Orthopedic surgery navigation positioning guide trolley control system

Abstract

The utility model discloses an orthopedic surgery navigation positioning guide trolley control system, which is characterized in that network communication lines, swing saw control and key acquisition are additionally arranged in a main control circuit board, so that pedal information can be interacted with an upper computer, and meanwhile, a transmission instruction of the upper computer can be received to control the state of a swing saw; key information is added and collected in a circuit board of the flexible ring, communication with the mechanical arm can be carried out through network communication, and the problems that operation is inconvenient in the using process of the mechanical arm, long-distance operation is needed when CT shooting is carried out or the mechanical arm is removed, and operation is inconvenient are solved. The communication mode can be matched with keys to independently control the mechanical arm to enter the function of freely driving and moving the mechanical arm, and convenience and safety are achieved.

Description

Technical Field

[0001] This utility model relates to the field of electromechanical equipment, and in particular to a control system for an orthopedic surgical navigation and positioning guide trolley. Background Technology

[0002] Currently, most articulated robots use an internal host computer to control the robotic arm. Since the robotic arm carriage and the host computer are usually not on the same carriage, remote control is necessary and inconvenient. Furthermore, oscillating saws use manufacturer-supplied oscillating saws, requiring manual control of the cutting action, which can lead to fatigue for doctors during use.

[0003] Currently, there are two types of robotic arms on the market: the first type has a teach pendant and a control box, with the control box having a relatively large outer casing; the second type uses an OEM version of the robotic arm without a teach pendant, and the control box also lacks an outer casing. Robotic arms with a teach pendant can be controlled using the teach pendant, but this results in a larger trolley size and is inconvenient to control. If a host computer is used for control without a teach pendant, this approach carries the risk that the robotic arm cannot be moved or its position adjusted if the host computer is disconnected or there is an unexpected power outage. The oscillating saw can be controlled using a foot switch, with commands issued to the host computer via network communication. The oscillating saw control board drives the movement of the oscillating saw, reducing manual operation by the doctor.

[0004] In summary, a new orthopedic surgical navigation and positioning guide trolley control system is needed to address the shortcomings of existing technologies. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a control system for an orthopedic surgical navigation and positioning trolley, aiming to solve the aforementioned problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a control system for an orthopedic surgical navigation and positioning guide trolley, comprising:

[0007] The main control board is used to control the operation of the entire system;

[0008] The dynamic ring circuit board, installed at the end of the robotic arm, is responsible for collecting button information and driving the LED strip display.

[0009] The oscillating saw control circuit board controls the oscillating saw's on / off state via I / O interfaces;

[0010] The main control board and the Lingdong Ring circuit board are connected by a wiring harness, including a 12V power supply, ground, and I / O control signals for driving the LED strip display and button acquisition I / O ports.

[0011] The main control board is connected to the control interface of the oscillating saw control circuit board via the W5 module communication interface, and is used to control the power switch of the oscillating saw.

[0012] Optionally, the main control board includes:

[0013] The power module consists of five sub-modules, P1 to P5, each responsible for different power outputs and control signals.

[0014] The functional module output includes six sub-modules, W1 to W6, each undertaking a different control task;

[0015] The MCU module, which includes the main chip M1 and the network MCU chip M2, is used to control the operation of each module and network communication.

[0016] The storage module, including EEPROM module Q1 and Flash module Q2, is used to store configuration information and program code.

[0017] Optionally, the main control board also includes a network communication module for communicating with a host computer and receiving instructions from the host computer to control the state of the oscillating saw.

[0018] Optionally, the flexible ring circuit board includes:

[0019] Keypad data acquisition circuit module, used to acquire keypad information;

[0020] The power supply circuit module provides 12V power.

[0021] LED strip module for power indication and button status indication;

[0022] The driver module drives the LED strip and converts button values.

[0023] Optionally, the oscillating saw control circuit board includes:

[0024] The drive module controls the opening and closing of the oscillating saw via a 12V power supply;

[0025] The power supply circuit module provides 5V power.

[0026] The current acquisition module monitors the current changes during the operation of the oscillating saw, detects whether a stall occurs, and controls the switching on and off of the oscillating saw.

[0027] Optionally, the flexible ring circuit board exchanges data with the robotic arm via network communication.

[0028] The beneficial effects of this utility model are:

[0029] 1. In this utility model, the module control is realized on the hardware basis, and the button acquisition and communication control of the robotic arm TCP are added. The robotic arm can be controlled. Without using a host computer, the movement of the robotic arm can be controlled by buttons and the use of the swing saw can be controlled by the foot switch signal acquisition.

[0030] 2. In this utility model, the main control circuit board is equipped with network communication lines, swing saw control, and key acquisition, which can be used to interact with the host computer to transmit foot pedal information, and can also receive instructions from the host computer to control the state of the swing saw.

[0031] 3. In this utility model, button information is added to the flexible ring circuit board. The button information is collected and can also communicate with the robotic arm through network communication. Since the operation of the robotic arm is inconvenient during use, and the remote operation is inconvenient when taking CT scans or removing the robotic arm, this communication method can be used in conjunction with the buttons to control the robotic arm to enter the free drive movement robotic arm function, which is convenient and safe. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a system structure of the present invention.

[0033] Figure 2 This is a circuit structure diagram of an MCU module.

[0034] Figure 3 This is a circuit structure diagram of a flexible ring circuit board.

[0035] Figure 4 This is a circuit diagram of a control circuit board for a swing saw.

[0036] Figure 5 This is a circuit structure diagram of a network communication circuit board. Detailed Implementation

[0037] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, 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 the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Refer to the instruction manual. Figure 1 -Appendix Figure 5 This technical solution will be described.

[0039] like Figure 1 As shown, an orthopedic surgical navigation and positioning guide trolley control system includes a main control board for controlling the operation of the entire system.

[0040] The dynamic ring circuit board, installed at the end of the robotic arm, is responsible for collecting button information and driving the LED strip display.

[0041] The oscillating saw control circuit board controls the oscillating saw's on / off state via I / O interfaces;

[0042] The main control board and the Lingdong Ring circuit board are connected by a wiring harness, including a 12V power supply, ground, and I / O control signals for driving the LED strip display and button acquisition I / O ports.

[0043] The main control board is connected to the control interface of the oscillating saw control circuit board via the W5 module communication interface, and is used to control the power switch of the oscillating saw.

[0044] The main control board includes:

[0045] The power module consists of five sub-modules, P1 to P5, each responsible for different power outputs and control signals.

[0046] The functional module output includes six sub-modules, W1 to W6, each undertaking a different control task;

[0047] The MCU module, which includes the main chip M1 and the network MCU chip M2, is used to control the operation of each module and network communication.

[0048] The storage module, including EEPROM module Q1 and Flash module Q2, is used to store configuration information and program code.

[0049] The main control board also includes a network communication module, which is used to communicate with the host computer and receive instructions from the host computer to control the state of the swing saw.

[0050] The flexible ring circuit board includes:

[0051] Keypad data acquisition circuit module, used to acquire keypad information;

[0052] The power supply circuit module provides 12V power.

[0053] LED strip module for power indication and button status indication;

[0054] The driver module drives the LED strip and converts button values.

[0055] The oscillating saw control circuit board includes:

[0056] The drive module controls the opening and closing of the oscillating saw via a 12V power supply;

[0057] The power supply circuit module provides 5V power.

[0058] The current acquisition module monitors the current changes during the operation of the oscillating saw, detects whether a stall occurs, and controls the switching on and off of the oscillating saw.

[0059] The flexible ring circuit board exchanges data with the robotic arm via network communication.

[0060] This utility model:

[0061] Main control board module:

[0062] 1) The power supply module includes P1, P2, P3, P4, and P5 modules.

[0063] P1 module: 24V power input, supplying power to the main control board and providing power drive signals to the load.

[0064] P2 module: 9V power output, supplying power to the switch.

[0065] P3 module: 12V power output, used to provide power for the output.

[0066] P4 module: 5V power output, can be used as a power supply for various modules and as a power output control signal.

[0067] P5 module: LDO power output, supplying power to low-voltage modules (MCU module, Ethernet driver chip module).

[0068] and control signals for the output power supply

[0069] The functional module outputs include modules W1, W2, W3, W4, W5, and W6.

[0070] W1 module: Outputs 12V and ground, two circuits, communication interface between the flexible ring circuit boards, with I / O control, power supply and keypad data acquisition.

[0071] W2 module: USB communication module, used to transmit software version and host computer communication circuit board information.

[0072] W3 module: controls the 12V and ground outputs, and its function is to control the ON and OFF signals of the robotic arm's power supply.

[0073] W4 Module: Keypad Data Acquisition and Control Module. It collects keypad information and uses this information to control the functions of other modules.

[0074] W5 module: Port I / O driver, a hardware module that controls the switching on and off of the oscillating saw.

[0075] W6 module: Simulates emergency stop switch signal acquisition port. Its function is to acquire emergency stop switch signals, and pressing the emergency stop button controls the shut-off of the swing saw.

[0076] MCU module: includes main chip M1 and network MCU chip M2.

[0077] M1 module: The main chip MCU controls the control and communication functions of each module.

[0078] M2 module: Network communication control MCU, which can communicate with the host computer and control the network and robotic arm to communicate.

[0079] Modules Q1 and Q2:

[0080] Q1 Module: EEPROM module, which can be used to store content that needs to be changed, such as port, IP address, etc.

[0081] Q2 Module: Flash module, which can be used to store redundant program code.

[0082] Dynamic ring circuit board module:

[0083] Keypad input circuit module: Collects information about key presses.

[0084] Power supply circuit module: Provides the 12V power required by the circuit.

[0085] LED strip module: power indicator and button status indicator.

[0086] Driver module: drives the LED strip and converts key values.

[0087] Oscillating saw control circuit board module:

[0088] 1) Drive module: The swing saw control circuit board mainly supplies the swing saw with a 12V power supply. Turning the power supply on and off can realize the control of the swing saw. It works with the host computer to send commands through TCP / IP. When the command is received, the drive hardware controls the swing saw.

[0089] 2) Power supply circuit module: Provides the 5V power supply required by the circuit.

[0090] 3) Current acquisition module: Acquires the current operation status of the oscillating saw during operation, whether there is stall, and shuts down the oscillating saw if stall occurs.

[0091] The main control board and the Lingdong Ring circuit board are connected by a wiring harness, which includes: 12V power supply, ground, I / O control signals for driving the LED strip display, and button acquisition I / O ports.

[0092] The main control board's W5 module communication interface connects to the control interface of the oscillating saw circuit board. The main control board is powered by a 5V power supply. The control between them is achieved through I / O drivers and a current acquisition ADC. The power supply output module drives the 12V module to control the oscillating saw's power supply, thereby controlling the oscillating saw's on / off state.

[0093] The module control is implemented on the hardware basis, and the button acquisition and communication control of the robotic arm TCP are added. The robotic arm can be controlled. Without the use of a host computer, the movement of the robotic arm can be controlled by buttons and the use of the swing saw can be controlled by the acquisition of signals from the foot switch.

[0094] The main control circuit board has been upgraded with network communication lines, swing saw control, and key acquisition. It can be used to interact with the host computer to transmit foot pedal information, and can also receive instructions from the host computer to control the state of the swing saw.

[0095] The Lingdong Ring circuit board adds button information, collects button information, and can also communicate with the robotic arm via network communication. This addresses the inconvenience of operating the robotic arm during use, such as the inconvenience of remote operation when taking CT scans or removing the robotic arm. This communication method can be combined with buttons to independently control the robotic arm to enter the free-drive movement function, which is convenient and safe.

[0096] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A control system for an orthopedic surgical navigation and positioning guide trolley, characterized in that, include: The main control board is used to control the operation of the entire system; The dynamic ring circuit board, installed at the end of the robotic arm, is responsible for collecting button information and driving the LED strip display. The oscillating saw control circuit board controls the oscillating saw's on / off state via I / O interfaces; The main control board and the Lingdong Ring circuit board are connected by a wiring harness, including a 12V power supply, ground, and I / O control signals for driving the LED strip display and button acquisition I / O ports. The main control board is connected to the control interface of the oscillating saw control circuit board via the W5 module communication interface, and is used to control the power switch of the oscillating saw.

2. The orthopedic surgical navigation and positioning guide trolley control system according to claim 1, characterized in that, The main control board includes: The power module consists of five sub-modules, P1 to P5, each responsible for different power outputs and control signals. The functional module output includes six sub-modules, W1 to W6, each undertaking a different control task; The MCU module, which includes the main chip M1 and the network MCU chip M2, is used to control the operation of each module and network communication. The storage module, including EEPROM module Q1 and Flash module Q2, is used to store configuration information and program code.

3. The orthopedic surgical navigation and positioning guide trolley control system according to claim 1, characterized in that, The main control board also includes a network communication module, which is used to communicate with the host computer and receive instructions from the host computer to control the state of the swing saw.

4. The orthopedic surgical navigation and positioning guide trolley control system according to claim 1, characterized in that, The flexible loop circuit board includes: Keypad data acquisition circuit module, used to acquire keypad information; The power supply circuit module provides 12V power. LED strip module for power indication and button status indication; The driver module drives the LED strip and converts button values.

5. The orthopedic surgical navigation and positioning guide trolley control system according to claim 1, characterized in that, The oscillating saw control circuit board includes: The drive module controls the opening and closing of the oscillating saw via a 12V power supply; The power supply circuit module provides 5V power. The current acquisition module monitors the current changes during the operation of the oscillating saw, detects whether a stall occurs, and controls the switching on and off of the oscillating saw.

6. The orthopedic surgical navigation and positioning guide trolley control system according to claim 1, characterized in that, The flexible loop circuit board exchanges data with the robotic arm via network communication.

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