CN103190957A - Osteopathy robot remote control system - Google Patents
Osteopathy robot remote control system Download PDFInfo
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- CN103190957A CN103190957A CN2013101477668A CN201310147766A CN103190957A CN 103190957 A CN103190957 A CN 103190957A CN 2013101477668 A CN2013101477668 A CN 2013101477668A CN 201310147766 A CN201310147766 A CN 201310147766A CN 103190957 A CN103190957 A CN 103190957A
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Abstract
The invention discloses an osteopathy robot remote control system which relates to a robot remote control system, and aims at solving the problem that remote control on an osteopathy robot cannot be realized currently. The remote control system comprises a remote monitoring unit and a control unit in an operating room; the display signal input end of a double-screen display is connected with the display signal output end of an operating computer; the pickup signal input ends of two cameras are respectively connected with the two pickup signal input ends of an execution control computer; a video capture card captures video signals of a C-type arm X-ray machine and outputs the video signals to the execution control computer; the motor multi-shaft control signal output or input end of the execution control computer is connected with the motor multi-shaft control signal input or output end of a motor multi-shaft controller; and the motor driving signal input or output end of the motor multi-shaft controller is connected with the motor driving signal output or input end of a motor driver; and the motor driver is used for driving each motor in an execution motor set to work. The osteopathy robot remote control system is applicable to remote control on a osteopathy robot.
Description
Technical field
The present invention relates to a kind of robot remote control system.
Background technology
Adopt whole bone robot to carry out intelligent bone surgery operation and process monitoring is current the most advanced a kind of pattern, operator can realize as judging, correcting fracture etc., also can realize the startup of on-the-spot directly control C type arm X-ray machine/close.
Publication number be CN1389182A's " computer-controlled fracture shaping, repairing fixed system " a kind of control system of reduction fixed system is disclosed, its structure as shown in Figure 1, it has reached ray machine electricity one, reduced doctor's labor intensity, make the doctor avoid the injury of X ray, improve the speed of synthetism precision.
But this control system can only realize the field control of indoor whole bone robot of performing the operation, and can't realize the Long-distance Control to whole bone robot.
Summary of the invention
The present invention is the problem that can't realize at present the Long-distance Control of whole bone robot in order to solve, thereby a kind of whole bone robot remote control system is provided.
Whole bone robot remote control system, it comprises operation indoor control unit 2, and described operation indoor control unit 2 comprises C type arm X-ray machine 25 and actuating motor group 29, comprises N actuating motor in the described actuating motor group 29, and described N is positive integer;
Whole bone robot control system also comprises remote monitoring unit 1, and described remote control unit 1 comprises operation computer 12 and Biscreen display 11; The shows signal input of described Biscreen display 11 is connected with the shows signal outfan of operation computer 12; Described operation computer 12 access of radio network;
Operation indoor control unit 2 also comprises a photographic head 21, No. two photographic head 22, execution control computer 23, voice output input system 24, video frequency collection card 26, motor multi-axis controller 27 and motor drivers 28; Computer 23 access of radio network are controlled in described execution, and carry out radio communication with operation computer 12;
The image pickup signal input of a described photographic head 21 is connected with an image pickup signal input carrying out control computer 23; The image pickup signal input of described No. two photographic head 22 is connected with No. two image pickup signal inputs carrying out control computer 23; The voice signal of voice output input system 24 inputs or outputs end and is connected with voice signal output or the input of carrying out control computer 23;
The video signal input terminal of video frequency collection card 26 is connected with the video signal input terminal of C type arm X-ray machine 25; The video acquisition signal output part of described video frequency collection card 26 is connected with the video acquisition signal input part of carrying out control computer 23;
The motor multiaxis control signal output of execution control computer 23 or input input or output end with the motor multiaxis control signal of motor multi-axis controller 27 and are connected; The motor drive signal of described motor multi-axis controller 27 inputs or outputs end and is connected with motor drive signal output or the input of motor driver 28; Described motor driver 28 is used for driving actuating motor group 29 each machine operation.
It also comprises electric power system 30, and the power supply signal outfan of described electric power system 30 is connected with the power supply signal input of motor driver (28).
It also comprises the PCI-E bus, and the video acquisition signal output part of described video frequency collection card 26 is connected with the video acquisition signal input part of carrying out control computer 23 by the PCI-E bus.
It also comprises pci bus, and the motor multiaxis control signal output of execution control computer 23 or input input or output end by pci bus and the motor multiaxis control signal of motor multi-axis controller 27 and be connected.
The present invention is based on wireless network, realize the Long-distance Control of the indoor whole bone robot that performs the operation has been realized comprising the Position Control to whole bone robot, the unlatching of Long-distance Control C type arm X-ray machine, operation such as close.
Description of drawings
Fig. 1 is the structural representation of " computer-controlled fracture shaping, repairing fixed system " in the background technology; Fig. 2 is structural representation of the present invention.
The specific embodiment
The specific embodiment one, in conjunction with Fig. 2 this specific embodiment is described, whole bone robot remote control system, it comprises operation indoor control unit 2, described operation indoor control unit 2 comprises C type arm X-ray machine 25 and actuating motor group 29, comprise N actuating motor in the described actuating motor group 29, described N is positive integer;
Whole bone robot control system also comprises remote monitoring unit 1, and described remote control unit 1 comprises operation computer 12 and Biscreen display 11; The shows signal input of described Biscreen display 11 is connected with the shows signal outfan of operation computer 12; Described operation computer 12 access of radio network;
Operation indoor control unit 2 also comprises a photographic head 21, No. two photographic head 22, execution control computer 23, voice output input system 24, video frequency collection card 26, motor multi-axis controller 27 and motor drivers 28; Computer 23 access of radio network are controlled in described execution, and carry out radio communication with operation computer 12;
The image pickup signal input of a described photographic head 21 is connected with an image pickup signal input carrying out control computer 23; The image pickup signal input of described No. two photographic head 22 is connected with No. two image pickup signal inputs carrying out control computer 23; The voice signal of voice output input system 24 inputs or outputs end and is connected with voice signal output or the input of carrying out control computer 23;
The video signal input terminal of video frequency collection card 26 is connected with the video signal input terminal of C type arm X-ray machine 25; The video acquisition signal output part of described video frequency collection card 26 is connected with the video acquisition signal input part of carrying out control computer 23;
The motor multiaxis control signal output of execution control computer 23 or input input or output end with the motor multiaxis control signal of motor multi-axis controller 27 and are connected; The motor drive signal of described motor multi-axis controller 27 inputs or outputs end and is connected with motor drive signal output or the input of motor driver 28; Described motor driver 28 is used for driving actuating motor group 29 each machine operation.
Operation principle: the present invention includes the two large divisions, remote monitoring unit 1 and operation indoor control unit 2, adopt wireless mode to communicate between two computers in two parts, the doctor is at the enterprising line operate of operation computer, the operation computer sends to object computer by wireless mode with instruction, the instruction of object computer parse operation, operational order is interpreted as pulse command, send to motor driver by dedicated bus, the motor driver drive motors produces corresponding action, thereby realizes doctor's operational order.Simultaneously, object computer is gathered the view data of operation process in real time by photographic head, and by video frequency collection card the view data of C type arm X-ray machine is gathered in real time, object computer returns the back operations computer with data by wireless mode, the operation computer with data show to corresponding screen.
System of the present invention mainly can be achieved as follows function:
1, whole bone robot motion control function: namely the doctor finishes each motor control of robot by the outdoor computer of operation; The video monitoring function of operative site can make the real-time supervision operative site of doctor, and can realize operative site video record function, makes things convenient for postoperative to check;
2, X-ray influences Presentation Function: the doctor out operating-room can real time inspection patient fracture the reduction situation, make things convenient for doctor's operation that undergos surgery accordingly;
3, date processing and memory function: and some image recordings in the operation process can be got off, use for generate the operation case history in the future; The present invention simultaneously can also store the data of needs, finishes the information management of patient medical record and operative doctor, finish the patient medical record archives digital management and as theoretical arrangement, knowledge conclude, sum up preserve, extract with reference to etc.
The difference of the specific embodiment two, this specific embodiment and the specific embodiment one described whole bone robot remote control system is, it also comprises electric power system (30), and the power supply signal outfan of described electric power system (30) is connected with the power supply signal input of motor driver (28).
The present invention adopts independently electric power system, for motor driver provides uninterrupted power source, guarantees the uninterrupted use of motor driver.
The difference of the specific embodiment three, this specific embodiment and the specific embodiment one or two described whole bone robot remote control systems is, it also comprises the PCI-E bus, and the video acquisition signal output part of described video frequency collection card 26 is connected with the video acquisition signal input part of carrying out control computer 23 by the PCI-E bus.
The difference of the specific embodiment four, this specific embodiment and the specific embodiment three described whole bone robot remote control systems is, it also comprises pci bus, and the motor multiaxis control signal output of execution control computer 23 or input input or output end by pci bus and the motor multiaxis control signal of motor multi-axis controller 27 and be connected.
The difference of the specific embodiment five, this specific embodiment and the specific embodiment one, two or four described whole bone robot remote control systems is N=7.
Claims (5)
1. put in order the bone robot remote control system, it comprises operation indoor control unit (2), described operation indoor control unit (2) comprises C type arm X-ray machine (25) and actuating motor group (29), comprises N actuating motor in the described actuating motor group (29), and described N is positive integer;
It is characterized in that: whole bone robot control system also comprises remote monitoring unit (1), and described remote control unit (1) comprises operation computer (12) and Biscreen display (11); The shows signal input of described Biscreen display (11) is connected with the shows signal outfan of operation computer (12); Described operation computer (12) access of radio network;
Operation indoor control unit (2) also comprises a photographic head (21), No. two photographic head (22), carries out control computer (23), voice output input system (24), video frequency collection card (26), motor multi-axis controller (27) and motor driver (28); Computer (23) access of radio network is controlled in described execution, and carries out radio communication with operation computer (12);
The image pickup signal input of a described photographic head (21) is connected with an image pickup signal input carrying out control computer (23); The image pickup signal input of described No. two photographic head (22) is connected with No. two image pickup signal inputs carrying out control computer (23); The voice signal of voice output input system (24) inputs or outputs end and is connected with voice signal output or the input of carrying out control computer (23);
The video signal input terminal of video frequency collection card (26) is connected with the video signal input terminal of C type arm X-ray machine (25); The video acquisition signal output part of described video frequency collection card (26) is connected with the video acquisition signal input part of carrying out control computer (23);
The motor multiaxis control signal output of execution control computer (23) or input input or output end with the motor multiaxis control signal of motor multi-axis controller (27) and are connected; The motor drive signal of described motor multi-axis controller (27) inputs or outputs end and is connected with motor drive signal output or the input of motor driver (28); Described motor driver (28) is used for driving each machine operation of actuating motor group (29).
2. whole bone robot remote control system according to claim 1 is characterized in that it also comprises electric power system (30), and the power supply signal outfan of described electric power system (30) is connected with the power supply signal input of motor driver (28).
3. whole bone robot remote control system according to claim 1 and 2, it is characterized in that it also comprises the PCI-E bus, the video acquisition signal output part of described video frequency collection card (26) is connected with the video acquisition signal input part of carrying out control computer (23) by the PCI-E bus.
4. whole bone robot remote control system according to claim 3, it is characterized in that it also comprises pci bus, the motor multiaxis control signal output of execution control computer (23) or input input or output end by pci bus and the motor multiaxis control signal of motor multi-axis controller (27) and are connected.
5. according to claim 1,2 or 4 described whole bone robot remote control systems, it is characterized in that N=7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101477668A CN103190957A (en) | 2013-04-25 | 2013-04-25 | Osteopathy robot remote control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101477668A CN103190957A (en) | 2013-04-25 | 2013-04-25 | Osteopathy robot remote control system |
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| CN103190957A true CN103190957A (en) | 2013-07-10 |
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| CN2013101477668A Pending CN103190957A (en) | 2013-04-25 | 2013-04-25 | Osteopathy robot remote control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111227945A (en) * | 2020-02-13 | 2020-06-05 | 京东方科技集团股份有限公司 | A robot system and plastic surgery platform for plastic surgery platform |
| CN114041962A (en) * | 2021-11-05 | 2022-02-15 | 上海指景堂中医诊所有限公司 | Bone setting method of full-automatic bone setting device |
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| US5217003A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
| US5911036A (en) * | 1995-09-15 | 1999-06-08 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
| CN1389182A (en) * | 2002-07-12 | 2003-01-08 | 刘占国 | Computer-controlled fracture shaping, repairing and outer fixing system |
| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
| CN101803952A (en) * | 2010-03-05 | 2010-08-18 | 南开大学 | Motion control system of CT image navigation spinal mini-invasive operation robot |
| CN102715955A (en) * | 2012-06-11 | 2012-10-10 | 北京航空航天大学 | Hydraulic and servo-motor hybrid-drive system for medical robot |
| CN202843805U (en) * | 2012-11-07 | 2013-04-03 | 牡丹江师范学院 | Wireless remote thyroid surgery assistance system |
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2013
- 2013-04-25 CN CN2013101477668A patent/CN103190957A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5217003A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
| US5911036A (en) * | 1995-09-15 | 1999-06-08 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
| CN1389182A (en) * | 2002-07-12 | 2003-01-08 | 刘占国 | Computer-controlled fracture shaping, repairing and outer fixing system |
| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
| CN101803952A (en) * | 2010-03-05 | 2010-08-18 | 南开大学 | Motion control system of CT image navigation spinal mini-invasive operation robot |
| CN102715955A (en) * | 2012-06-11 | 2012-10-10 | 北京航空航天大学 | Hydraulic and servo-motor hybrid-drive system for medical robot |
| CN202843805U (en) * | 2012-11-07 | 2013-04-03 | 牡丹江师范学院 | Wireless remote thyroid surgery assistance system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111227945A (en) * | 2020-02-13 | 2020-06-05 | 京东方科技集团股份有限公司 | A robot system and plastic surgery platform for plastic surgery platform |
| CN114041962A (en) * | 2021-11-05 | 2022-02-15 | 上海指景堂中医诊所有限公司 | Bone setting method of full-automatic bone setting device |
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Application publication date: 20130710 |