Trundle control system and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a trundle control system and a surgical robot system. The trundle control system comprises a control device, the control device comprises at least one operation mechanism, and the operation mechanism is configured to receive user operation and generate an operation signal based on the user operation; and the at least one trundle driver is connected with the at least one operating mechanism, and the trundle driver is configured to receive an operating signal from the at least one operating mechanism and control movement of the trundle based on the operating signal.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and more particularly to a caster 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, especially single-port laparoscopic surgery, through a surgical robotic system 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 caster control system, comprising:

[0005] a control device, the control device comprising at least one operating mechanism, the operating mechanism being configured to receive a user operation and generate an operating signal based on the user operation; and

[0006] at least one caster driver, the caster driver being connected with the at least one operating mechanism, the caster driver being configured to receive the operating signal from the at least one operating mechanism and control the movement of the caster based on the operating signal.

[0007] In some embodiments, the at least one operating mechanism comprises at least one rocker, and the operating signal comprises a rocker operating signal, the rocker being configured to receive a user movement operation and generate a rocker operating signal based on the user movement operation.

[0008] In some embodiments, the rocker is connected with a voltage control end of the at least one caster driver, and the caster driver is configured to determine a control voltage in response to the rocker operating signal.

[0009] In some embodiments, the control device further comprises:

[0010] at least one operational amplifier, an input end of the operational amplifier being connected with the rocker, and an output end of the operational amplifier being connected with the voltage control end of the caster driver.

[0011] In some embodiments, the control device further comprises:

[0012] at least one post-operational amplifier circuit, the post-operational amplifier circuit being respectively arranged between the at least one operational amplifier and the voltage control end of the at least one caster driver, the post-operational amplifier circuit comprising:

[0013] a filter resistor, a first end of the filter resistor being connected to an output end of the at least one operational amplifier;

[0014] a first filter capacitor, a first end of the first filter capacitor being connected to a second end of the filter resistor, and a second end of the first filter capacitor being grounded; and

[0015] a first magnetic bead, a first end of the first magnetic bead being connected between the second end of the filter resistor and the first end of the first filter capacitor, and a second end of the first magnetic bead being connected to a voltage control end of the at least one caster driver.

[0016] In some embodiments, the post-OPAMP circuit further comprises:

[0017] a first transient voltage suppression diode (TVS diode), an input end of the first TVS diode being connected between the second end of the first magnetic bead and the voltage control end of the at least one caster driver, and an output end of the first TVS diode being grounded.

[0018] In some embodiments, the control device further comprises:

[0019] at least one power supply circuit, an input end of the power supply circuit being connected to a voltage output end of the caster driver, and an output end of the power supply circuit being connected to a power supply end of the rocker and the operational amplifier to supply power to the rocker and the operational amplifier.

[0020] In some embodiments, the power supply circuit comprises:

[0021] a second magnetic bead, a first end of the second magnetic bead being connected to the voltage output end of the caster driver, and a second end of the second magnetic bead being connected to the output end of the power supply circuit; and

[0022] a second filter capacitor, a first end of the second filter capacitor being connected between the second end of the second magnetic bead and the output end of the power supply circuit, and a second end of the second filter capacitor being grounded.

[0023] In some embodiments, the power supply circuit further comprises:

[0024] a fuse, the fuse being connected in series between the second magnetic bead and the output end of the power supply circuit;

[0025] a diode, the diode being connected in series between the fuse and the output end of the power supply circuit, a positive electrode of the diode being connected to a second end of the fuse, and a negative electrode of the diode being connected to the output end of the power supply circuit; and

[0026] a second transient voltage suppression diode (TVS diode), an input end of the second TVS diode being connected between the negative electrode of the diode and the output end of the power supply circuit, and an output end of the second TVS diode being grounded.

[0027] In some embodiments, the post-OPAMP circuit further comprises:

[0028] at least one first voltage stabilizing resistor, a first end of the first voltage stabilizing resistor being connected to an output end of the power supply circuit, a second end of the first voltage stabilizing resistor being connected between the filtering resistor and a voltage control end of the caster driver; and

[0029] at least one second voltage stabilizing resistor, a first end of the second voltage stabilizing resistor being connected between the filtering resistor and the voltage control end of the caster driver, a second end of the second voltage stabilizing resistor being grounded.

[0030] In some embodiments, the at least one operating mechanism further comprises at least one enabling mechanism, the operating signal comprises an enabling operating signal, the enabling mechanism is configured to receive a user triggering operation and generate the enabling operating signal based on the user triggering operation,

[0031] the enabling mechanism is connected to an enabling control end of the caster driver, the caster driver is further configured to start in response to the enabling operating signal.

[0032] In some embodiments, the operating signal comprises a releasing operating signal, the enabling mechanism is further configured to receive a user releasing operation and generate the releasing operating signal based on the user releasing operation,

[0033] the caster driver is further configured to shut down in response to the releasing operating signal.

[0034] In some embodiments, the control device further comprises:

[0035] at least one light emitting diode, the light emitting diode being connected to a brake output end of the caster driver, the brake output end being used to output a brake state signal to control on-off of the light emitting diode.

[0036] Some embodiments of the present disclosure further provide a surgical robot system, comprising:

[0037] an operating handle configured to receive a user operation;

[0038] a surgical trolley comprising at least one mechanical arm; and

[0039] the control device of the caster control system is arranged in the operating handle, and the at least one caster driver of the caster control system is arranged in the surgical trolley.

[0040] Some embodiments of the present disclosure have one or more of the following technical effects: capable of being used to control start-stop of a caster of a surgical trolley of a surgical robot system; capable of being used to control movement speed and movement direction of the caster of the surgical trolley of the surgical robot system; capable of avoiding caster movement caused by user mis-touching of a joystick; capable of improving reliability of start-stop control of the caster driver; capable of reducing damage to circuit elements of the caster control system. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced. The drawings in the following description only show some embodiments of the present disclosure, and other embodiments can be obtained by those skilled in the art without any creative effort on the basis of the contents of the embodiments of the present disclosure and the drawings.

[0042] Figure 1 A structural schematic block diagram of a caster control system according to some embodiments of the present disclosure is shown;

[0043] Figure 2 A structural schematic block diagram of a caster control system according to some embodiments of the present disclosure is shown;

[0044] Figure 3 A structural schematic block diagram of a caster control system according to some embodiments of the present disclosure is shown, including part of the structure circuit principle;

[0045] Figure 4 A structural schematic block diagram of a caster control system 100 according to some embodiments of the present disclosure is shown;

[0046] Figure 5 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0047] List of reference signs:

[0048] 100, caster control system;

[0049] 10, control device; 11, operating mechanism; 111, rocker; 112, enabling mechanism; 12, operational amplifier; 13, post-circuit of operational amplifier; 14, power supply circuit; 15, light-emitting diode;

[0050] 20, caster driver; 21, voltage control end; 22, voltage output end; 23, enabling control end; 24, brake output end;

[0051] 1000, surgical robot system; 1010, surgical trolley; 1011, mechanical arm; 1012, surgical instrument; 1013, base; 1014, stand column; 1015, cross beam; 1020, operating handle; 1030, master control trolley; 1031, master operator;

[0052] C1, first filter capacitor; C2, second filter capacitor; D1, diode; F1, fuse; FB1, first magnetic bead; FB2, second magnetic bead; R1, filter resistor; R2, first voltage stabilizing resistor; R3, second voltage stabilizing resistor; V1, first TVS tube; V2, second TVS tube. DETAILED DESCRIPTION

[0053] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, but not all the embodiments.

[0054] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0056] In the present disclosure, the end close to the operator (e.g. a doctor) is defined as the proximal end, proximal part or rear end, rear part, and the end opposite to the proximal end, proximal part or rear end, rear part is defined as the distal end, distal part or front end, front part. Alternatively, the end close to the operator (e.g. a doctor) is defined as the distal end, distal part or front end, front part, and the end opposite to the distal end, distal part or front end, front part is defined as the proximal end, proximal part or rear end, rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, or for other non-medical devices.

[0057] Some embodiments of the present disclosure provide a caster control system 100. Figure 1 The structural schematic block diagram of the caster control system 100 according to some embodiments of the present disclosure is shown. In some embodiments, the caster control system 100 can be used in a surgical robot system, for example, any suitable surgical robot system including a laparoscopic surgical robot system. As shown, the caster control system 100 can include a control device 10 and at least one caster driver 20. Figure 1

[0058] As shown, the control device 10 can include a control unit 11 and a communication interface 12. Figure 1 ​As shown, the control device 10 can include at least one operation mechanism 11, which can be configured to receive user operation and generate operation signals based on the user operation. In some embodiments, the operation mechanism 11 can include a left operation mechanism and a right operation mechanism, which can be respectively configured to receive user left-hand and right-hand operation and generate left operation signals and right operation signals respectively. In some embodiments, the operation mechanism 11 can include any suitable form such as a joystick, a button, a key, a knob, etc. The user operation can include dialing, pressing, releasing, etc. In some embodiments, the control device 10 can include an operation handle, and the left operation mechanism and the right operation mechanism can be symmetrically arranged on the operation handle to facilitate user operation.

[0059] The caster driver 20 can be connected with the at least one operation mechanism 11. The caster driver 20 can be configured to receive operation signals from the at least one operation mechanism 11 and control movement of the caster based on the operation signals. In some embodiments, the caster driver 20 can be connected with the operation mechanism 11 through a cable. Those skilled in the art can understand that the caster driver 20 can be used to drive movement of the caster and can be used to control movement direction and movement speed of the caster, etc. In some embodiments, the caster driver 20 can be used to drive movement of a caster of a surgical robot system, such as a driven caster of a surgical trolley, etc. In some embodiments, the at least one caster driver 20 can include a plurality of caster drivers, which can be respectively used to drive a plurality of casters.

[0060] Those skilled in the art can understand that through the caster control system provided by some embodiments of the present disclosure, the user can conveniently control movement of the caster by operating the at least one operation mechanism 11.

[0061] Figure 2 A structural schematic block diagram of a caster control system 100 according to some other embodiments of the present disclosure is shown. In some embodiments, as shown, Figure 2 The operation signals can include joystick operation signals. The joystick 111 can be configured to receive user movement operation and generate the joystick operation signals based on the user movement operation. In some embodiments, the at least one joystick 111 can include a joystick with one-dimensional movement freedom, and the user movement operation can include dialing the joystick forward and dialing the joystick backward. In some other embodiments, the at least one joystick 111 can include a joystick with multi-dimensional movement freedom, and the user movement operation can include dialing the joystick forward, dialing the joystick backward, dialing the joystick left, dialing the joystick right, rotating the joystick, etc. In some embodiments, the joystick operation signals can include joystick movement direction information, joystick movement distance information, etc.

[0062] In some embodiments, the joystick 111 can be connected with the voltage control terminal 21 of the at least one caster driver 20. The caster driver 20 can be configured to determine the control voltage in response to the joystick operation signal. Those skilled in the art can understand that by determining the control voltage of the caster driver 20, the movement speed and the movement direction of the caster connected with the caster driver 20 can be controlled. For example, the caster can be controlled to move forward by controlling the control voltage of the caster driver 20 to be higher than the reference voltage, the caster can be controlled to move backward by controlling the control voltage of the caster driver 21 to be lower than the reference voltage, the caster can be controlled to reduce the movement speed by controlling the control voltage of the caster driver 21 to be close to the reference voltage, and the caster can be controlled to increase the movement speed by controlling the control voltage of the caster driver 21 to be far away from the reference voltage.

[0063] Based on this, the caster control system 100 can be used for a user to control the movement speed and the movement direction of the caster by operating the joystick 111. In some embodiments, the caster driver 20 can be configured to determine the difference between the control voltage of the caster driver 20 and the reference voltage based on the joystick movement distance information of the joystick operation signal. In some embodiments, the caster driver 20 can be configured to determine whether the control voltage of the caster driver 20 is higher or lower than the reference voltage based on the joystick movement direction information of the joystick operation signal. In order to make the user obtain an intuitive operation feeling.

[0064] In some embodiments, the at least one joystick 111 can include a left joystick and a right joystick. The at least one caster driver 20 can include a left caster driver and a right caster driver, which can be respectively used to control the movement speed and the movement direction of the left active caster and the right active caster, and which can be respectively connected with the left joystick and the right joystick. In some embodiments, the left joystick can be configured to receive the left hand movement operation of the user and generate the left joystick operation signal based on the left hand movement operation of the user, and the right joystick can be configured to receive the right hand movement operation of the user and generate the right joystick operation signal based on the right hand movement operation of the user. The left caster driver can be configured to determine the control voltage in response to the left joystick operation signal, and the right caster driver can be configured to determine the control voltage in response to the right joystick operation signal. Based on this, the wireless control system 100 can be used for a user to control the movement speed and the movement direction of the left active caster and the right active caster by operating the left joystick or the right joystick, respectively.

[0065] In other embodiments, the left caster driver and the right caster driver can be integrally arranged as a single caster driver 20, and the voltage control terminal of the caster driver 20 can include a left caster voltage control terminal and a right caster voltage control terminal. The left joystick can be connected with the left caster voltage control terminal, and the right joystick can be connected with the right caster voltage control terminal to transmit the left joystick operation signal and the right joystick operation signal, respectively.

[0066] In some embodiments, such as Figure 2 As shown, the control device 10 may further include at least one operational amplifier 12. The input terminal of the operational amplifier 12 is connected to the rocker arm 111, and the output terminal of the operational amplifier 12 is connected to the voltage control terminal 21 of the caster driver 20. Those skilled in the art will understand that the operational amplifier 12 can closely follow the changes in the rocker arm operation signal generated by the rocker arm 111, which helps reduce interference from subsequent circuits to the rocker arm 111 and enhances the driving capability of the rocker arm operation signal. In some embodiments, at least one operational amplifier 12 may include a left operational amplifier and a right operational amplifier, which can respectively follow the left rocker arm operation signal generated by the left rocker arm and the right rocker arm operation signal generated by the right rocker arm.

[0067] In some embodiments, such as Figure 2 As shown, the control device 10 may further include at least one operational amplifier post-stage circuit 13. The at least one operational amplifier post-stage circuit 13 may be respectively disposed between the voltage control terminal 21 of at least one operational amplifier 12 and at least one caster driver 20. Figure 3 A schematic block diagram showing the structure of a caster control system 100 according to some embodiments of the present disclosure, including a portion of its circuitry principle, is provided. Figure 3 As shown, the operational amplifier stage 13 may include a filter resistor R1, a first filter capacitor C1, and a first ferrite bead FB1.

[0068] like Figure 3 As shown, the first terminal of the filter resistor R1 can be connected to the output terminal of the operational amplifier 12. The first terminal of the first filter capacitor C1 is connected to the second terminal of the filter resistor R1, and the second terminal of the first filter capacitor C1 is grounded. The first terminal of the first ferrite bead FB1 is connected between the second terminal of the filter resistor R1 and the first terminal of the first filter capacitor C1, and the second terminal of the first ferrite bead FB1 is connected to the voltage control terminal 21 of at least one caster driver 20. Those skilled in the art will understand that the filter resistor R1 and the first filter capacitor C1 can form an RC filter circuit, capable of filtering out low-frequency noise in the signal output by the operational amplifier 12. The first ferrite bead FB1 can filter out high-frequency noise in the signal output by the operational amplifier 12. The quality of the signal transmitted to the caster driver 20 can be improved through the operational amplifier's subsequent circuit 13, thereby contributing to the improvement of the stability of the caster control system 100.

[0069] In some embodiments, such as Figure 3As shown, the post-op-amp circuit 13 can further include a first TVS tube V1. An input end of the first TVS tube V1 can be connected between the second end of the first magnetic bead FB1 and the voltage control end 21 of the caster driver 20. An output end of the first TVS tube V1 is grounded. Those skilled in the art can understand that the first TVS tube V1 can suppress transient overvoltage, such as ESD (Electro-Static discharge), short-time abnormal pulse, etc., and help avoid damage to the devices of the caster control system 100.

[0070] In some embodiments, the post-op-amp circuit 13 can include a plurality of post-op-amp circuits, for example, can include a first post-op-amp circuit arranged between the left operational amplifier and the voltage control end 21 of the caster driver 20, and a second post-op-amp circuit arranged between the right operational amplifier and the voltage control end 21 of the caster driver 20. The first post-op-amp circuit and the second post-op-amp circuit can respectively have similar structures as the post-op-amp circuit 13 as shown. Figure 3

[0071] In some embodiments, as shown, Figure 2 The control device 10 can further include at least one power supply circuit 14. An input end Vin of the power supply circuit 14 is connected to a voltage output end 22 of at least one caster driver 20. An output end Vout of the power supply circuit 14 is connected to the power supply end of the rocker 111 and the operational amplifier 12 to supply power to the rocker 111 and the operational amplifier 20. Those skilled in the art can understand that the caster driver 20 can output stable voltage (for example, 5V DC voltage) at the voltage output end 22 to supply power to the rocker 111 and the operational amplifier 12. This helps to simplify the circuit design and improve the reliability of the caster control system 100.

[0072] In some embodiments, the voltage output end 22 of the caster driver 20 and the input end of the power supply circuit 14 can be connected through a power supply cable. In some embodiments, the cable between the caster driver 20 and the post-op-amp circuit 13 can be integrated with the power supply cable as one cable arranged between the control device 10 and the caster driver 20 to simplify the connection of the caster control system 100.

[0073] In some embodiments, as shown, Figure 3 ​As shown, the power supply circuit 14 may include a second ferrite bead FB2 and a second filter capacitor C2. The first end of the second ferrite bead FB2 can be connected to the voltage output terminal 22 of the caster driver 20, and the second end of the second ferrite bead FB2 can be connected to the output terminal Vout of the power supply circuit 14. The first end of the second filter capacitor C2 can be connected between the second ferrite bead FB2 and the output terminal Vout of the power supply circuit 14, and the second end of the second filter capacitor C2 is grounded. Those skilled in the art will understand that the second ferrite bead FB2 can filter out high-frequency noise in the voltage output by the caster driver 20. The second filter capacitor C2 can suppress harmonics in the voltage output by the caster driver 20, helping to improve the stability of the power supply voltage.

[0074] In some embodiments, such as Figure 3 As shown, the power supply circuit 14 may further include a fuse F1, a diode D1, and a second TVS diode V2. The fuse F1 can be connected in series between the second ferrite bead FB1 and the output terminal Vout of the power supply circuit 14. The diode D1 can be connected in series between the fuse F1 and the output terminal Vout of the power supply circuit 14; the anode of the diode D1 can be connected to the second terminal of the fuse F1, and the cathode of the diode D1 can be connected to the output terminal Vout of the power supply circuit 14. The input terminal of the second TVS diode V2 can be connected between the cathode of the diode D1 and the output terminal of the power supply circuit 14, and the output terminal of the second TVS diode V2 is grounded. Those skilled in the art will understand that by using the fuse F1, damage to the devices caused by excessive current in the power supply circuit 14 can be avoided. By using the diode D1, reverse connection can be prevented, thereby preventing damage to circuit components from reverse current flow. By using the second TVS diode V2, damage to circuit components from instantaneous high voltage can be avoided.

[0075] In some embodiments, the voltage output terminal 22 of the caster driver 20 may include a left caster voltage output terminal and a right caster voltage output terminal, which can output power supply voltages to power the left joystick and the left operational amplifier, or the right joystick and the right operational amplifier, respectively. The power supply circuit 14 may include a first power supply circuit and a second power supply circuit, which can be respectively disposed between the left caster voltage output terminal and the left joystick and the left operational amplifier, and between the right caster voltage output terminal and the right joystick and the right operational amplifier. The first power supply circuit and the second power supply circuit may each have the following characteristics: Figure 3 The power supply circuit 14 shown has a similar structure.

[0076] In some embodiments, such as Figure 3As shown, the post-stage circuit of the operational amplifier 13 can further include at least one first voltage stabilizing resistor R2 and a second voltage stabilizing resistor R3. A first end of the first voltage stabilizing resistor R2 can be connected to the output end Vout of the power supply circuit 14, and a second end of the first voltage stabilizing resistor R2 can be connected between the filter resistor R1 and the voltage control end 21 of the caster driver 20. A first end of the second voltage stabilizing resistor R3 can be connected between the filter resistor R1 and the voltage control end 21 of the caster driver 20, and a second end of the second voltage stabilizing resistor R3 can be grounded. As can be appreciated by those skilled in the art, by providing the first voltage stabilizing resistor R2 and the second voltage stabilizing resistor R3, when the operational amplifier 12 is damaged, the voltage at the connection of the first voltage stabilizing resistor R2 and the second voltage stabilizing resistor R3 can be stabilized at a preset voltage value, thereby avoiding damage to the circuit elements caused by abnormal voltage or current.

[0077] Figure 4 A structural schematic block diagram of a caster control system 100 according to yet some embodiments of the present disclosure is shown. As Figure 4 As shown, in some embodiments, the at least one operation mechanism 11 can further include at least one enabling mechanism 112. The operation signal can include an enabling operation signal. The enabling mechanism 112 can be configured to receive a user triggering operation and generate the enabling operation signal based on the user triggering operation. In some embodiments, the enabling mechanism 112 can include any suitable form such as a key, a button, a knob, etc. The user triggering operation can include pressing the enabling mechanism 112, touching the enabling mechanism 112, dialing the enabling mechanism 112 to a triggering position, etc. The enabling mechanism 112 can be connected to an enabling control end 23 of the caster driver 20, and the caster driver 20 can be further configured to start in response to the enabling operation signal.

[0078] In some embodiments, the operation signal can further include a release operation signal. The enabling mechanism 112 can be further configured to receive a user release operation and generate the release operation signal based on the user release operation. In some embodiments, the user release operation can include releasing the enabling mechanism 112, dialing the enabling mechanism 112 to a home position, etc. The caster driver can be further configured to shut down in response to the release operation signal.

[0079] As can be appreciated by those skilled in the art, the caster driver 20 switches to a start state when the enabling operation signal is received, and in the start state, the caster driver 20 can determine the control voltage to control the movement of the at least one caster in response to the joystick operation signal. When the release operation signal is received, the caster driver 20 switches to a shutdown state, and in the shutdown state, the caster driver 20 will not drive the caster movement even if the joystick operation signal is received. Based on this, it is helpful to avoid the movement of the caster due to the user's accidental touch of the at least one joystick 111.

[0080] In some embodiments, at least one enabling mechanism 112 may include a plurality of enabling mechanisms 112. A user can activate the caster drive 20 by performing a trigger operation on at least one of the plurality of enabling mechanisms 112.

[0081] In some embodiments, such as Figure 4 As shown, the control device 100 may further include at least one light-emitting diode (LED) 15. The LED 15 is connected to the brake output terminal 24 of the caster drive 20. The brake output terminal 24 can be used to output a brake status signal to control the on / off state of the LED 15. Those skilled in the art will understand that the LED 15 can be used to indicate the brake status of the caster drive 20. In some embodiments, at least one LED 15 may include multiple LEDs, for example, multiple LEDs respectively used to indicate the brake status of the left caster drive and the right caster drive.

[0082] Those skilled in the art will understand that the various parts included in the caster control system 100 of this disclosure, such as the control device 10, the operating mechanism 11, the caster drive 20, 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 control device 10, the operating mechanism 11, the caster drive 20, etc., can be implemented using various circuit technologies, such as analog circuits, digital circuits, configurable circuits, or dedicated circuits.

[0083] Some embodiments of this disclosure also provide a surgical robot system. Figure 5 A schematic diagram of a surgical robot system 1000 according to some embodiments of the present disclosure is shown. Figure 5 As shown, the surgical robot system 1000 may include a surgical cart 1010, an operating handle 1020, and a caster control 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 control device 10 of the caster control system 100 may be disposed in the operating handle 1020. In some embodiments, at least one rocker arm 111 and at least one enabling mechanism 112 may be symmetrically disposed in the operating handle 1020 to facilitate receiving operations.

[0084] The caster drive 20 of the caster control system 100 can be located in the operating trolley 1010. In some embodiments, such as Figure 5As shown, the surgical cart 1010 can further include at least one surgical instrument 1012 (e.g., bipolar curved dissector, single motorized hook, tissue grasping forceps, endoscope, etc.) disposed at a distal end of the at least one robotic arm 1011. The surgical cart 1010 can further include a base 1013, a column 1014, and a crossbar 1015, at a distal end of which the at least one robotic arm 1011 can be disposed. The surgical cart 1010 can further include a plurality of casters (not shown), which can be disposed at a bottom of the base 1013, and which can include at least one powered caster. In some embodiments, a caster driver 20 can be disposed at the bottom of the base 1013 to facilitate driving of the powered caster by a caster driver 21 of the caster driver 20. In some embodiments, as Figure 5 As shown, the operating handle 1020 and the surgical cart 1010 can be connected by a cable.

[0085] In some embodiments, as Figure 5 As shown, the surgical robot system 1000 can further include a master cart 1030. The master cart 1030 can include at least one master operator 1031, which can be used to receive user operations. In some embodiments, the master operator 1031 can include a left master operator and a right master operator to receive user operations of left and right hands, respectively. The master cart 1030 can be communicatively connected with the surgical cart 1010, for example, by wired or wireless transmission. The master cart 1030 can be disposed at a user side, and the surgical cart 1010 can be disposed at a patient side. During surgery, the user can issue control instructions by operating the master operator 1031 to control the surgical instrument 1012 carried by the surgical cart 1010 to perform surgical operations.

[0086] It should be noted that the above merely provides exemplary embodiments of the present disclosure and the technical principles applied. It should be understood by those skilled in the art that the present disclosure is not limited to the specific embodiments herein, 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 detail by the above embodiments, the present disclosure is not limited to the above embodiments only, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the appended claims.

Claims

1. A caster control system, characterized in that, include: A control device, the control device including at least one operating mechanism, the operating mechanism being configured to receive user operations and generate operating signals based on user operations; as well as At least one caster drive, the caster drive being connected to the at least one operating mechanism, the caster drive being configured to receive the operating signal from the at least one operating mechanism and control the movement of the caster based on the operating signal.

2. The caster 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 joystick is configured to receive user motion operations and generate the joystick operating signal based on the user motion operations.

3. The caster control system according to claim 2, characterized in that, The rocker arm is connected to the voltage control terminal of the at least one caster driver, which is configured to determine a control voltage in response to the rocker arm operation signal.

4. The caster control system according to claim 3, characterized in that, The control device further includes: At least one operational amplifier, the input of which is connected to the rocker arm, and the output of which is connected to the voltage control terminal of the caster driver.

5. The caster control system according to claim 4, characterized in that, The control device further includes: At least one operational amplifier post-stage circuit is disposed between the voltage control terminals of the at least one operational amplifier and the at least one caster driver, and the operational amplifier post-stage circuit includes: A filter resistor, the first end of which is connected to the output terminal of the at least one operational amplifier; A first filter capacitor, wherein a first terminal of the first filter capacitor is connected to a second terminal of the filter resistor, and a second terminal of the first filter capacitor is grounded; and The first magnetic bead has a first end connected between the second end of the filter resistor and the first end of the first filter capacitor, and the second end of the first magnetic bead is connected to the voltage control terminal of the at least one caster driver.

6. The caster control system according to claim 5, characterized in that, The operational amplifier's subsequent circuit also includes: The first TVS diode has its input terminal connected between the second terminal of the first magnetic bead and the voltage control terminal of the at least one caster driver, and its output terminal is grounded.

7. The caster control system according to claim 6, characterized in that, The control device further includes: At least one power supply circuit, the input terminal of which is connected to the voltage output terminal of the at least one caster driver, and the output terminal of which is connected to the power supply terminals of the rocker arm and the operational amplifier, to supply power to the rocker arm and the operational amplifier.

8. The caster control system according to claim 7, characterized in that, The power supply circuit includes: A second magnetic bead, the first end of which is connected to the voltage output terminal of the caster driver, and the second end of which is connected to the output terminal of the power supply circuit; and The second filter capacitor has its first end connected between the second end of the second ferrite bead and the output terminal of the power supply circuit, and its second end is grounded.

9. The caster control system according to claim 8, characterized in that, The power supply circuit also includes: A fuse, which is connected in series between the second ferrite bead and the output terminal of the power supply circuit; A diode, connected in series between the fuse and the output terminal of the power supply circuit, with the anode of the diode connected to the second terminal of the fuse and the cathode connected to the output terminal of the power supply circuit; and The second TVS diode has its input terminal connected between the negative terminal of the diode and the output terminal of the power supply circuit, and its output terminal grounded.

10. The caster control system according to claim 7, characterized in that, The operational amplifier's subsequent circuit also includes: At least one first voltage-regulating resistor, the first end of which is connected to the output terminal of the power supply circuit, and the second end of which is connected between the filter resistor and the voltage control terminal of the caster driver; and At least one second voltage-regulating resistor, the first end of which is connected between the filter resistor and the voltage control terminal of the caster driver, and the second end of which is grounded.

11. The caster 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 enabling mechanism is configured to receive a user-triggered operation and generate the enabling operating signal based on the user-triggered operation. The enabling mechanism is connected to the enable control terminal of the caster drive, which is also configured to start in response to the enable operation signal.

12. The caster control system according to claim 11, characterized in that, The operation signal includes a release operation signal, and the enabling mechanism is further configured to receive a user release operation and generate the release operation signal based on the user release operation. The caster drive is also configured to shut down in response to the release operation signal.

13. The caster control system according to claim 1, characterized in that, The control device further includes: At least one light-emitting diode (LED) is provided, which is connected to the brake output terminal of the caster drive. The brake output terminal is used to output a brake status signal to control the on / off state of the LED.

14. A surgical robot system, characterized in that, include: The control handle is used to receive user input. Operating room cart, including at least one robotic arm; as well as The caster control system according to any one of claims 1-13, wherein the control device of the caster control system is disposed in the operating handle, and at least one caster drive of the caster control system is disposed in the operating trolley.

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