Multifunctional operating bed control system

Abstract

The utility model discloses a multifunctional operating bed control system which comprises a control unit, an input device, a sensor, an executing mechanism and a communication interface. Wherein the communication interface, the sensor and the input device are connected with the input end of the control module, and the output end of the control module is connected with the execution mechanism; motion precision is guaranteed through dual positioning of an encoder of the motor controller and an external magnetic grid, a safety monitoring module is arranged, and a hardware limiting switch and an abnormal state monitoring module are integrated, so that an emergency stop mode is automatically entered and a brake is locked when an abnormal condition is triggered, and higher safety is achieved.

Description

Technical Field

[0001] This utility model relates to the field of operating table control technology, and in particular to a multifunctional operating table control system. Background Technology

[0002] As the core equipment in the operating room, the operating table's control precision, operational flexibility, and safety directly affect the surgical outcome. Existing operating table control systems have the following shortcomings: insufficient motion control precision, making it difficult to meet the positioning requirements of complex surgeries; a single system mode, unable to accommodate the different needs of production debugging and clinical use; limited abnormal state monitoring capabilities, and a lack of real-time and effective safety protection mechanisms. Utility Model Content

[0003] This invention provides a multifunctional operating table control system, which can at least solve the problem of limited monitoring capabilities for abnormal operating table conditions in existing technologies.

[0004] A multifunctional operating table control system includes a control unit, input devices, sensors, actuators, and a communication interface;

[0005] The communication interface, sensors, and input devices are connected to the input end of the control module, and the output end of the control module is connected to the actuator.

[0006] The control unit includes:

[0007] The motion control module is used to control the independent movement of multiple axial movement mechanisms of the operating table;

[0008] The system mode switching module includes adjustment mode, normal mode and emergency stop mode;

[0009] The working mode management module includes a handle mode and a command mode, which are used to switch the working modes of each axial moving mechanism;

[0010] The safety monitoring module is used to monitor the operating table's position, speed, and operating current under the action of the motion control module; and

[0011] The parameter storage and communication module is used to store working parameters and load valid parameters at startup.

[0012] Preferably, the working mode management module can independently set the working mode of each axial moving mechanism through serial port commands or CAN protocol.

[0013] Preferably, the motion control module includes multiple motor controllers that correspond one-to-one with multiple axial movement mechanisms.

[0014] Preferably, the input device includes at least a control handle and an emergency stop button.

[0015] Preferably, the sensor includes at least a magnetic grating and limit switches, the magnetic grating being used to provide real-time feedback of position data, and the limit switches being installed at the extreme positions of each axial moving mechanism.

[0016] Preferably, the communication interface includes at least a CAN port and a serial port.

[0017] Preferably, the handle is equipped with a dual-axis angle sensor and a rotary encoder.

[0018] Preferably, it also includes a return button, which allows multiple axial movement mechanisms to be reset to their initial positions.

[0019] Preferably, the system mode switching module is used to set debug mode, normal mode and emergency stop mode; wherein, the debug mode supports full-function commands and movement without software limit, and is used for production calibration;

[0020] The normal mode limits software movement and monitors motion status in real time, for clinical use.

[0021] The emergency stop mode locks the brakes and outputs safety logic when hardware limits or abnormal conditions are triggered.

[0022] A method for controlling a multifunctional operating table includes the following steps:

[0023] 1) After the system starts up, it performs a self-test. After the self-test passes, it enters normal mode and handle mode to monitor the motion status of each axis in real time.

[0024] 2) Receive handle operation signals or command control signals, analyze the signals according to the current system mode and working mode, and generate motion commands for each axis;

[0025] 3) The position and speed parameters are checked in real time during the movement. Emergency stop protection is triggered when the software limit is exceeded or an abnormality is detected.

[0026] Compared with the prior art, the advantages of this utility model are: this utility model ensures motion accuracy through dual positioning of the encoder and external magnetic grid of the motor controller, and is equipped with a safety monitoring module. By integrating hardware limit switches and abnormal state monitoring modules, it automatically enters emergency stop mode and locks the brake when an abnormality is triggered, which is safer. Attached Figure Description

[0027] Figure 1 This is a structural block diagram of the present invention.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-Control unit, 2-Control handle, 3-Emergency stop button, 4-Return button, 5-Magnetic grid, 6-Limit switch, 7-Motor controller, 8-Servo motor, 9-Brake, 10-Communication interface. Detailed Implementation

[0030] The following describes a specific embodiment of the present invention in detail with reference to the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0031] Example 1

[0032] like Figure 1 As shown in the figure, a multifunctional operating table control system provided by this utility model includes a control unit 1, an input device, a sensor, an actuator, and a communication interface 10.

[0033] Among them, the communication interface 10, the sensor and the input device are connected to the input end of the control module, and the output end of the control module is connected to the actuator;

[0034] The input device includes a control handle 2 and an emergency stop button 3. The handle is equipped with a dual-axis angle sensor and a knob encoder. In addition, the handle operation in this embodiment supports segmented control. The first half of the stroke is controlled with priority for accuracy, and the second half of the stroke is controlled with priority for speed. The knob rotates clockwise and counterclockwise, respectively, to move in the lifting and lowering directions.

[0035] The actuators are a servo motor 8 and a brake 9;

[0036] The sensor includes a magnetic grating 5 and a limit switch 6. The magnetic grating 5 is used to provide real-time feedback of position data, and the limit switch 6 is installed at the extreme positions of each axial moving mechanism.

[0037] Communication interface 10 includes at least a CAN port and a serial port;

[0038] The control unit 1 uses a high-performance microprocessor and integrates a three-axis motion controller, which is connected to servo motors 8 of multiple axial movement mechanisms. Magnetic grating sensors 5 provide real-time position data feedback, limit switches 6 are installed at the extreme positions of each axis, and the handle has a built-in dual-axis angle sensor and rotary encoder.

[0039] The above describes the hardware configuration; the following describes the software configuration:

[0040] 1. System startup: The system completes self-test in 5.1 seconds and outputs startup information to the serial port, entering normal mode by default; the power-on restart takes 2.2 seconds to quickly restore the running state.

[0041] 2. Parameter settings: The travel limit, speed and acceleration parameters can be modified by using the set command, and permanently stored by using the save command in debug mode; remote parameter configuration can be achieved through the CAN port.

[0042] 3. Safety Mechanism: Emergency stop button 3 can be manually triggered for emergency stop. After the abnormality is cleared, the motor needs to be reset by the msrst command and the running mechanism needs to be reactivated by the active command. The transmission mechanism is stable and reliable through dual positioning by the motor encoder and external magnetic grid 5.

[0043] 4. High-precision positioning: Dual positioning through the encoder of motor controller 7 and external magnetic grating 5 ensures motion accuracy.

[0044] The control unit 1 in this embodiment includes:

[0045] The motion control module includes multiple motor controllers 7, each corresponding to a different axial movement mechanism, for controlling the independent movement of the multiple axial movement mechanisms of the operating table.

[0046] The system mode switching module includes adjustment mode, normal mode and emergency stop mode;

[0047] The working mode management module includes a handle mode and a command mode, which are used to switch the working mode of each axial moving mechanism. The working mode of each axial moving mechanism can be set independently through serial port commands or CAN protocol.

[0048] The safety monitoring module integrates a hardware limit switch 6 and an abnormal state monitoring module to monitor the movement position, movement speed and working current of the operating table under the action of the motion control module. When an abnormality occurs, it automatically enters the emergency stop state and retracts the brake 9.

[0049] In addition, the emergency stop mode triggering conditions in this embodiment include: the hardware limit switch 6 being touched, abnormal movement speed, position exceeding the limit, or system self-test failure. When triggered, all movement is stopped and a safety logic signal is output.

[0050] The parameter storage and communication module is used to store working parameters and load valid parameters at startup. It supports serial console (115200 baud rate) and CAN port (500k baud rate) command interaction to realize the reading, writing and storage of working parameters.

[0051] In addition, it includes a return button 4, which allows multiple axial movement mechanisms to be reset to their initial positions.

[0052] The system mode switching module in this embodiment is used to set debug mode, normal mode and emergency stop mode; wherein, the debug mode supports full-function commands and movement without software limit, and is used for production calibration;

[0053] The normal mode limits software movement and monitors motion status in real time, for clinical use.

[0054] The emergency stop mode locks the brake 9 and outputs safety logic when the hardware limit or abnormal state is triggered.

[0055] Example 2

[0056] This embodiment discloses a control method for a multifunctional operating table, which includes the following steps:

[0057] 1) After the system starts up, it performs a self-test. If it passes, it enters normal mode and handle mode to monitor the motion status of each axis in real time.

[0058] 2) Receive handle operation signals or command control signals, analyze the signals according to the current system mode and working mode, and generate motion commands for each axis;

[0059] 3) The position and speed parameters are checked in real time during the movement, and emergency stop protection is triggered when the software limit is exceeded or an abnormality is detected;

[0060] 4) Supports configuring motion parameters via serial port or CAN port. In debug mode, all parameters can be modified and stored, while in normal mode, the range of parameter modification is limited.

[0061] The specific methods for motion control are as follows:

[0062] Handle operation: Automatically switches between precision control (first half) and speed control (second half) based on the handle pushing angle. In normal mode, the software limit automatically stops, while in debugging mode there are no restrictions.

[0063] 2) Command control: The movement of each axis is controlled by serial port commands such as pmove (absolute position), rmove (relative distance), and vmove (specified speed) or CAN messages, with precise units of μm / μm / s.

[0064] The mode switching method is as follows:

[0065] 1) After the system powers on and passes the self-test, it will enter the normal mode and gamepad mode by default. If there is no response for 7 seconds, an emergency stop will be triggered. The debugging mode needs to be manually activated by the sys command. It supports full-function parameter debugging.

[0066] 2) The controller mode and command mode can be switched independently using the padctl command. When the hardware limit is triggered, it will force the device to enter emergency stop mode.

[0067] The exception handling methods are as follows:

[0068] Real-time monitoring of motion parameters and status codes. When abnormal speed, out-of-limit position, or internal status is detected, the motion is immediately stopped, the brake is locked, and an emergency stop signal is output. The error code must be cleared and the system is reactivated via the fault command.

[0069] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit and essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multifunctional operating table control system, characterized in that, This includes control units, input devices, sensors, actuators, and communication interfaces; The communication interface, sensors, and input devices are connected to the input end of the control module, and the output end of the control module is connected to the actuator.

2. The multifunctional operating table control system as described in claim 1, characterized in that, The control unit includes: The motion control module is used to control the independent movement of multiple axial movement mechanisms of the operating table; The system mode switching module includes adjustment mode, normal mode and emergency stop mode; The working mode management module includes a handle mode and a command mode, which are used to switch the working modes of each axial moving mechanism; The safety monitoring module is used to monitor the operating table's position, speed, and operating current under the action of the motion control module; and The parameter storage and communication module is used to store working parameters and load valid parameters at startup.

3. The multifunctional operating table control system as described in claim 2, characterized in that, The working mode management module can independently set the working mode of each axial moving mechanism through serial port commands or CAN protocol.

4. The multifunctional operating table control system as described in claim 2, characterized in that, The motion control module includes multiple motor controllers that correspond one-to-one with multiple axial movement mechanisms.

5. The multifunctional operating table control system as described in claim 1, characterized in that, The input device includes at least a control handle and an emergency stop button, and the handle is equipped with a dual-axis angle sensor and a rotary encoder.

6. The multifunctional operating table control system as described in claim 1, characterized in that, The sensor includes at least a magnetic grating and limit switches. The magnetic grating is used to provide real-time feedback of position data, and the limit switches are installed at the extreme positions of each axial moving mechanism.

7. The multifunctional operating table control system as described in claim 1, characterized in that, The communication interface includes at least a CAN port and a serial port.

8. The multifunctional operating table control system as described in claim 5, characterized in that, It also includes a return button, which allows multiple axial movement mechanisms to be reset to their initial positions.

9. The multifunctional operating table control system as described in claim 2, characterized in that, The system mode switching module is used to set debug mode, normal mode and emergency stop mode; among them, debug mode supports full-function commands and movement without software limit, and is used for production calibration. The normal mode limits software movement and monitors motion status in real time, for clinical use. The emergency stop mode locks the brakes and outputs safety logic when hardware limits or abnormal conditions are triggered.

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