CN103399584A - Control system for remotely controlling medial instrument and control method thereof - Google Patents
Control system for remotely controlling medial instrument and control method thereof Download PDFInfo
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Abstract
The invention discloses a control system for remotely controlling a medial instrument. The control system comprises a central controller, a communication module and an execution controller module, wherein the central controller is used for realizing input in various input manners and converting into an electric signal, displaying related information and transmitting a control signal to the execution controller module through the communication module; the communication module is used for providing transmission passages and signal conversion of various signals; the execution controller module is used for realizing multidimensional motion control; and the central controller, the communication module and the execution controller module are in signal connection in sequence. The invention further discloses a control method of the control system for remotely controlling the medical instrument. The control system and the control method solve the problems in the prior art that flexible instruments are poorer in control effect, manual control and automatic control cannot be combined organically, the operation precision is low, multidimensional motion is inconvenient to operate, and the like, and have the characteristics that the structure is simple, the cost is low, manual control is combined with automatic control, the control system and the control method are suitable for controlling the flexible instruments, the precision is high, multidimensional motion can be performed flexibly, and the like.
Description
Technical field
The present invention relates to the medicine equipment control technology, is a kind of control system for the Long-distance Control medicine equipment and control method thereof specifically.
Background technology
Along with the soft lens technical progress, the operation of ureter soft lens becomes the main operation of Urology Surgery in chamber gradually, compare with traditional ureterscopy, the ureter soft lens has the bendable mirror body of high suppleness, bending freely, dexterous convenient, can from human body natural's passage urethra enter into bladder and through orificium ureteris to the through renal plevis of ureter and each kidney calices.Owing to having perfusion and service aisle, the ureter soft lens can be processed kidney aggregation system various diseases, as calculus, and tumour.Not only comparatively safe, and result for the treatment of is remarkable,, with respect to the underwent percutaneous renal-scope treatment method, has the advantages such as safer, that damage is little, recovery is fast.Has the advantage that other equipment are incomparable and replace in the tumor of renal pelvis of diagnosing and treatment is difficult to make a definite diagnosis, kidney stone, proximal ureteral calculus.Specific as follows:
1) check non-blind area: this is also the most outstanding advantage of soft lens.Because the mirror body is soft, and mirror body head end can upwards be bent downwardly very wide-angle, accomplishes not fail to pinpoint a disease in diagnosis, and can see the blind area that hard mirror be can't see.
2) damage is little: due to mirror body soft (similar to catheter), caliber thin (＜6Fr), under anesthesia, direct-view is gently inserted substantially can be to injuries such as urethra, bladder, ureters.With respect to hard mirror, soft lens is more easily accepted by patient.
3) visual field is relatively clear: the soft lens damage is little, can reduce to greatest extent the impact of damaging blood urine on observing, thereby guarantees to get a clear view.In addition, soft lens belongs to the electronic digital imaging, has high image resolution ratio, can clear discovery reach more in early days small pathology, and disease namely is effectively treated in early days, has improved patient's curative effect.Soft lens can also reach computer with digitized image by image capturing system, and even online realizes synchronous remote medical consultation with specialists.
4) to position require low: patient can check in lithotomy position, dorsal position and lateral position, is particularly suitable for putting the patient (as lower limb malformation, serious arthritis and hemiplegic patient etc.) of lithotomy position and internal organs clinostatism.
5) can check simultaneously urethra, bladder, ureter, renal plevis and the whole urinary tract system of each kidney calices: and hard mirror is to accomplish.
But when doing the operation of ureter soft lens, for safety is advanced mirror, find the kidney calices mouth, while particularly going the kidney stone operation, need to rely on X-ray irradiation location, it is larger that surgical doctor is subject to the radiation amount, for this reason, how to reduce the radiation that the doctor is subject to, realize that soft lens is accurate, stable position, avoiding doctor's prolonged operations fatigue and causing hand tremor moving is instant problem.
In recent years, many in the invention of medical robot and mechanical arm and application both at home and abroad, comparative maturity Leonardo da Vinci (DaVinci) system, Zeus system, Aesop (AESOP) 3000 medical surgery operating robots etc. are arranged.
Leonardo da Vinci (DaVinci) system is mainly by doctor's control desk (Surgeon Console); The other mechanical arm tower (Patient Cart) of bed and the high-precision 3D HD vision system (Vision Cart) that four 7 mutual arms of degree of freedom are housed forms.By means of high-tech equipment such as high definition three-dimensional imaging, multi-joint arm robotization control and the transmission of optical cable signal, make it possess the advantages such as three-dimensional high definition visual area, arm non-jitter, camera lens are fixed, scope of activities is wide, the apparatus degree of excursion is large, and changed the patient and stood in the other traditional mode that operates of operating table, complete whole process of operation before being sitting in control desk by the operator doctor, meet base of principle of human engineering, be more suitable in long-time complicated operation.This system is widely used in department of general surgery, Urology Surgery, gynecological laparoscopic operation.
The ZEUS robotic surgical system is made by Computer Motion company, can use in Europe, ZEUS system and Leonardesque device are similar, and it has a computer workstation, video display, joystick (being used for the operation instrument of installing on mobile operating table).The ZEUS system only is approved for the medical treatment test in the U.S. at present, and German doctor has used this system to carry out the coronary heart disease bypass surgery.
Aesop (AESOP) 3000 robot systems are by Computer Motion company in issue in 1994, and AESOP is that the First that the FDA approval is used can be for the robot of operating room assisting operation.AESOP is more simply too much than Leonardo da Vinci system and ZEUS system, and AESOP is a mechanical arm basically, is used for the doctor and locates endoscope---the surgery camera in a kind of patient body of insertion.Pedal or sound software are used for doctor's position cameras, and this proceeds operation with regard to allowing doctor's hand be available.AESOP provides several endoscope control forms, comprises that voice are controlled, manually location and manually control.
There is following technical matters in prior art:
(1), existing control system generally is used for rigid apparatus and controls, and controlling flexible instrument, as the soft lens aspect, has certain limitation;
(2), general strict differentiation is manually controlled and automatically controls in existing control system, the general employing manually controlled or automatically controls in a cover system, both do not organically combined;
(3), existing control system cannot control the motion of each degree of freedom of flexible instrument such as bending etc. flexibly, precision is also inadequate.
Summary of the invention
The object of the invention is to overcome the deficiency that above prior art exists, provide a kind of simple in structure, low cost, manually control and automatically control combine, be suitable for controlling flexible instrument, precision is high and the control system that is used for the Long-distance Control medicine equipment of multi-dimensional movement flexibly.
Another purpose of the present invention is to provide a kind of control method of the control system for the Long-distance Control medicine equipment.
In order to achieve the above object, the present invention is by the following technical solutions: a kind of control system for the Long-distance Control medicine equipment, comprise be used to realize various input modes input and be converted into electric signal, show relevant information and by communication module with control signal be transferred to the implementation controller module central controller, be used for providing various signal transmission passages and signal conversion communication module, be used for the implementation controller module that realizes that multi-dimensional movement is controlled; Wherein, central controller, communication module and implementation controller module signal connection successively.
Described central controller comprises main control module, control lever load module, touch-screen load module, display module and a CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and a CAN module respectively, and a CAN module is connected with communication module.The main control module Main Function is: the Gather and input signal, by collecting control lever input signal and touch-control input signal, transfers signals to the execution control end by the CAN module after signal is processed.Carry out the status information of control end and also by the CAN module, pass main control module back, then input signal and the status information of returning are shown by display module.
Described communication module comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal, the implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result.Signal isolation module principal security signal, power supply, between definitely independent, avoid interference.
Described implementation controller module comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, the multi-dimensional movement control module is connected with the 2nd CAN module with, utility appliance interface, some servo-drivers respectively, the 2nd CAN module is connected with the secondary signal isolation module, 1 servomotor of the corresponding connection of each servo-driver, the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.
Dimension driver before and after described servo-driver comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, before and after the dimension driver, up and down tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver be connected respectively before and after the dimension servomotor, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver formation closed-loop control system up and down.
Described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; The first control lever has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; Rotation corresponding the rotation of rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, while being rotated counterclockwise, medicine equipment also is rotated counterclockwise; The second control lever has 3 directions, is respectively forward and backward and rotation, before and after former and later two direction correspondences dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the flexibility of medicine equipment.The signal of control lever detects by installation site sensor in control lever, at all directions installation site of control lever sensor, the position transducer picked up signal of correspondence direction when the manipulation operations bar, sensor collects these signals and this signal is sent to master controller, master controller is transferred to the actuating station controller to signal by CAN after with the processing of signal, and the actuating station controller receives signal and immediately drives the action of servo-control system drive motor.
Described touch-screen load module comprises touch-screen, start button, stop button, the straight button of auto back are set on touch-screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and utility appliance control knob.When touch-screen presses the button, main control module obtains data, and the data that different buttons is corresponding are different.In a single day main control module has read data, judge these data corresponding respectively be the data of which button, then data real-time be transferred to the actuating station controller, the actuating station controller receives the servo controller that data drive corresponding dimension at once and drives the servomotor action, realizes the synchronism of input signal and servomotor.The wherein straight button of auto back and reduction load button, be provided with that auto back is straight, the locus memory function.While clicking " auto back is straight " button, control end is preserved current spatial position data automatically, medicine equipment is got back to straightened condition automatically, in the time of need getting back to the locus of originally recording, click " recovering the front status button of Hui Zhi " button, the mechanical arm automatic control is controlled medicine equipment and is got back on the control position of original memory.The method can better be controlled medicine equipment (as soft lens) and realize flexibly exercises, accelerates the driving efficiency of mechanical arm.
A described CAN module and the 2nd CAN module are CAN bus or serial communication.
A kind of control method of the control system for the Long-distance Control medicine equipment comprises the following steps:
(1), according to actual needs, central controller is operated, input by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, main control module is collected and is processed the signal of control lever load module, the input of touch-screen load module, and by a CAN module, passes to communication module;
(2), a CAN transceiving chip of communication module receives the electric signal that a CAN module passes over, a CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal;
(3), the 2nd CAN module passes to the multi-dimensional movement control module after receiving signal, dimension driver before and after the multi-dimensional movement control module is controlled respectively according to signal content, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive respectively corresponding servomotor motion, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, displacement for detection of each servomotor, the utility appliance interface connects utility appliance,
(4), the multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result;
(5), the operator is according to showing that result operates.
Described step (3) first regulates speed ring and the electric current loop of each servomotor and forms interior ring, then adjust position ring, form position, speed double closed-loop system, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed loop adjustment of speed and electric current, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to the implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, up and down tie up dimension servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, connect 1 reducer casing at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that the rotating speed displacement detecting sensor returns to umber of pulse, and displacement is: Displacement=(360/nW) * N*L.
The present invention, with respect to prior art, has following advantage and effect:
1, the present invention adopted comprise be used to realize various input modes input and be converted into electric signal and show relevant information central controller, be used for the communication module of various signal transmission passages and signal conversion being provided and being used for the implementation controller module that realizes that multi-dimensional movement is controlled, have simple in structure, low cost, manually control and automatically control combine, be suitable for controlling flexible instrument, precision is high and characteristics such as multi-dimensional movement flexibly.
2, the present invention is applicable to each medicine equipment,, as soft lens, gastroscope etc., is specially adapted to flexible instrument.
3, dimension driver before and after the present invention can control respectively according to signal content by the multi-dimensional movement control module, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, the corresponding servomotor of driver drives, servomotor correspondence as required arranges reducer casing, thereby realize flexible motion, so that the complicated surgery situation of reply.
4, the front and back in the present invention dimensions servomotor, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, first set each servomotor position corner accuracy, then by the continuous small control of each servomotor of signal controlling.
5, the present invention can realize multi-dimensional movement control, first regulate speed ring and the electric current loop of each servomotor and form interior ring, then adjust position ring, form position, speed double closed-loop system, the position feedback difference adjustment amount of the given position reference quantity of synchronous motor and a plurality of motors is done ratio, realize the synchro control of position by interpolation arithmetic.
6, the first control lever in the present invention has 5 directions, and the second control lever has 3 directions, and status button before the straight button of auto back being set on touch-screen and recovering Hui Zhi, can as required, realize exercises.
7, the present invention is provided with control lever load module and touch-screen load module, and the position sense is more arranged when the control lever input pattern operates the doctor, realizes flexibly various exceedingly difficult movements; As straight in the need auto back or while recovering before Hui Zhi state, adopt the touch-screen input pattern, these two kinds of control modes can be used in conjunction with, and convenient the use, improve accuracy rate.
Description of drawings
Fig. 1 is a kind of structured flowchart of the control system for the Long-distance Control medicine equipment;
Fig. 2 is a kind of control method FB(flow block) of the control system for the Long-distance Control medicine equipment;
Fig. 3 is the closed loop control algorithm schematic diagram of master system in the present invention.
Number in the figure and title are as follows:
| 1 | Central controller | 2 | Communication module |
| 3 | The implementation controller module | ? | ? |
Embodiment
For ease of it will be appreciated by those skilled in the art that the present invention is described in further detail below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Fig. 1～2, medicine equipment in the present embodiment is soft lens, a kind of control system for the Long-distance Control medicine equipment, be used for realizing various input modes input and is converted into electric signal, show relevant information and by communication module with control signal be transferred to the implementation controller module central controller 1, be used for providing various signal transmission passages and signal conversion communication module 2, be used for realizing the implementation controller module 3 of multi-dimensional movement control; Wherein, central controller 1, communication module 2 and implementation controller module 3 signal connection successively.
Central controller 1 in the present embodiment comprises main control module, control lever load module, touch-screen load module, display module and a CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and a CAN module respectively, and a CAN module is connected with communication module.The main control module Main Function is: the Gather and input signal, by collecting control lever input signal and touch-control input signal, transfers signals to the execution control end by the CAN module after signal is processed.Carry out the status information of control end and also by the CAN module, pass main control module back, then input signal and the status information of returning are shown by display module.Main control module in the present embodiment is the STM32 Series of MCU of by group of STMicw Electronics (STMicroelectronics), being produced, and this is a based on aiming at the custom-designed ARM Cortex-M3 of the Embedded Application that requires high-performance, low cost, low-power consumption kernel.That STM32 carries is bxCAN, namely substantially expands CAN.It supports CAN agreement 2.0A and 2.0B.Only need the transceiving chip JTA1050 of an external CAN to get final product.
Display module is the status information of each dimension that demonstrates input message and feed back of image.Mechanical outlet terminal at every one dimension is equipped with high precision rotating speed displacement detecting sensor, and this sensing is used for the implementation status of the servo control system of the every one dimension of verification, guarantees topworks's safety, stable, accurate, reliable.We have installed the rotating speed displacement detecting sensor to detect speed and the position of servomotor on the servomotor of every one dimension.Tieing up up and down, dimension before and after the peacekeeping of left and right, we first set the position corner accuracy of each servomotor, draw servomotor by check and turn an angle W, the slide rail displacement of mechanical arm is L, then count by the rotating speed displacement detecting sensor is returned to umber of pulse N, a pulse represents that motor makes a circle, and can calculate displacement and be:
Displacement=(360/W)*N*L
And in rotating shaft peacekeeping driver plate dimension, we only need to detect a angle value that servomotor rotates just by the rotating speed displacement detecting sensor.Dimension, tie up before and after the peacekeeping of left and right up and down, and three dimensions have formed a three dimensions.Can clearly know the space bit (x of soft lens by the positional information that detects these three dimensions, y, and rotating shaft peacekeeping driver plate dimension is by displacement or the detected angle position w1 of angle detection detecting sensor, w2 z),, it is the more concrete location to the locus of soft lens, so locus coordinate (x, y, the z of soft lens, w1, w2).
But considered precision problem here, because the action of each dimension of soft lens in human body all requires very slow, very accurate, and movement range is also very little, be generally several millimeters, if displacement is several millimeters, it is very little that the angle that servomotor rotates also can become, measurement is accurate not like this, and error can be larger.Therefore, we have added a gear reduction box on servomotor, ratio of gear is 1:n, can play the effect of a deceleration to motor, reached action requirement slowly, ratio of gear is 1:n simultaneously, is that servomotor turns an angle W before not adding in other words, and the slide rail displacement of mechanical arm is L; After adding gear reduction box, the slide rail displacement of mechanical arm is L, and the angle of electric machine rotation becomes nW so, and the displacement that calculates becomes:
Displacement=(360/nW)*N*L
And rotating shaft peacekeeping driver plate dimension is also the same, and not adding before gear reduction box is that the angle that servomotor rotates is exactly angle w1, the w2 that soft lens rotates, and adds servomotor rotates after gear reduction box angle w1 ', w2 ', be the n of soft lens rotational angle doubly:
w1=nw1’
w2=nw2’
These data are transferred to main control module after the processing of actuating station controller, main control module shows these data by LCDs, the executing state of seeing current servomotor that the user just can be real-time.Can allow and control the doctor and find sooner the position sense of machinery, realize flexibly various exceedingly difficult movements, and reduce and control doctor's working strength.
Communication module in the present embodiment comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal, the implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result.Signal isolation module principal security signal, power supply, between definitely independent, avoid interference.
Implementation controller module in the present embodiment comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, the multi-dimensional movement control module is connected with utility appliance interface, some servo-drivers and the 2nd CAN module respectively, the 2nd CAN module is connected with the secondary signal isolation module, 1 servomotor of the corresponding connection of each servo-driver, the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.The actuating station controller receives the driving signal of each dimension that main control module transmits, thereby control servo-driver, drives servomotor and moves accordingly.The action situation of rotating speed displacement detecting sensor monitoring servomotor, and real-time servo controller and actuating station controller that monitoring information is fed back to.The present embodiment adopts the control mode of two closed loop adjustment, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed loop adjustment of speed and electric current.The monitoring information of rotating speed displacement detecting sensor also will feed back to the actuating station controller simultaneously.The actuating station controller can become positional information with the data-switching of rotating speed displacement detecting sensor according to feedack, is transferred to main control module, through display module, shows.
As shown in Figure 3, in figure, V is the rotating speed of input, and x is symbol relatively, the equal structure as shown in Figure 3 of the algorithm of dimension, left and right dimension, rotating shaft dimension and driver plate dimension up and down, and just driver is not identical with motor.
Dimension driver before and after servo-driver in the present embodiment comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, before and after the dimension driver, up and down tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver be connected respectively before and after the dimension servomotor, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver formation closed-loop control system up and down.
Described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; The first control lever has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; Rotation corresponding the rotation of rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, while being rotated counterclockwise, medicine equipment also is rotated counterclockwise; The second control lever has 3 directions, is respectively forward and backward and rotation, before and after former and later two direction correspondences dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the flexibility of medicine equipment.The signal of control lever detects by installation site sensor in control lever, at all directions installation site of control lever sensor, the position transducer picked up signal of correspondence direction when the manipulation operations bar, sensor collects these signals and this signal is sent to master controller, master controller is transferred to the actuating station controller to signal by CAN after with the processing of signal, and the actuating station controller receives signal and immediately drives the action of servo-control system drive motor.
Touch-screen load module in the present embodiment comprises touch-screen, start button, stop button, the straight button of auto back are set on touch-screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and utility appliance control knob.When touch-screen presses the button, main control module obtains data, and the data that different buttons is corresponding are different.In a single day main control module has read data, judge these data corresponding respectively be the data of which button, then data real-time be transferred to the actuating station controller, the actuating station controller receives the servo controller that data drive corresponding dimension at once and drives the servomotor action, realizes the synchronism of input signal and servomotor.The wherein straight button of auto back and reduction load button, be provided with that auto back is straight, the locus memory function.While clicking " auto back is straight " button, control end is preserved current spatial position data automatically, medicine equipment is got back to straightened condition automatically, in the time of need getting back to the locus of originally recording, click " recovering the front status button of Hui Zhi " button, the mechanical arm automatic control is controlled medicine equipment and is got back on the control position of original memory.The method can better be controlled medicine equipment (as soft lens) and realize flexibly exercises, accelerates the driving efficiency of mechanical arm.
A CAN module and the 2nd CAN module in the present embodiment are the CAN-2.0 bus.
A kind of control method of the control system for the Long-distance Control medicine equipment comprises the following steps:
(1), according to actual needs, central controller is operated, input by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, main control module is collected and is processed the signal of control lever load module, the input of touch-screen load module, and by a CAN module, passes to communication module;
(2), a CAN transceiving chip of communication module receives the electric signal that a CAN module passes over, a CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal;
(3), the 2nd CAN module passes to the multi-dimensional movement control module after receiving signal, dimension driver before and after the multi-dimensional movement control module is controlled respectively according to signal content, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive respectively corresponding servomotor motion, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, displacement for detection of each servomotor, the utility appliance interface connects utility appliance,
(4), the multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result;
(5), the operator is according to showing that result operates.
Described step (3) first regulates speed ring and the electric current loop of each servomotor and forms interior ring, then adjust position ring, form position, speed double closed-loop system, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed loop adjustment of speed and electric current, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to the implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, up and down tie up dimension servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, connect 1 reducer casing at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that the rotating speed displacement detecting sensor returns to umber of pulse, and displacement is: Displacement=(360/nW) * N*L.
Above-mentioned control method can be used for performing the operation or the scientific research prosthese of non-medical purpose in the middle of, the concrete control method of the present embodiment acts on prosthese.During concrete practical application, can proceed as follows:
First with soft lens, by ureter, guide urethra, the ureter that sheath enters prosthese, and send into renal plevis, then the soft lens handle is placed and is fixed on the soft lens clamper by manual type as requested.Enter the whole process of kidney aggregation system at the upper demonstration of touch-screen (having the demonstration image function) soft lens, comprise renal plevis, upper small cup, middle small cup, inferior calyx, and the kidney aggregation system is observed; Open by the corresponding function button of clicking on control operation platform touch-screen the excitation device emission holmium laser of controlling holmium laser; In operation, by the control operation platform, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the sharpness in the visual field; When entering the kidney aggregation system, unlatching control X-ray exposure device carries out X-ray and shines to determine the position of soft lens; In operation, by touch-screen, check at any time the kidney aggregation system, carry out simultaneously X-ray and shine to determine the physical location of soft lens.According to the soft lens surgical protocols, the operating grip on operation control operation platform, perhaps point touching shields upper corresponding function button, the up and down of the arm of operating machine, all around motion, the rotation of mechanical arm and gyration.Simultaneously,, according to actual conditions, can control the brake block caster of arm-and-hand system, carry out brake hard, and then control up and down, all around, rotation and the gyration of soft lens, adjust soft lens position and state.
Embodiment 2
The present embodiment and embodiment 1 difference are: the medicine equipment that the present embodiment adopts is gastroscope, and each servomotor does not all connect gear reduction box.
Above-mentioned embodiment is the preferred embodiments of the present invention, can not limit the present invention, and other any change or other equivalent substitute mode that does not deviate from technical scheme of the present invention and make, within being included in protection scope of the present invention.
Claims (10)
1. control system that is used for the Long-distance Control medicine equipment is characterized in that: comprise be used to realize various input modes input and is converted into electric signal, show relevant information and by communication module with control signal be transferred to the implementation controller module central controller, be used for providing various signal transmission passages and signal conversion communication module, be used for realizing the implementation controller module of multi-dimensional movement control; Wherein, central controller, communication module and implementation controller module signal connection successively.
2. the control system for the Long-distance Control medicine equipment according to claim 1, it is characterized in that: described central controller comprises main control module, control lever load module, touch-screen load module, display module and a CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and a CAN module respectively, and a CAN module is connected with communication module.
3. the control system for the Long-distance Control medicine equipment according to claim 2, it is characterized in that: described communication module comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal, the implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result.
4. the control system for the Long-distance Control medicine equipment according to claim 3, it is characterized in that: described implementation controller module comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, the multi-dimensional movement control module is connected with utility appliance interface, some servo-drivers and the 2nd CAN module respectively, the 2nd CAN module is connected with the secondary signal isolation module, 1 servomotor of the corresponding connection of each servo-driver, the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.
5. the control system for the Long-distance Control medicine equipment according to claim 4, it is characterized in that: dimension driver before and after described servo-driver comprises, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, dimension servomotor before and after rotating shaft dimension driver and driver plate dimension driver are connected respectively, tie up up and down servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver form closed-loop control system.
6. the control system for the Long-distance Control medicine equipment according to claim 5, it is characterized in that: described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; The first control lever has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; Rotation corresponding the rotation of rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, while being rotated counterclockwise, medicine equipment also is rotated counterclockwise; The second control lever has 3 directions, is respectively forward and backward and rotation, before and after former and later two direction correspondences dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the flexibility of medicine equipment.
7. the control system for the Long-distance Control medicine equipment according to claim 5, it is characterized in that: described touch-screen load module comprises touch-screen, start button, stop button, the straight button of auto back are set on touch-screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and utility appliance control knob.
8. the control system for the Long-distance Control medicine equipment according to claim 4, it is characterized in that: a described CAN module and the 2nd CAN module are CAN bus or serial communication.
9. a control method that is used for the control system of Long-distance Control medicine equipment, is characterized in that, comprises the following steps:
(1), according to actual needs, central controller is operated, input by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, main control module is collected and is processed the signal of control lever load module, the input of touch-screen load module, and by a CAN module, passes to communication module;
(2), a CAN transceiving chip of communication module receives the electric signal that a CAN module passes over, a CAN transceiving chip outputs signal to the secondary signal isolation module, the secondary signal isolation module flows to the implementation controller module to signal;
(3), the 2nd CAN module passes to the multi-dimensional movement control module after receiving signal, dimension driver before and after the multi-dimensional movement control module is controlled respectively according to signal content, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive respectively corresponding servomotor motion, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, displacement for detection of each servomotor, the utility appliance interface connects utility appliance,
(4), the multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to the first signal isolation module, the first signal isolation module outputs signal to a CAN module, the one CAN module is to the main control module signal, main control module is to the display module signal, and display module shows result;
(5), the operator is according to showing that result operates.
10. the control method of the control system for the Long-distance Control medicine equipment according to claim 9, it is characterized in that: described step (3) first regulates speed ring and the electric current loop of each servomotor and forms interior ring, then adjust position ring, form position, the speed double closed-loop system, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed loop adjustment of speed and electric current, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to the implementation controller module, convert feedack to positional information, be transferred to main control module, described front and back dimension driver, up and down tie up dimension servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, connect 1 reducer casing at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that the rotating speed displacement detecting sensor returns to umber of pulse, and displacement is:
Displacement=(360/nW)*N*L。
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