comparator CMP, and the output end of the second voltage regulator Z2 is grounded. In some embodiments, the reverse breakdown voltage of the second voltage regulator Z2 can be less than the reverse breakdown voltage of the first voltage regulator Z1. Based on this, when the first voltage regulator Z1 outputs a drive signal, the second voltage regulator Z2 can conduct and stabilize the voltage across its two ends at its reverse breakdown voltage, thereby achieving voltage reduction and avoiding damage to the subsequent devices caused by excessive voltage. In some embodiments, the reverse breakdown voltage of the second voltage regulator Z2 can be less than the rated voltage of the first filter capacitor C1, thereby avoiding damage to the first filter capacitor C1.

[0065] In some embodiments, the automatic discharge circuit 100 may further include a pull-down resistor Rdn. As Figure 1 shown, the first end of the pull-down resistor Rdn can be connected between the output end of the first voltage regulator Z1 and the first end of the first filter resistor R1, and the second end of the pull-down resistor Rdn is grounded. Those skilled in the art can understand that when the first voltage regulator Z1 is in the reverse cut-off state, the pull-down resistor Rdn can stabilize the voltage at the output end of the first voltage regulator Z1 at a low logic level.

[0066] In some embodiments, the automatic discharge circuit 100 may further include a second discharge resistor Rx. As Figure 1 shown, the first end of the second discharge resistor Rx is connected between the first filter resistor R1 and the first input end of the comparator CMP, and the second end of the second discharge resistor Rx is grounded. The second discharge resistor Rx can be used to discharge the charge stored in the first discharge capacitor C1.

[0067] In some embodiments, the automatic discharge circuit 100 may further include a second filter resistor R2 and a second filter capacitor C2. As Figure 1 shown, the first end of the second filter resistor R2 may be connected to the second end of the first filter resistor R1, and the second end of the second filter resistor R2 may be connected to the first input terminal of the comparator CMP. The first end of the second filter capacitor C2 may be connected between the second end of the second filter resistor R2 and the first input terminal of the comparator CMP, and the second end of the second filter capacitor C2 may be grounded. Those skilled in the art can understand that the second filter resistor R2 and the second filter capacitor C2 can form an RC filter circuit, so as to further filter the signal output by the filter circuit including the first filter resistor R1 and the first filter capacitor C1, which helps to discharge the bus voltage Vm for a long time.

[0068] In some embodiments, the automatic discharge circuit 100 may further include a third zener diode Z3. As Figure 1 shown, the input terminal of the third zener diode Z3 is connected between the second end of the second filter resistor R2 and the first input terminal of the comparator CMP, and the output terminal of the third zener diode Z3 is grounded. In some embodiments, the reverse breakdown voltage of the third zener diode Z3 may be less than the reverse breakdown voltage of the second zener diode Z2. Based on this, when the second zener diode Z2 is turned on, the third zener diode Z3 can also be turned on and can stabilize the voltage across its two ends at its reverse breakdown voltage, so as to achieve voltage reduction and avoid damage caused by too high input voltage of the comparator CMP. In some embodiments, the reverse breakdown voltage of the third zener diode Z3 may be less than the rated voltage of the second filter capacitor C2, so as to avoid damaging the second filter capacitor C2.

[0069] In some embodiments, the reference voltage may be less than the reverse breakdown voltage of the third zener diode Z3. Based on this, when the third zener diode Z3 is turned on, the output signal of the comparator CMP will jump, so as to drive the field effect transistor Q1 to turn on.

[0070] In some embodiments, the automatic discharge circuit 100 may further include a third filter resistor R3 and a third filter capacitor C3. As Figure 1 shown, the first end of the third filter resistor R3 is connected to the output terminal of the comparator CMP, and the second end of the third filter resistor R3 may be connected to the gate G of the field effect transistor Q1. The first end of the third filter capacitor C3 may be connected between the second end of the third filter resistor R3 and the gate G of the field effect transistor Q1, and the second end of the third filter capacitor C3 may be grounded. Those skilled in the art can understand that the third filter resistor R3 and the third filter capacitor C3 can form an RC filter circuit, so as to filter the signal output by the comparator CMP, filter out the high-frequency noise in the output signal of the comparator CMP, and retain the effective low-frequency signal therein.

[0071] In some embodiments, the automatic discharge circuit 100 may further include a TVS diode Z4. As Figure 1 shown, the input terminal of the TVS diode Z4 may be connected between the drain D of the field effect transistor Q1 and the second terminal of the first discharge resistor R1, and the output terminal of the TVS diode Z4 may be grounded. Those skilled in the art can understand that the TVS diode Z4 can suppress instantaneous overvoltage, such as ESD (Electro-Static discharge), short-time abnormal pulses, etc., so as to protect each device in the automatic discharge circuit 100.

[0072] In some embodiments, as Figure 1 shown, the automatic discharge circuit 100 may further include a fuse F1. The first terminal of the fuse F1 may be connected to the bus circuit, and the second terminal of the fuse F1 may be connected to the first terminal of the first discharge resistor RB. Those skilled in the art can understand that when the current output by the bus circuit is too high, the fuse F1 will break, so as to avoid burning out the devices in the automatic discharge circuit 100.

[0073] Some embodiments of the present disclosure also provide a surgical robot system 200. Figure 2 A schematic diagram showing a surgical robot system 200 according to some embodiments of the present disclosure. The surgical robot system 200 may include a main control cart 210, a surgical cart 220, and at least one power supply circuit (not shown in the figure). As Figure 2 shown, the main control cart 210 may include at least one master operator 211, and at least one master operator 211 may be used to receive user operations. In some embodiments, the master operator 211 may include a left master operator for receiving operations of the user's left hand and a right master operator for receiving operations of the user's right hand. At least one master operator 211 may be disposed on the main body 212 of the main control cart 210.

[0074] The surgical cart 220 may include at least one robotic arm 221. At least one surgical instrument 222 may be mounted at the distal end of at least one robotic arm 221, and at least one surgical instrument 222 may be any suitable surgical instrument such as a clamp, a curved scissors, an electric hook, an endoscope, etc. At least one robotic arm 221 may be disposed on the main body 223 of the surgical cart 220.

[0075] At least one power supply circuit can be used to power at least one robotic arm 221 and / or at least one master manipulator 211. In some embodiments, at least one power supply circuit can include a first power supply circuit for powering at least one master manipulator 211, and / or a second power supply circuit for powering at least one robotic arm 221. In some embodiments, at least one power supply circuit can be disposed outside the master control cart 210 and the surgical cart 220 and connected to the master control cart 210 and / or the surgical cart 220 to power at least one robotic arm 221 and / or at least one master manipulator 211. In some embodiments, the first power supply circuit can be disposed in the master control cart 210 (such as the master control cart body 212), and the second power supply circuit can be disposed in the surgical cart 220 (such as the surgical cart body 223).

[0076] At least one power supply circuit can include at least one automatic discharge circuit (such as the automatic discharge circuit 100). When the motor of the robotic arm 221 or the master manipulator 211 is running, if a stop command is issued to the motor, the motor will generate an induced electromotive force. The induced electromotive force generated by the motor is superimposed on the power supply, which may cause the bus voltage of the power supply circuit to exceed the voltage threshold, thereby causing the motor driver to automatically activate overvoltage protection. The automatic discharge circuit in the power supply circuit can drive the discharge line to conduct when the bus voltage exceeds the threshold, so that the charge of the bus line can be released through the discharge line. Based on this, the stability of the operation of the power supply circuit can be improved, and the motors of the robotic arm 221 and / or the master manipulator 211 can be prevented from malfunctioning.

[0077] Those skilled in the art can understand that the surgical robot system 100 can be any suitable surgical robot system including a laparoscopic surgical robot system.

[0078] Note that the above are only exemplary embodiments of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An automatic discharge circuit, characterized in that: include: A first voltage regulator tube, wherein an input end of the first voltage regulator tube is connected to a bus circuit, and is used to detect a bus voltage and output a driving signal at an output end in response to the bus voltage exceeding a threshold value; A discharge circuit, the discharge circuit is connected to the bus circuit, and the discharge circuit includes: The first bleeder resistor; A switch device is connected to the first discharge resistor and to the output end of the first voltage regulator tube, and is used to turn on the discharge circuit under the driving signal of the first voltage regulator tube.

2. The automatic discharge circuit according to claim 1, characterized in that: The switching device includes a field effect tube, a gate of the field effect tube is connected to the output end of the first voltage regulator tube, a source of the field effect tube is grounded, a first end of the first discharge resistor is connected to the bus circuit, and a second end of the first discharge resistor is connected to the drain of the field effect tube.

3. The automatic discharge circuit according to claim 2, characterized in that: Also includes: A comparator, wherein a first input end of the comparator is connected to an output end of the first voltage regulator tube, a second input end of the comparator is connected to a reference voltage, and an output end of the comparator is connected to a gate of the field effect tube.

4. The automatic discharge circuit according to claim 3, characterized in that: Also includes: a first filter resistor, wherein a first end of the first filter resistor is connected to the output end of the first voltage regulator tube, and a second end of the first filter resistor is connected to the first input end of the comparator; as well as A first filter capacitor, wherein a first end of the first filter capacitor is connected between the second end of the first filter resistor and the first input end of the comparator, and a second end of the first filter capacitor is grounded.

5. The automatic discharge circuit according to claim 4, characterized in that: Also includes: A second voltage regulator tube, wherein the input end of the second voltage regulator tube is connected between the second end of the first filter resistor and the first input end of the comparator, and the output end of the second voltage regulator tube is grounded.

6. The automatic discharge circuit according to claim 4 or 5, characterized in that: Also includes: A second discharge resistor, wherein a first end of the second discharge resistor is connected between the first filter resistor and the first input end of the comparator, and a second end of the second discharge resistor is grounded.

7. The automatic discharge circuit according to claim 4, characterized in that: Also includes: a second filter resistor, wherein a first end of the second filter resistor is connected to a second end of the first filter resistor, and a second end of the second filter resistor is connected to a first input end of the comparator; as well as A second filter capacitor, wherein a first end of the second filter capacitor is connected between the second end of the second filter resistor and the first input end of the comparator, and a second end of the second filter capacitor is grounded.

8. The automatic discharge circuit according to claim 7, characterized in that: Also includes: A third voltage regulator tube, wherein the input end of the third voltage regulator tube is connected between the second end of the second filter resistor and the first input end of the comparator, and the output end of the third voltage regulator tube is grounded.

9. The automatic discharge circuit according to claim 4, characterized in that: Also includes: a third filter resistor, wherein a first end of the third filter resistor is connected to the output end of the comparator, and a second end of the third filter resistor is connected to the gate of the field effect transistor; as well as A third filter capacitor, wherein a first end of the third filter capacitor is connected between the second end of the third filter resistor and the gate of the field effect transistor, and a second end of the third filter capacitor is grounded.

10. The automatic discharge circuit according to claim 9, characterized in that: Also includes: A TVS tube, wherein the input end of the TVS tube is connected between the drain of the field effect tube and the second end of the first discharge resistor, and the output end of the TVS tube is grounded.

11. The automatic discharge circuit according to claim 4, characterized in that: Also includes: A pull-down resistor, wherein a first end of the pull-down resistor is connected between the output end of the first voltage regulator tube and the first end of the first filter resistor, and a second end of the pull-down resistor is grounded.

12. The automatic discharge circuit according to claim 1, characterized in that: Also includes: A fuse, wherein a first end of the fuse is connected to the bus circuit, and a second end of the fuse is connected to a first end of the first discharge resistor.

13. A surgical robot system, characterized in that: include: A surgical trolley, comprising at least one robotic arm; as well as A main control trolley is communicatively connected with the operating trolley, and the main control trolley includes at least one main operator, and the at least one main operator is used to receive the user's operation; At least one power supply circuit, the at least one power supply circuit is used to power the at least one robot arm and / or the at least one main operator, the at least one power supply circuit comprises an automatic discharge circuit as described in any one of claims 1 to 12.

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