METHOD FOR DETECTING FAULTS IN OPERATING STATES OF SURGICAL ROBOTS

Abstract

This invention relates to a method for detecting faults in the operating states of a surgical robotic system, wherein the surgical robotic system including a master computer, a master embedded computer and a plurality of slave embedded computers is provided; the master computer controls the master embedded computer and the slave embedded computers via the LAN router; the master embedded computer communicates with the slave embedded computers via the LAN router and a first communication bus. In the present invention, the master computer, the master embedded computer and the slave embedded computers can detect faults interactively. Safety and reliability of the operation of the surgical robotic system can be improved without increasing any additional detection components, and communication burden of the system can be effectively reduced. The present invention can be widely applied to a minimally invasive surgical robotic system.

Claims

1. A method for detecting faults in an operating state of surgical robots, the method comprising: broadcasting, by a master computer, a desired pose signal to a master embedded computer and a plurality of slave embedded computers via a local area network (LAN) router at a preset period, receiving, by the mater computer, a null operation instruction signal transmitted from the master embedded computer at the preset period, receiving, by the mater computer, actual pose signals transmitted from the slave embedded computers at the preset period; if the master embedded computer and the slave embedded computers do not receive the desired pose signal transmitted from the master computer via the LAN router within the preset period and the master embedded computer does not receive a null operation response signal returned from the master computer via the LAN router, determining that the master computer fails in the full operating state; receiving, by the master embedded computer, the desired pose signal transmitted from the master computer at the preset period, sending, by the master embedded computer, the null operation instruction signal to the master computer at the preset period, obtaining, by the master embedded computer, the null operation response signal transmitted from the master computer; listening, by the master embedded compute, to motor position control signals transmitted from respective slave embedded computers via a first communication bus; if the master computer does not receive the null operation instruction signal transmitted from the master embedded computer via the LAN router within the preset period, determining that the master embedded computer fails in the full operating state; and receiving, by the respective slave embedded computers, the desired pose signal transmitted from the master computer via the LAN router at the preset period, transmitting, by the respective slave embedded computers, actual pose signals to the master computer via the LAN router; sending, by the respective slave embedded computers, motor position control signals to a surgical tool driving module or an imaging tool driving module via the first communication bus at the preset period; if the master computer does not receive the actual pose signal transmitted by a certain slave embedded computer via the LAN router within the preset period and if the master embedded computer does not listen to the motor position control signal transmitted from the certain slave embedded computer via the first communication bus within the preset period, determining that a certain slave embedded computer fails in the full operating state.

2. The method according to claim 1, further comprising: wherein when the master computer fails: performing an alarm procedure and an emergency stop procedure for a surgical robotic system, continuing to send, by the master computer, signals to the master embedded computer and the respective slave embedded computers via the LAN router after a recovery procedure is employed on the master computer; and if the recovery procedure employed on the master computer is unsuccessful, executing, by the master embedded computer, a manual procedure and controls the slave embedded computers via the LAN router and thereby controlling a surgical tool or an imaging tool to act.

3. The method according to claim 1, wherein when the master embedded computer fails, after an alarm procedure and an emergency stop procedure are employed for the surgical robotic system, performing, by the master computer, a manual procedure to control a surgical tool or an imaging tool through the slave embedded computers.

4. The method according to claim 1, wherein when the certain slave embedded computer fails, after an alarm procedure and an emergency stop procedure are performed for a surgical robotic system, performing, by the master computer, a manual procedure, replacing a certain failed slave embedded computer with the main embedded computer, and controlling, by the master computer, a surgical tool or a imaging tool to act through the master embedded computer or the other slave embedded computers.

5. The method according to claim 2, wherein the recovery procedure comprises: when the master computer fails, waiting, at the master embedded computer, for the master computer to restart and restore; after the master computer restores, performing a status inquiry operation on an operation interface of the master computer; sending, by the master computer, a status inquiry instruction to the master embedded computer via the LAN router and adjusts the state of a surgical robotic system to a state prior to the failure after receiving a state response instruction transmitted from the main embedded computer.

6. The method according to claim 2, wherein the alarm procedure comprises: when the master computer fails, updating, by the master embedded computer, a corresponding master computer indicator light to an error display state via a second communication bus; when the master embedded computer fails, automatically switching, by the master computer, an operation interface to a manual operation interface; prompting, by the master computer, a failure of the master embedded computer on the interface; updating, by the master computer, a corresponding master embedded computer indicator light to the error display state at the same time; when the certain slave embedded computer fails, automatically switching, by the master computer, the operation interface to the manual operation interface and prompts the failure of the certain slave embedded computer on the interface; updating, by the master embedded computer, the corresponding slave embedded computer indicator light to the error display state via the second communication bus.

7. The method according to claim 2, wherein the emergency stop procedure comprises: controlling, by the slave embedded computer, the surgical tool or the imaging tool, by a corresponding surgical tool driving module or an imaging tool driving module, to stop movement and maintain a current pose after receiving a holding command from the master computer or the main embedded computer; or instead of the failed slave embedded computer, controlling, by the main embedded computer, the surgical tool or the imaging tool, through the corresponding surgical tool driving module or imaging tool driving module, to stop movement and maintain the current pose after receiving the holding command from the master computer.

8. The method according to claim 2, wherein the manual procedure comprises: directly controlling, by the master computer, the master embedded computer or the slave embedded computers through a joint-parameter manual adjustment region of the surgical robot, and thereby controlling actions of the surgical tool or the imaging tool through a corresponding surgical tool driving module or imaging tool driving module, wherein: when the master computer fails: switching, by the master embedded computer, to a manual operation interface; and directly controlling, by the master computer, the respective slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module; when the master embedded computer fails: switching, by the master computer, to the manual operation interface; and directly controlling, by the master computer, the respective slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module; and when the certain slave embedded computer fails: switching, by the master computer, to the manual operation interface, taking over, by the master embedded computer, a failed slave embedded computer, and directly controlling, by the master computer, the master embedded computer and the remaining functional slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module.

9. The method according to claim 2, wherein an upper level computer controls the surgical tool driving module and thereby controlling the surgical tool to act through the master embedded computer used to take over the failed slave embedded computer or a working normally salve embedded computer, wherein the upper level computer comprises the master computer or the main embedded computers; and, wherein when the master computer fails, a salve embedded computer controlling actions of the surgical tool is functional, and when the master embedded computer is used as the master computer, the control of the operation of the surgical tool comprises: operating the pose of the surgical tool driving module to be controlled in a mapping selection area of a joint-parameter manual adjustment region; reading out, by the master computer, joint parameters of a surgical arm at the preset period, and sending a generated desired pose to the slave embedded computer; receiving, by the slave embedded computer, the desired pose signal and performs closed-loop control of the pose of a surgical end effector at an end of the surgical tool through the surgical tool driving module; and, wherein the method further comprises: if the surgical arm carrying the surgical end effector at the end of the surgical tool is in an unfolded state, driving, by the surgical tool driving module, the surgical end effector at the end of the surgical tool to maintain the current position and pose, restore its initial state, and drives the surgical arm back straight; if the surgical end effector carried at the end of the surgical tool is not in its initial position and the surgical arm is in a straight state, driving, by the surgical tool driving module, the surgical end effector at the end of the surgical tool to be directly withdrawn from a surgical incision in a patient back to its initial position; offloading the surgical tool from the surgical tool driving module to achieve separation of the surgical tool from the surgical robot.

10. The method according to claim 9, wherein when the surgical tool is withdrawn from the surgical incision on the patient to achieve entire separation of the surgical tool from the surgical robot, the upper level computer controls the imaging tool driving module and thereby controlling actions of the imaging tool by controlling the master embedded computer taking over the failed slave embedded computer or a functional slave embedded computer, wherein the upper level computer comprises the master computer or the main embedded computers; and, wherein when the certain slave embedded computer controlling actions of the imaging tool fails, and when the master embedded computer is used to take over the failed slave embedded computer, control of the operation of the imaging tool comprises: operating the imaging tool driving module to be controlled in the mapping selection area of the joint-parameter manual adjustment region; reading out, by the master computer, the joint parameters of the surgical arm at the preset period and sends a generated desired pose to the main embedded computer; and receiving, by the master embedded computer, the desired pose signal and performs closed-loop control of the pose of an imaging illumination module at the end of the imaging tool through the imaging tool driving module; and, wherein the method further comprises: if the surgical arm carrying the imaging illumination module at the end of the imaging tool is in an unfolded state, driving, by the imaging tool driving module, the imaging illumination module at the end of the imaging tool to maintain the current position and pose, and drives the surgical arm to straight back; if the imaging illumination module carried at the end of the imaging tool is not in its initial position and the surgical arm is in a straight state, driving, by the imaging tool driving module, the imaging illumination module at the end of the imaging tool to be directly withdrawn from the surgical incision in the patient to its initial position; and offloading the imaging tool from the imaging tool driving module to achieve separation of the imaging tool from the surgical robot.

11. A method for detecting faults in an incomplete operating state of a surgical robot, characterized in that the method comprising: sending, by a master computer, a null operation instruction signal to a master embedded computer and a plurality of slave embedded computers, respectively, via a local area network (LAN) router at a preset period; receiving, by the mater computer, null operation response signals transmitted from the master embedded computer and the slave embedded computers at the preset period; if neither of the master embedded computer and the slave embedded computers receives the null operation instruction signal transmitted from the master computer via the LAN router within the preset period, determining that the master computer fails in the incomplete operating state; receiving, by the master embedded computer, the null operation instruction signal transmitted from the master computer at the preset period and returning, by the master embedded computer, the null operation response signal to the master computer, sending, by the master embedded computer, the null operation instruction signal to the slave embedded computers via the LAN router at the preset period receiving, by the master embedded computer, the null operation response signals returned from the respective slave embedded computers; if the master computer does not receive the null operating response signal returned from the master embedded computer via the LAN router within the preset period and the respective slave embedded computers does not receive the null operating instruction signal transmitted from the master embedded computer within the preset period, determine that the master embedded computer fails in the incomplete operating state; receiving, by the respective slave embedded computers, the null operation instruction signals transmitted from the master computer and the master embedded computer via the LAN router at the preset period, returning, by the respective slave embedded computers, the null operation response signals to the master computer and the master embedded computer at the preset period; and if the master computer does not receive the null operating response signal returned from a certain slave embedded computer via the LAN router within the preset period and if the master embedded computer does not receive the null operating response signal returned from said slave embedded computer within the preset period, determining that said slave embedded computer fails in the incomplete operating state.

12. The method according to claim 11, further comprising: wherein when the master computer fails: in the incomplete operating state, performing an alarm procedure for a surgical robotic system, after a recovery procedure is performed on the master computer, continuing to send, by the master computer, signals to the master embedded computer and the respective slave embedded computers via the LAN router; if the recovery procedure performed on the master computer is unsuccessful, executing, by the master embedded computer, a manual procedure and controls the slave embedded computers via the LAN router and thereby controlling a surgical tool or an imaging tool to act.

13. The method according to claim 11, wherein when the master embedded computer fails in the incomplete operating state, after an alarm procedure is employed for a surgical robotic system, performing, by the master computer, a manual procedure to control actions of a surgical tool or an imaging tool via a use of the slave embedded computers.

14. The method according to claim 11, further comprising: when the certain slave embedded computer fails in the incomplete operating state, after an alarm procedure and an emergency stop procedure are employed for a surgical robotic system, performing, by the master computer, a manual procedure, replacing the failed slave embedded computer is replaced with the main embedded computer, and controlling, by the master computer, a surgical tool or an imaging tool via a use of the master embedded computer or the other slave embedded computers.

15. The method according to claim 12, wherein the recovery procedure comprises: when the master computer fails, waiting, at the master embedded computer, for the master computer to restart and restore; after the master computer restores, performing a status inquiry operation on an operation interface of the master computer; sending, by the master computer, a status inquiry instruction to the master embedded computer via the LAN router and adjusts the state of a surgical robotic system to a state prior to the failure after receiving a state response instruction transmitted from the main embedded computer.

16. The method according to claim 12, wherein the alarm procedure comprises: when the master computer fails, updating, by the master embedded computer, a corresponding master computer indicator light to an error display state via a second communication bus; when the master embedded computer fails, automatically switching, by the master computer, an operation interface to a manual operation interface; prompting, by the master computer, a failure of the master embedded computer on the interface; updating, by the master computer, a corresponding master embedded computer indicator light to the error display state at the same time; when the certain slave embedded computer fails, automatically switching, by the master computer, the operation interface to the manual operation interface and prompts the failure of the certain slave embedded computer on the interface; updating, by the master embedded computer, the corresponding slave embedded computer indicator light to the error display state via the second communication bus.

17. The method according to claim 12, wherein the manual procedure comprises: directly controlling, by the master computer, the master embedded computer or the slave embedded computers through a joint-parameter manual adjustment region of the surgical robot, and thereby controlling actions of the surgical tool or the imaging tool through a corresponding surgical tool driving module or imaging tool driving module, wherein: when the master computer fails: switching, by the master embedded computer, to a manual operation interface; and directly controlling, by the master computer, the respective slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module; when the master embedded computer fails: switching, by the master computer, to the manual operation interface; and directly controlling, by the master computer, the respective slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module; and when the certain slave embedded computer fails: switching, by the master computer, to the manual operation interface, taking over, by the master embedded computer, a failed slave embedded computer, and directly controlling, by the master computer, the master embedded computer and the remaining functional slave embedded computers through the joint-parameter manual adjustment region, and thereby controlling the surgical tool or the imaging tool to act through the surgical tool driving module or the imaging tool driving module.

18. The method according to claim 12, wherein an upper level computer controls the surgical tool driving module and thereby controlling the surgical tool to act through the master embedded computer used to take over the failed slave embedded computer or a working normally salve embedded computer, wherein the upper level computer comprises the master computer or the main embedded computers; and, wherein when the master computer fails, a salve embedded computer controlling actions of the surgical tool is functional, and when the master embedded computer is used as the master computer, the control of the operation of the surgical tool comprises: operating the pose of the surgical tool driving module to be controlled in a mapping selection area of a joint-parameter manual adjustment region; reading out, by the master computer, joint parameters of a surgical arm at the preset period, and sending a generated desired pose to the slave embedded computer; receiving, by the slave embedded computer, the desired pose signal and performs closed-loop control of the pose of a surgical end effector at an end of the surgical tool through the surgical tool driving module; and, wherein the method further comprises: if the surgical arm carrying the surgical end effector at the end of the surgical tool is in an unfolded state, driving, by the surgical tool driving module, the surgical end effector at the end of the surgical tool to maintain the current position and pose, restore its initial state, and drives the surgical arm back straight. if the surgical end effector carried at the end of the surgical tool is not in its initial position and the surgical arm is in a straight state, driving, by the surgical tool driving module, the surgical end effector at the end of the surgical tool to be directly withdrawn from a surgical incision in a patient back to its initial position; offloading the surgical tool from the surgical tool driving module to achieve separation of the surgical tool from the surgical robot.

19. The method according to claim 18, wherein when the surgical tool is withdrawn from the surgical incision on the patient to achieve entire separation of the surgical tool from the surgical robot, the upper level computer controls the imaging tool driving module and thereby controlling actions of the imaging tool by controlling the master embedded computer taking over the failed slave embedded computer or a functional slave embedded computer, wherein the upper level computer comprises the master computer or the main embedded computers; and, wherein when the certain slave embedded computer controlling actions of the imaging tool fails, and when the master embedded computer is used to take over the failed slave embedded computer, control of the operation of the imaging tool comprises: operating the imaging tool driving module to be controlled in the mapping selection area of the joint-parameter manual adjustment region; reading out, by the master computer, the joint parameters of the surgical arm at the preset period and sends a generated desired pose to the main embedded computer; and receiving, by the master embedded computer, the desired pose signal and performs closed-loop control of the pose of an imaging illumination module at the end of the imaging tool through the imaging tool driving module; and, wherein the method further comprises: if the surgical arm carrying the imaging illumination module at the end of the imaging tool is in an unfolded state, driving, by the imaging tool driving module, the imaging illumination module at the end of the imaging tool to maintain the current position and pose, and drives the surgical arm to straight back; if the imaging illumination module carried at the end of the imaging tool is not in its initial position and the surgical arm is in a straight state, driving, by the imaging tool driving module, the imaging illumination module at the end of the imaging tool to be directly withdrawn from the surgical incision in the patient to its initial position; and offloading the imaging tool from the imaging tool driving module to achieve separation of the imaging tool from the surgical robot.

20. The method according to claim 16, wherein the communication bus is a two-wire serial bus.

Description

DETAILED DESCRIPTION

[0048] The invention is described in detail below by means of specific embodiments. However, it should be understood that the embodiments are provided for a better understanding of the present invention and are not to be construed as limiting the invention. The meaning of / in the embodiments is or.

[0049] A surgical robotic system comprises a master computer, a master embedded computer and a plurality of slave embedded computers; the master computer controls the master embedded computer and the slave embedded computers via a LAN router, and the master embedded computer can communicate with the slave embedded computers via the LAN router and a first communication bus, wherein the first communication bus is preferably a CAN bus.

[0050] The operating states of the surgical robot of the present invention comprise a full operating state and an incomplete operating state, wherein the full operating state is defined as: the master computer continuously transmits a desired pose signal to the master embedded computer and the respective slave embedded computers via the LAN router, any of the slave embedded computers sends a motor position control signal to the surgical tool driving module/imaging tool driving module via the first communication bus so as to control actions of the surgical tool/imaging tool, and any of the slave embedded computers continuously sends an actual pose signal to the master computer via the LAN router.

[0051] The incomplete operating state is defined as: the master computer does not continuously send the desired pose signal to the master embedded computer and any of the slave embedded computers via the LAN router, and the respective slave embedded computers do not continuously send the actual pose signal to the master computer, and any of the slave computers does not send the motor position control signal to the surgical tool driving module/imaging tool driving module via the first communication bus at the same time.

[0052] Hereinafter, a method for detecting faults in the full operating state of a surgical robot and the incomplete operating state of the surgical robot of the present invention will be described in detail by two specific embodiments.

Embodiment 1

[0053] This embodiment describes a method for detecting faults in the full operating state of a surgical robot in detail, comprising:

[0054] 1. the master computer broadcasts a desired pose signal to a master embedded computer and a plurality of slave embedded computers, respectively, via the LAN router at a preset period, and receives a null operation instruction signal transmitted from the master embedded computer at the preset period, and simultaneously receives actual pose signals transmitted from the respective slave embedded computers at the preset period;

[0055] 2. the master embedded computer receives the desired pose signal transmitted from the master computer at the preset period, sends the null operation instruction signal to the master computer at the preset period and obtains a null operation response signal returned from the master computer; and simultaneously listens to motor position control signals transmitted from the respective slave embedded computers via the first communication bus;

[0056] 3. the respective slave embedded computers receive the desired pose signal transmitted from the master computer via the LAN router at the preset period and transmit the actual pose signals to the master computer via the LAN router; and simultaneously send the motor position control signals to the surgical tool driving module/imaging tool driving module via the first communication bus at the preset period;

[0057] 4. if neither of the master embedded computer and the slave embedded computers receives the desired pose signal transmitted from the master computer via the LAN router within the preset period and the master embedded computer does not receive the null operation response signal returned from the master computer via the LAN router, it is considered that the master computer fails in the full operating state;

[0058] 5. if the master computer does not receive the null operating instruction signal transmitted from the master embedded computer via the LAN router within the preset period, it is considered that the master embedded computer fails in the full operating state;

[0059] 6. if the master computer does not receive the actual pose signal transmitted from a certain slave embedded computer via the LAN router within the preset period and if the master embedded computer does not listen to the motor position control signal transmitted from said slave embedded computer via the first communication bus within the preset period, it is considered that said slave embedded computer fails in the full operating state.

[0060] Further, when the master computer fails, an alarm mechanism and an emergency stop mechanism are employed for the surgical robotic system, and after employing a recovery mechanism on the master computer, the master computer continues to send the signals via the LAN router to the master embedded computer and the respective slave embedded computers, and if the recovery mechanism of the master computer is unsuccessful, the master embedded computer executes a manual procedure and controls the slave embedded computers via the LAN router so as to control actions of the surgical tool/imaging tool.

[0061] Further, when the master embedded computer fails, after employing the alarm mechanism and the emergency stop mechanism for the surgical robotic system, the master computer executes the manual procedure, and thus controls actions of the surgical tool/imaging tool through the slave embedded computer.

[0062] Further, when the certain slave embedded computer fails, after employing the alarm mechanism and the emergency stop mechanism for the surgical robotic system, the master computer executes the manual procedure, the failed slave embedded computer is replaced with the main embedded computer, and the master computer controls actions of the surgical tool/imaging tool through the master embedded computer and the other slave embedded computers.

[0063] Further, the recovery mechanism of the present invention means that the master embedded computer waits for the master computer to restart and restore when the master computer fails, and after the master computer restores, the operator performs a status inquiry operation on the operation interface of the master computer, the master computer sends a status inquiry instruction to the master embedded computer via the LAN router, and adjusts the state of the surgical robotic system to a state prior to the failure after receiving the state response instruction transmitted from the main embedded computer.

[0064] Further, the alarm mechanism of the present invention is intended to attract attention of the operator, and in detail comprises:

[0065] 1) when the master computer fails, the master embedded computer updates a corresponding master computer indicator light to an error display state via the second communication bus, and the second communication bus is preferably a two-wire serial bus, that is, an I2C bus;

[0066] 2) when the master embedded computer fails, the master computer automatically switches the operation interface to the manual operation interface, prompts failure of the master embedded computer on the interface, and the master computer updates a corresponding master embedded computer indicator light to the error display state at the same time;

[0067] 3) when the certain slave embedded computer fails, the master computer automatically switches the operation interface to the manual operation interface, and prompts failure of the certain slave embedded computer on the interface, and at this time the master embedded computer updates a corresponding slave embedded computer indicator light to error display state via the second communication bus.

[0068] Further, the emergency stop mechanism of the present invention refers to: the slave embedded computer controls the surgical tool and the imaging tool, through the corresponding surgical tool driving module/imaging tool driving module, to stop movement and maintain the current pose after receiving the holding command from the upper level computer, wherein the upper level computer can be the master computer or the main embedded computer.

[0069] Further, the manual procedure of the present invention refers to: directly controlling the master computer, the master embedded computer or the slave embedded computers through the joint-parameter manual adjustment region of the surgical robot, and in turn controlling actions of the surgical tool/imaging tool through the surgical tool driving module/imaging tool driving module. The process in detail is:

[0070] 1) when the master computer fails, the master embedded computer switches to the manual operation interface, directly controls the respective slave embedded computers through the joint-parameter manual adjustment region, and thus controls actions of surgical tool/imaging tool through the surgical tool driving module/imaging tool driving module;

[0071] 2) when the master embedded computer fails, the master computer switches to the manual operation interface, and directly controls the respective slave embedded computers through the joint-parameter manual adjustment region, and in turn controls actions of the surgical tool/imaging tool with the surgical tool driving module/imaging tool driving module;

[0072] 3) when the certain slave embedded computer fails, the master computer switches to the manual operation interface, the master embedded computer takes over the failed slave embedded computer, and the master computer directly controls the master embedded computer and the remaining functional slave embedded computer through the joint-parameter manual adjustment region, and in turn controls actions of the surgical tool/imaging tool through the surgical tool driving module/imaging tool driving module.

[0073] Further, the upper level computer controls the surgical tool driving module and in turn controls actions of the surgical tool through the master embedded computer (used to take over the failed slave embedded computer) or the functional slave embedded computer.

[0074] For example, when the master computer fails, the master embedded computer is used as a master computer at this time, the operator operates the pose of the surgical tool driving module to be controlled in a mapping selection area of the joint-parameter manual adjustment region, the master embedded computer reads out the joint parameters of the surgical arm at the preset period and sends the generated desired pose to the slave embedded computers, the slave embedded computers receive the desired pose signal and perform closed-loop control of the pose of the surgical end effector at the end of the surgical tool through the surgical tool driving module, and thereby implement the operation of the surgical robot to safely withdraw a part of the surgical robot located in the patient's body to its initial position. The process in detail is as follows:

[0075] 1) if the surgical arm carrying the surgical end effector at the end of the surgical tool is in an unfolded state, the surgical tool driving module drives the surgical end effector at the end of the surgical tool to maintain the current position and pose, and restore its initial state (e.g. when the surgical end effector is a surgical forceps, it should be restored its closed state), and thus drives the surgical arm back straight, then the process proceeds to step 2);

[0076] 2) if the surgical end effector carried at the end of the surgical tool is not in its initial position and the surgical arm is in a straight state, the surgical tool driving module drives the surgical end effector at the end of the surgical tool to directly withdraw from the surgical incision on the patient to its initial position, and then the process proceeds to step 3);

[0077] 3) the operator offloads the surgical tool from the surgical tool driving module to achieve separation of the surgical tool from the surgical robot.

[0078] Further, when the surgical tool is withdrawn from the surgical incision on the patient so as to achieve entire separation of the surgical tool from the surgical robot, the upper level computer controls the imaging tool driving module and in turn controls actions of the imaging tool through the master embedded computer (used to take over the failed slave embedded computer) or the functional slave embedded computers.

[0079] For example, when the certain slave embedded computer controlling actions of the imaging tool fails, the master embedded computer is used to take over the failed slave embedded computer, and the operator operates the surgical tool driving module to be controlled in the mapping selection area of the joint-parameter manual adjustment region, the master computer reads out the joint parameters of the surgical arm at the preset period and sends the generated desired pose to the main embedded computer, the main embedded computers receives the desired pose signal and performs closed-loop control of the pose of the imaging illumination module at the end of the imaging tool through the imaging tool driving module, and thereby implements operation of the surgical robot to safely withdraw a part of the imaging robot located in the patient's body to its initial position. The process in detail is as follows:

[0080] 1) if the surgical arm carrying the imaging illumination module at the end of the imaging tool is in an unfolded state, the imaging tool driving module drives the imaging illumination module at the end of the imaging tool to maintain the current position and pose, thereby driving the surgical arm to straight back, and then the process proceeds to step 2);

[0081] 2) if the imaging illumination module carried at the end of the imaging tool is not in its initial position and the surgical arm is in a straight state, the imaging tool driving module drives the imaging illumination module at the end of the imaging tool to directly withdraw from the surgical incision on the patient to its initial position, then the process proceeds to step 3);

[0082] 3) the operator offloads the imaging tool from the imaging tool driving module to achieve separation of the imaging tool from the surgical robot.

Embodiment 2

[0083] This embodiment in detail describes a method for detecting faults in an incomplete operating state of a surgical robot, comprising:

[0084] 1. A master computer sends a null operation instruction signal to a master embedded computer and a plurality of slave embedded computers, respectively, via the LAN router at a preset period, and receives null operation response signals transmitted from the master embedded computer and the slave embedded computers at the preset period.

[0085] 2. The master embedded computer receives the null operation instruction signal transmitted from the master computer at the preset period and returns the null operation response signal to the master computer, and sends the null operation instruction signal to the slave embedded computers via the LAN router at the preset period and receives the null operation response signals returned from the respective slave embedded computers.

[0086] 3. The respective slave embedded computers receive the null operation instruction signals transmitted from the master computer and the master embedded computer via the LAN router at the preset period and return the null operation response signals to the master computer and the master embedded computer at the preset period.

[0087] 4. If neither of the master embedded computer and the slave embedded computers receives the null operation instruction signal transmitted from the master computer via the LAN router within the preset period, it is considered that the master computer fails in the incomplete operating state.

[0088] 5. If the master computer does not receive the null operating response signal returned from the master embedded computer via the LAN router within the preset period and the respective slave embedded computers does not receive the null operating instruction signal transmitted from the master embedded computer within the preset period, it is considered that the master embedded computer fails in the incomplete operating state.

[0089] 6. If the master computer does not receive the null operating response signal returned from a certain slave embedded computer via the LAN router within the preset period and if the master embedded computer does not receive the null operating response signal returned from said slave embedded computer within the preset period, it is considered that said slave embedded computer fails in the incomplete operating state.

[0090] Further, when the master computer, the master embedded computer or the certain embedded computer fails in the incomplete operating state, the alarm mechanism, the recovery mechanism, the manual procedure and the operation processes thereof are almost same as those in Embodiment 1, except that the master computer, the master embedded computer or the certain slave embedded computer only utilizes the alarm mechanism when they fail in the incomplete operating state, and no emergency stop mechanism is adopted. In addition, the operational principles of the alarm mechanism, the recovery mechanism, and the manual procedure in this embodiment are completely same as those in Embodiment 1, and details are not described again herein.

[0091] Further, the upper level computer controls the surgical tool driving module and in turn controls actions of the surgical tool through the master embedded computer (used to take over the failed slave embedded computer) or the functional slave embedded computers, and this process is almost same as that in Embodiment 1. Because the surgical robot is in the incomplete operating state, some differences exist in the process of safely withdrawing the surgical tool of the surgical robot to its initial position as following:

[0092] 1) if the surgical arm carrying the surgical end effector at the end of the surgical tool is in an unfolded state, the surgical tool driving module drives the surgical arm to straight back, and then the process proceeds to step 2);

[0093] 2) if the surgical end effector carried at the end of the surgical tool is not in its initial position and the surgical arm is in a straight state, the surgical tool driving module drives the surgical end effector at the end of the surgical tool to be directly withdrawn from the surgical incision on the patient to its initial position, and then the process proceeds to step 3);

[0094] 3) the operator offloads the surgical tool from the surgical tool driving module to achieve separation of the surgical tool from the surgical robot.

[0095] Further, when the surgical tool is withdrawn from the surgical incision on the patient and entire separation of the surgical tool from the surgical robot is achieved, the upper level computer controls the imaging tool driving module and in turn controls actions of the imaging tool through the master embedded computer (used to take over the failed slave embedded computer) or the functional slave embedded computer, and this process is almost same as that in Embodiment 1. Because the surgical robot is in the incomplete operating state, some differences exist in the process of safely withdrawing the imaging tool of the surgical robot to its initial position as following:

[0096] 1) if the surgical arm carrying the imaging illumination module at the end of the surgical tool is in an unfolded state, the imaging tool driving module drives the surgical arm to straight back, and then the process proceeds to step 2);

[0097] 2) if the imaging illumination module carried at the end of the surgical tool is not in its initial position and the surgical arm is in a straight state, the imaging tool driving module drives the imaging illumination module at the end of the surgical tool to be directly withdrawn from the surgical incision on the patient to its initial position, and then the process proceeds to step 3);

[0098] 3) the operator offloads the imaging tool from the imaging tool driving module to achieve separation of the imaging tool from the surgical robot.

[0099] The above embodiments are only used to illustrate the present invention, and various implementing steps of the methods may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.