Wireless control system and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a wireless control system and a surgical robot system. The wireless control system includes: a master device including at least one operation mechanism configured to receive a user operation and generate an operation signal based on the user operation; a main controller connected with the at least one operating mechanism and configured to receive an operating signal from the at least one operating mechanism; the main end wireless communication module is connected with the main controller and is configured to receive an operation signal from the main controller and send the operation signal; a slave device comprising: a slave wireless communication module configured to receive an operation signal from the master wireless communication module; at least one caster drive; and the slave controller is connected with the slave end wireless communication module and the at least one trundle driver and is configured to receive the operation signal from the slave end wireless communication module and generate a control signal based on the operation signal to control the at least one trundle driver.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and more particularly to a wireless control system and a surgical robotic system. BACKGROUND

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

[0003] Before surgery, medical staff generally push the operating table cart to the side of the operating table cart to the appropriate position of the patient side to facilitate the operation of the patient. However, such operation is very inconvenient, and the medical staff's field of vision is often blocked by the operating table cart when pushing, and a lot of effort is required. CONTENT OF THE INVENTION

[0004] In some embodiments, the present disclosure provides a wireless control system, comprising:

[0005] A master device, comprising:

[0006] At least one operation mechanism configured to receive a user operation and generate an operation signal based on the user operation;

[0007] A master controller connected with the at least one operation mechanism, the master controller configured to receive the operation signal from the at least one operation mechanism; and

[0008] A master wireless communication module connected with the master controller, the master wireless communication module configured to receive the operation signal from the master controller and transmit the operation signal;

[0009] A slave device, comprising:

[0010] A slave wireless communication module configured to receive the operation signal from the master wireless communication module;

[0011] At least one caster driver; and

[0012] A slave controller connected with the slave wireless communication module and the at least one caster driver, the slave controller configured to receive the operation signal from the slave wireless communication module, generate a control signal based on the operation signal to control the at least one caster driver.

[0013] In some embodiments, the at least one operation mechanism comprises at least one joystick, and the operation signal comprises a joystick operation signal,

[0014] The at least one rocker is configured to receive a user motion operation and generate a rocker operation signal based on the user motion operation.

[0015] In some embodiments, the control signal comprises a voltage control signal,

[0016] The slave controller is connected with the voltage control terminal of the at least one caster driver, and the slave controller is further configured to generate the voltage control signal based on the rocker operation signal and transmit to the voltage control terminal of the at least one caster driver to control the voltage of the at least one caster driver.

[0017] In some embodiments, the master device further comprises:

[0018] The at least one first operational amplifier has an input connected with the at least one rocker and an output connected with the master controller.

[0019] In some embodiments, the slave device further comprises:

[0020] The at least one second operational amplifier has an input connected with the slave controller and an output connected with the voltage control terminal of the at least one caster driver.

[0021] In some embodiments, the at least one operation mechanism further comprises at least one enabling mechanism, the operation signal comprises an enabling operation signal, and the control signal comprises an enabling control signal,

[0022] The at least one enabling mechanism is configured to receive a user trigger operation and generate the enabling operation signal based on the user trigger operation,

[0023] The slave controller is connected with the enabling control terminal of the at least one caster driver, and the slave controller is further configured to generate the enabling control signal based on the enabling operation signal to control the start of the at least one caster driver.

[0024] In some embodiments, the operation signal comprises a release operation signal, and the control signal comprises a release control signal,

[0025] The at least one enabling mechanism is further configured to receive a user release operation and generate the release operation signal based on the user release operation,

[0026] The slave controller is further configured to generate the release control signal based on the release operation signal to control the closing of the at least one caster driver.

[0027] In some embodiments, the slave device further comprises:

[0028] at least one PMOS transistor disposed between the slave controller and an enable control terminal of the at least one caster driver, and configured to be turned on based on the enable control signal to control the at least one caster driver to be activated; and

[0029] at least one first optocoupler disposed between the slave controller and the at least one PMOS transistor to isolate the slave controller and the PMOS transistor.

[0030] In some embodiments, the master device further comprises:

[0031] a master power supply;

[0032] a first DCDC converter connected to the master power supply, the first DCDC converter configured to obtain a first voltage based on a master power supply voltage provided by the master power supply and provide the first voltage to the at least one rocker; and

[0033] a second DCDC converter connected to the master power supply, the second DCDC converter configured to obtain a second voltage based on the master power supply voltage and provide the second voltage to the master controller and the master wireless communication module.

[0034] In some embodiments, the master controller is connected to the at least one enabling mechanism and the first DCDC converter, and the master controller is further configured to:

[0035] receive an enabling operation signal from the at least one enabling mechanism and control the first DCDC converter to be turned on based on the enabling operation signal; or

[0036] receive a release operation signal from the at least one enabling mechanism and control the first DCDC converter to be turned off based on the release operation signal.

[0037] In some embodiments, the slave controller is connected to a brake output terminal of the at least one caster driver, and the slave controller is further configured to receive a brake state signal from the brake output terminal and transmit the brake state signal to the slave wireless communication module, and the master wireless communication module is further configured to receive the brake state signal from the slave wireless communication module.

[0038] In some embodiments, the master device further comprises at least one first light emitting diode,

[0039] the master controller is connected to the at least one first light emitting diode, and the master controller is further configured to receive the brake state signal from the master wireless communication module and control the at least one first light emitting diode to be turned on or off based on the brake state signal.

[0040] In some embodiments, the slave device further comprises:

[0041] at least one second optocoupler disposed between the slave controller and the brake output terminal of the at least one caster driver.

[0042] In some embodiments, the main-end device further includes at least one second light-emitting diode.

[0043] The main controller is connected to at least one second light-emitting diode and a main power supply. The main controller is also configured to receive a power supply voltage signal from the main power supply and control the on / off state of at least one second light-emitting diode based on the power supply voltage signal.

[0044] In some embodiments, this disclosure also provides a surgical robot system, including:

[0045] A wireless control handle is used to receive user input.

[0046] Operating room cart, including at least one robotic arm; and

[0047] As in any of the embodiments of this disclosure, the master device of the wireless operating system is disposed in the wireless operating handle, and the slave device of the wireless operating system is disposed in the operating trolley.

[0048] Some embodiments of this disclosure have one or more of the following technical effects: they can be used to control the start and stop of the casters on the operating table of a surgical robot system; they can be used to control the movement speed and direction of the casters on the operating table of a surgical robot system; they can prevent the casters from moving due to accidental touch of the joystick by the user; they can improve the reliability of the start and stop control of the caster drive; and they can prevent the high voltage of the caster drive from damaging the slave control. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0050] Figure 1 This diagram shows a schematic block diagram of the structure of a wireless control system according to some embodiments of the present disclosure;

[0051] Figure 2 This diagram shows a schematic block diagram of the structure of a wireless control system according to other embodiments of the present disclosure;

[0052] Figure 3 A schematic block diagram of the structure of a wireless control system according to some embodiments of the present disclosure is shown;

[0053] Figure 4 A schematic block diagram of the structure of a wireless control system according to some embodiments of the present disclosure is shown;

[0054] Figure 5 A schematic block diagram showing a portion of the structure of a wireless control system according to some embodiments of the present disclosure;

[0055] Figure 6 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0056] List of reference numerals in the attached diagram:

[0057] 100. Wireless control system;

[0058] 10. Main unit; 11. Operating structure; 111. Joystick; 112. Enable mechanism; 12. Main wireless communication module; 13. Main controller; 14. First operational amplifier; 15. Main power supply; 16. First DC-DC converter; 17. Second DC-DC converter; 18. 19. Light-emitting diode;

[0059] 20. Slave device; 21. Caster wheel driver; 211. Voltage control terminal; 212. Enable control terminal; 213. Brake output terminal; 22. Slave wireless communication module; 23. Slave controller; 24. Second operational amplifier; 25. PMOS transistor; 26. First optocoupler; 27. Second optocoupler;

[0060] 1000. Surgical robot system; 1010. Surgical trolley; 1011. Robotic arm; 1012. Surgical instruments; 1013. Base; 1014. Column; 1015. Crossbeam; 1020. Wireless operating handle; 1030. Main control trolley; 1031. Main operator. Detailed Implementation

[0061] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0062] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0063] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0064] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear end, and the end opposite to the proximal end, proximal or rear end, or rear end is defined as the distal end, distal or front end, or front end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or front end, or front end, and the end opposite to the distal end, distal or front end, or front end is defined as the proximal end, proximal or rear end, or rear end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0065] Some embodiments of this disclosure provide a wireless control system 100. Figure 1 A schematic block diagram illustrating the structure of a wireless control system 100 according to some embodiments of the present disclosure is shown. In some embodiments, the wireless control system 100 can be used in a surgical robot system, such as any suitable surgical robot system including a laparoscopic surgical robot system. Figure 1 As shown, the wireless control system 100 may include a master device 10 and a slave device 20.

[0066] like Figure 1 As shown, the master device 10 may include at least one operating mechanism 11, a master wireless communication module 12, and a master controller 13. The at least one operating mechanism 11 may be configured to receive user operations and generate an operation signal So based on the user operations. In some embodiments, the at least one operating mechanism 11 may include a left operating mechanism and a right operating mechanism, which may be configured to receive operations from the user's left and right hands, respectively. In some embodiments, the at least one operating mechanism 11 may include a joystick, a button, a push button, etc. User operations may include flicking, pressing, releasing, etc.

[0067] The main controller 13 can be connected to at least one operating mechanism 11, and the main controller 13 can be configured to receive an operating signal So from the at least one operating mechanism 11. In some embodiments, the main controller 13 can be connected to and receive the operating signal So via a cable to the at least one operating mechanism 11. Those skilled in the art will understand that, although the description and... Figure 1In the illustration, the operation signal output by the main controller 13 is represented as the same signal So as the received operation signal. However, in some embodiments, the main controller 13 may process the received operation signal So so that the output operation signal is different from the received operation signal. For example, in some embodiments, the operation signal So generated by at least one operating mechanism 11 is an analog signal. At least one operating mechanism 11 can be connected to the analog input terminal of the main controller 13 via a cable, and the main controller 13 can also be configured to convert the operation signal So received from the operating mechanism 11 into a digital signal. In some embodiments, the main controller 13 may include an MCU (Micro Control Unit).

[0068] The master wireless communication module 12 can be connected to the master controller 13. The master wireless communication module 12 can be configured to receive and transmit operation signals So from the master controller 13. In some embodiments, the master wireless communication module 12 can be connected to the master controller 13 via a cable and receive the operation signals So. The master wireless communication module 12 can transmit the operation signals So wirelessly, for example, by sending the operation signals So to a wireless local area network.

[0069] The slave device 20 may include at least one caster driver 21, a slave wireless communication module 22, and a slave controller 23. The slave wireless communication module 22 may be configured to receive an operation signal So from the master wireless communication module 12. The slave wireless communication module 22 may communicate with and receive the operation signal So from the master wireless communication module 12 wirelessly, for example, via a wireless LAN, Bluetooth connection, etc.

[0070] The caster driver 21 can be connected to and used in conjunction with a caster, and can be used to control the movement direction and speed of the caster. In some embodiments, at least one caster driver 21 can be connected to and used in conjunction with at least one caster of a surgical robot system, such as the caster of a surgical trolley of a surgical robot system. In some embodiments, at least one caster driver 21 may include multiple caster drivers, and the multiple caster drivers can be used to control the movement direction and speed of multiple casters respectively.

[0071] The slave controller 23 can be connected to the slave wireless communication module 22 and at least one caster driver 21. In some embodiments, the slave controller 23 can be connected to the slave wireless communication module 22 and at least one caster driver 21 respectively via cables. The slave controller 23 can be configured to receive an operation signal So from the slave wireless communication module 22, and generate a control signal Sc based on the operation signal So to control at least one caster driver 21. In some embodiments, the slave controller 23 may include a microcontroller unit (MCU).

[0072] Those skilled in the art will understand that the wireless control system 100 provided by some embodiments of this disclosure can control at least one caster drive 21 based on the user's operation of at least one operating mechanism 11, such as controlling the start and stop of the caster drive 21 or controlling the voltage of the caster drive 21.

[0073] Figure 2 A schematic block diagram of the structure of a wireless control system 100 according to other embodiments of the present disclosure is shown. For example... Figure 2 As shown, in some embodiments, at least one operating mechanism 11 may include at least one joystick 111. The operating signal So may include a joystick operating signal Sor. At least one joystick 111 may be configured to receive user motion operations and generate a joystick operating signal Sor based on the user motion operations. In some embodiments, at least one joystick 111 may include a joystick with one-dimensional motion freedom, and the user motion operation may include moving the joystick forward or backward. In other embodiments, at least one joystick 111 may include a joystick with multi-dimensional motion freedom, and the user motion operation may include moving the joystick forward, backward, left, right, rotating, etc. In some embodiments, the joystick operating signal Sor may include joystick motion direction information, joystick motion distance information, etc.

[0074] In some embodiments, the control signal Sc may include a voltage control signal Scv. The controller 23 may be connected to the voltage control terminal of at least one caster drive 21. The controller 23 may also be configured to generate the voltage control signal Scv based on the joystick operation signal Sor and transmit it to the voltage control terminal 211 of at least one caster drive 21 to control the voltage of at least one caster drive 21. Those skilled in the art will understand that by controlling the voltage of at least one caster drive 21, the movement speed and direction of the caster connected to the caster drive 21 can be controlled. For example, the caster can be controlled to move forward by controlling the voltage of the caster drive 21 to be higher than a reference voltage; the caster can be controlled to move backward by controlling the voltage of the caster drive 21 to be lower than a reference voltage; the caster can be controlled to reduce its movement speed by controlling the voltage of the caster drive 21 to be close to a reference voltage; and the caster can be controlled to increase its movement speed by controlling the voltage of the caster drive 21 to be far from a reference voltage.

[0075] In this embodiment, the controller 23 can be configured to generate a voltage control signal Scv based on the joystick operation signal Sor to control the voltage of at least one caster drive 21, thereby controlling the movement direction and speed of the caster. Based on this, the wireless control system 100 can be used to allow a user to control the movement speed and direction of the caster by operating the joystick 111.

[0076] In some embodiments, at least one joystick 111 may include a left joystick and a right joystick. At least one caster drive 21 may include a left caster drive and a right caster drive, which can be used to control the movement speed and direction of the left and right active casters, respectively. In some embodiments, the left joystick can be configured to receive a user's left-hand movement operation and generate a left joystick operation signal based on the user's left-hand movement operation. The controller 23 can be configured to generate a left caster voltage control signal based on the left joystick operation signal and transmit it to the left caster drive to control the voltage of the left caster drive. The right joystick can be configured to receive a user's right-hand movement operation and generate a right joystick operation signal based on the user's right-hand movement operation. The controller 23 can be configured to generate a right caster voltage control signal based on the right joystick operation signal and transmit it to the right caster drive to control the voltage of the right caster drive. Based on this, the wireless control system 100 can be used to allow a user to control the movement speed and direction of the left and right active casters, respectively, by operating the left or right joystick.

[0077] In other embodiments, the left and right wheel drives are integrated into a single wheel drive 21, and the voltage control terminals of the wheel drive 21 may include left wheel voltage control terminals and right wheel voltage control terminals. The controller 23 can be configured to generate a left wheel voltage control signal based on a left joystick operation signal and transmit it to the left wheel voltage control terminal, and generate a right wheel voltage control signal based on a right joystick operation signal and transmit it to the right wheel voltage control terminal.

[0078] In some embodiments, the voltage control signal Scv is an analog signal. The analog output terminal 231 of the controller 23 can be used to output the voltage control signal Scv and can be connected to the voltage control terminal of at least one caster driver 21 to transmit the voltage control signal Scv. In some embodiments, the controller 23 may include a first analog output terminal and a second analog output terminal, which can be used to output the left caster voltage control signal and the right caster voltage control signal, respectively. They can be connected to the voltage control terminals of the left caster driver and the right caster driver, respectively, to transmit the left caster voltage control signal and the right caster voltage control signal, respectively.

[0079] In some embodiments, such as Figure 2 As shown, the main terminal device 10 may further include at least one first operational amplifier 14. The input terminal of the at least one first operational amplifier 14 may be connected to at least one joystick 111. The output terminal of the at least one first operational amplifier 14 may be connected to the main controller 13. Those skilled in the art will understand that the first operational amplifier 14 can closely follow the changes in the joystick operation signal Sor generated by the joystick 111, which helps reduce interference from subsequent circuits to the joystick 111 and helps enhance the driving capability of the joystick operation signal Sor. In some embodiments, the at least one first operational amplifier 14 may include a first left operational amplifier and a first right operational amplifier, which can respectively follow the left joystick operation signal generated by the left joystick and the right joystick operation signal generated by the right joystick.

[0080] In some embodiments, such as Figure 2 As shown, the slave device 20 may further include at least one second operational amplifier 24. The input of the at least one second operational amplifier 24 is connected to the slave controller 23. The output of the at least one second operational amplifier 24 is connected to the voltage control terminal 211 of at least one caster driver 21. In some embodiments, the voltage control signal Scv is an analog signal, and the input of the at least one second operational amplifier 24 may be connected to the analog output terminal 231 of the slave controller 23 to receive the voltage control signal Scv. Those skilled in the art will understand that the second operational amplifier 24 can amplify the voltage control signal Scv, which helps to improve the driving capability of the voltage control signal Scv.

[0081] In some embodiments, at least one second operational amplifier 24 may include a second left operational amplifier and a second right operational amplifier. Their inputs may be connected to the first analog output and the second analog output of the controller 23, respectively, to receive and amplify the left wheel voltage control signal and the right wheel voltage control signal, respectively. Their outputs may be connected to the voltage control terminals of the left wheel driver and the right wheel driver, respectively, to transmit the amplified left wheel voltage control signal and the right wheel voltage control signal to the left wheel driver and the right wheel driver, respectively.

[0082] Figure 3 A schematic block diagram of the structure of a wireless control system 100 according to some embodiments of the present disclosure is shown. Figure 3 As shown, in some embodiments, at least one operating mechanism 11 may further include at least one enabling mechanism 112. The operating signal So may include an enabling operating signal Soe. At least one enabling mechanism 112 may be configured to receive a user-triggered operation and generate an enabling operating signal Soe based on the user-triggered operation. In some embodiments, the enabling mechanism 112 may include any suitable form such as a button, a key, or a toggle. The user-triggered operation may include pressing the enabling mechanism 112, touching the enabling mechanism 112, toggling the enabling mechanism 112 to a trigger position, etc.

[0083] The control signal Sc may include an enable control signal Sce. The controller 23 may be connected to the enable control terminal 212 of at least one caster drive 21. The controller 23 may be configured to generate the enable control signal Sce based on the enable operation signal Soe to control the start of at least one caster drive 21.

[0084] In some embodiments, the operation signal So may further include a release operation signal Sod. At least one enable mechanism 112 may also be configured to receive a user release operation and generate a release operation signal Sod based on the user release operation. In some embodiments, the user release operation may include releasing the enable mechanism 112, toggling the enable mechanism 112 to its original position, etc.

[0085] The control signal Sc may include a release control signal Scd. The controller 23 may also be configured to generate the release control signal Scd based on the release operation signal Sod to control the shutdown of at least one caster drive 21.

[0086] Those skilled in the art will understand that, under the control of the enable control signal Sce, the caster driver 21 switches to the start state. In the start state, the caster driver 21 can output drive to control the movement of at least one caster under the control of the voltage control signal Scv. Conversely, under the control of the release control signal Scd, the caster driver 21 switches to the off state. In the off state, even if the voltage control signal Scv is received, the caster driver 21 will not drive the caster to move. This helps to prevent the casters from moving due to accidental activation of at least one joystick 111 by the user.

[0087] In some embodiments, at least one enabling mechanism 112 may include a plurality of enabling mechanisms 112. The controller 23 may receive an enable operation signal Soe from at least one of the plurality of enabling mechanisms 112 and generate an enable control signal Sce based thereon. Based on this, a user can activate the caster drive 21 by performing a trigger operation on at least one of the plurality of enabling mechanisms 112.

[0088] In some embodiments, such as Figure 3 As shown, the slave device 20 may further include at least one PMOS transistor 25. The at least one PMOS transistor 25 may be disposed between the slave controller 23 and the enable control terminal 212 of at least one caster driver 21. The PMOS transistor 25 is configured to be turned on based on an enable control signal Sce to control the start-up of at least one caster driver 21. In some embodiments, the PMOS transistor is configured to be turned off based on a release control signal Scd to control the shutdown of at least one caster driver 21. In some embodiments, the gate of the PMOS transistor 25 may be connected to the slave controller 23. Those skilled in the art will understand that the enable control signal Sce and the release control signal Scd can respectively turn the PMOS transistor 25 on and off. When the PMOS transistor 25 is on, it can supply power to the caster driver 21, and when it is off, it can de-energize the caster driver 21, thereby controlling the start-up and shutdown of the caster driver 21. Distributing the PMOS transistor 25 between the slave controller 23 and the enable control terminal 212 of the caster driver 21 helps improve the reliability of the start-up and stop control of the caster driver 21.

[0089] In some embodiments, such as Figure 3 As shown, the slave device 20 may further include at least one first optocoupler 26. The first optocoupler 26 is disposed between the slave controller 23 and at least one PMOS transistor 25 to isolate the slave controller 23 and the PMOS transistor 25. Those skilled in the art will understand that the first optocoupler 26 can provide electrical isolation between the slave controller 23 and the enable control terminal 212 of the caster driver 21 to prevent high voltage from the caster driver 21 from damaging the slave controller 23.

[0090] Figure 4 A schematic block diagram of the structure of a wireless control system 100 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4 As shown, the main-side device 10 may further include a main-side power supply 15, a first DC-DC converter 16, and a second DC-DC converter 17. The first DC-DC converter 16 may be connected to the main-side power supply 15. The first DC-DC converter 16 may be configured to obtain a first voltage V1 based on the main-side power supply voltage Vb provided by the main-side power supply 15, and to provide the first voltage V1 to at least one rocker arm 111. In some embodiments, the first DC-DC converter 16 may also be connected to a first operational amplifier 14 (see...). Figure 2 A first DC-DC converter 16 is connected to the first operational amplifier 14 to provide a first voltage V1. A second DC-DC converter 17 is connected to the main power supply 15 and can be configured to obtain a second voltage V2 based on the main power supply voltage Vb, and provide the second voltage V2 to the main controller 13 and the main wireless communication module 12. Those skilled in the art will understand that the main power supply voltage Vb can be lowered or raised respectively by the first DC-DC converter 16 and the second DC-DC converter 17 to meet the power supply voltage requirements of the joystick 111 and the main controller 13.

[0091] In some embodiments, such as Figure 4 As shown, the main device 10 may further include at least one light-emitting diode (LED) 18. The main controller 13 may be connected to the LED 18 and the main power supply 15. The main controller 13 may also be configured to receive a power supply voltage signal Sv from the main power supply 15 and control the switching on and off of at least one LED 18 based on the power supply voltage signal Sv. Those skilled in the art will understand that the LED 18 can be used to indicate the power supply voltage.

[0092] In some embodiments, such as Figure 4As shown, the main controller 13 can be connected to at least one enabling mechanism 112 and a first DC-DC converter 16. The main controller 13 can also be configured to receive an enable operation signal Soe from at least one enabling mechanism 112 and control the first DC-DC converter 16 to open based on the enable operation signal Soe. Alternatively, the main controller 13 can also be configured to receive a release operation signal Sod from at least one enabling mechanism 112 and control the first DC-DC converter 16 to close based on the release operation signal Sod. Those skilled in the art will understand that the enable operation signal Soe involved in this embodiment is the enable operation signal Soe generated by the enabling mechanism 112 receiving a user-triggered operation, and the release operation signal Sod is the release operation signal Sod generated by the enabling mechanism 112 receiving a user-release operation. When the main controller 13 receives the enable operation signal Soe, the main power supply 15 supplies power to the joystick 111, and the user can control the caster movement by operating the joystick 111. When the main controller 13 receives the release operation signal Sod, the first DC-DC converter 16 is turned off, and the joystick 111 is de-energized. Therefore, this helps to prevent accidental activation of the casters by the user's touch of the joystick 111. Those skilled in the art will understand that... Figure 3 Similar to the embodiments shown, the enable operation signal Soe and the release operation signal Sod generated by at least one enable mechanism 112 can also be used to control the enable state of the caster drive 21, which will not be described in detail here.

[0093] In some embodiments, such as Figure 4 As shown, the main controller 13 can also be connected to the main power supply 15. The main controller 13 can also be configured to receive a battery voltage signal from the main power supply 15 and control the on / off state of at least one LED or digital display (not shown) based on the battery voltage signal. Therefore, the main device can indicate the battery level of the main power supply 15 via an LED or digital display, which helps improve the user experience of the wireless control system 100.

[0094] Figure 5 This is a schematic block diagram illustrating a portion of the structure of a wireless control system 100 according to some embodiments of the present disclosure. In some embodiments, such as... Figure 5 As shown, the slave controller 23 can be connected to the brake output terminal 213 of at least one caster drive 21. The slave controller 23 can also be configured to receive the brake status signal Scon from the brake output terminal 213 and transmit it to the slave wireless communication module 22. The master wireless communication module 12 can also be configured to receive the brake status signal Scon from the slave wireless communication module 22.

[0095] In some embodiments, such as Figure 5As shown, the master device 10 may further include at least one light-emitting diode (LED) 19. The master controller 13 may be connected to at least one LED 19. The master controller 13 may also be configured to receive a brake status signal Scon from the master wireless communication module 12 and control the on / off state of at least one LED 19 based on the brake status signal Scon. Those skilled in the art will understand that the LED 19 can be used to indicate the brake status of the caster drive 21.

[0096] In some embodiments, such as Figure 5 As shown, the slave device 20 may further include at least one second optocoupler 27. The second optocoupler 27 may be disposed between the slave controller 23 and the brake output terminal 213 of at least one caster drive 21. Those skilled in the art will understand that the second optocoupler 27 can provide electrical isolation between the slave controller 23 and the brake output terminal 213 of the caster drive 21 to prevent high voltage from the caster drive 21 from damaging the slave controller 23.

[0097] Those skilled in the art will understand that the various components of the wireless operating system 100 disclosed herein, such as the operating mechanism 11, the master wireless communication module 12, the master controller 13, the caster driver 21, the slave wireless communication module 22, the slave controller 23, etc., can be implemented using general-purpose hardware. Alternatively, they can be implemented using dedicated hardware, including application-specific integrated circuits (ASICs), dedicated CPUs, dedicated memory, dedicated components, etc. The specific hardware structure used to implement the functions of the operating mechanism 11, the master wireless communication module 12, the master controller 13, the caster driver 21, the slave wireless communication module 22, the slave controller 23, etc., can be implemented using various circuit technologies, such as analog circuits, digital circuits, configurable circuits, or dedicated circuits.

[0098] Some embodiments of this disclosure also provide a surgical robot system 1000. Figure 6 A schematic diagram of a surgical robot system 1000 according to some embodiments of the present disclosure is shown. Figure 6 As shown, the surgical robot system 1000 may include a surgical cart 1010, a wireless operating handle 1020, and a wireless operating system 100 as described in any of the embodiments of this disclosure. The surgical cart 1010 may include at least one robotic arm 1011. The master device 10 of the wireless operating system 100 may be disposed in the wireless operating handle 1020. In some embodiments, at least one joystick 111 and at least one enabling mechanism 112 may be symmetrically disposed in the wireless operating handle 1020 to facilitate receiving operations.

[0099] The slave device 20 of the wireless operating system 100 can be disposed in the operating cart 1010. In some embodiments, such as Figure 6As shown, the surgical cart 1010 may further include at least one surgical instrument 1012 (e.g., bipolar curved dissecting forceps, single-pole electric hook, tissue grasping forceps, endoscope, etc.) disposed at the distal end of at least one robotic arm 1011. The surgical cart 1010 may also include a base 1013, a column 1014, and a crossbeam 1015, with at least one robotic arm 1011 disposed at the end of the crossbeam 1015. The surgical cart 1010 may also include a plurality of casters (not shown in the figure), which may be disposed at the bottom of the base 1013, and may include at least one active caster. In some embodiments, a slave device 20 may be disposed at the bottom of the base 1013 to allow the caster driver 21 of the slave device 20 to drive the active caster.

[0100] In some embodiments, such as Figure 6 As shown, the surgical robot system 1000 may further include a main control carriage 1030. The main control carriage 1030 may include at least one main manipulator 1031, which can be used to receive user operations. In some embodiments, the main manipulator 1031 may include a left main manipulator and a right main manipulator to receive operations from the user's left and right hands, respectively. The main control carriage 1030 can be communicatively connected to the surgical carriage 1010, for example, via wired or wireless transmission. The main control carriage 1030 may be located on the user side, and the surgical carriage 1010 may be located on the patient side. During surgery, the user can issue control commands by operating the main manipulator 1031 to control the surgical instruments 1012 mounted on the surgical carriage 1010 to perform surgical operations.

[0101] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A wireless control system, characterized in that, include: The master device includes: At least one operating mechanism, the at least one operating mechanism being configured to receive a user operation and generate an operation signal based on the user operation; A main controller, connected to the at least one operating mechanism, is configured to receive the operating signal from the at least one operating mechanism; and A master wireless communication module is connected to the master controller, and the master wireless communication module is configured to receive the operation signal from the master controller and send the operation signal. The slave device includes: The slave wireless communication module is configured to receive the operation signal from the master wireless communication module; At least one caster drive; and The slave controller is connected to the slave wireless communication module and the at least one caster drive. The slave controller is configured to receive the operation signal from the slave wireless communication module and generate a control signal based on the operation signal to control the at least one caster drive.

2. The wireless control system according to claim 1, characterized in that, The at least one operating mechanism includes at least one joystick, and the operating signal includes a joystick operating signal. The at least one joystick is configured to receive user motion operations and generate joystick operation signals based on the user motion operations.

3. The wireless control system according to claim 2, characterized in that, The control signal includes a voltage control signal. The slave controller is connected to the voltage control terminal of the at least one caster drive, and the slave controller is further configured to generate the voltage control signal based on the rocker arm operation signal and transmit it to the voltage control terminal of the at least one caster drive to control the voltage of the at least one caster drive.

4. The wireless control system according to claim 2, characterized in that, The main terminal device also includes: At least one first operational amplifier, the input of which is connected to the at least one joystick, and the output of which is connected to the main controller.

5. The wireless control system according to claim 3, characterized in that, The slave device further includes: At least one second operational amplifier, the input of which is connected to the slave controller, and the output of which is connected to the voltage control terminal of the at least one caster driver.

6. The wireless control system according to claim 2, characterized in that, The at least one operating mechanism further includes at least one enabling mechanism, the operating signal includes an enabling operating signal, and the control signal includes an enabling control signal. The at least one enabling mechanism is configured to receive a user-triggered operation and generate the enabling operation signal based on the user-triggered operation. The slave controller is connected to the enable control terminal of the at least one caster drive, and the slave controller is further configured to generate the enable control signal based on the enable operation signal to control the start of the at least one caster drive.

7. The wireless control system according to claim 6, characterized in that, The operation signal includes a release operation signal, and the control signal includes a release control signal. The at least one enabling mechanism is further configured to receive a user release operation and generate a release operation signal based on the user release operation. The slave controller is also configured to generate the release control signal based on the release operation signal to control the shutdown of the at least one caster drive.

8. The wireless control system according to claim 6, characterized in that, The slave device further includes: At least one PMOS transistor, disposed between the slave controller and the enable control terminal of the at least one caster driver, is configured to be turned on based on the enable control signal to control the start-up of the at least one caster driver; and At least one first optocoupler is disposed between the slave controller and the at least one PMOS transistor to isolate the slave controller and the PMOS transistor.

9. The wireless control system according to claim 7, characterized in that, The main terminal device also includes: Main power supply; A first DC-DC converter, connected to the main power supply, is configured to obtain a first voltage based on the main power supply voltage provided by the main power supply, and to provide the first voltage to the at least one rocker arm; and A second DC-DC converter is connected to the main power supply. The second DC-DC converter is configured to obtain a second voltage based on the main power supply voltage and provide the second voltage to the main controller and the main wireless communication module.

10. The wireless control system according to claim 9, characterized in that, The main controller is connected to the at least one enabling mechanism and the first DC-DC converter, and the main controller is further configured to: Receive the enable operation signal from the at least one enable mechanism, and control the first DC-DC converter to turn on based on the enable operation signal; or The release operation signal is received from the at least one enabling mechanism, and the first DC-DC converter is controlled to turn off based on the release operation signal.

11. The wireless control system according to claim 7, characterized in that, The slave controller is connected to the brake output terminal of the at least one caster drive. The slave controller is also configured to receive a brake status signal from the brake output terminal and transmit it to the slave wireless communication module. The master wireless communication module is also configured to receive the brake status signal from the slave wireless communication module.

12. The wireless control system according to claim 11, characterized in that, The main terminal device also includes at least one first light-emitting diode. The main controller is connected to the at least one first light-emitting diode, and the main controller is also configured to receive the brake status signal from the main wireless communication module, and control the on / off state of the at least one first light-emitting diode based on the brake status signal.

13. The wireless control system according to claim 11, characterized in that, The slave device further includes: At least one second optocoupler is disposed between the brake output terminal of the slave controller and the at least one caster drive.

14. The wireless control system according to claim 9, characterized in that, The main terminal device also includes at least one second light-emitting diode. The main controller is connected to the at least one second light-emitting diode and the main power supply. The main controller is also configured to receive a power supply voltage signal from the main power supply and control the on / off state of the at least one second light-emitting diode based on the power supply voltage signal.

15. A surgical robot system, characterized in that, include: A wireless control handle for receiving user input; Operating room cart, including at least one robotic arm; as well as The wireless control system as described in any one of claims 1-14, wherein the master device of the wireless control system is disposed in the wireless operating handle, and the slave device of the wireless control system is disposed in the operating trolley.

Images