OPERATION ENABLING CONTROL SYSTEM AND ROBOT-ASSISTED SURGICAL DEVICE HAVING THE SYSTEM

Abstract

An operation enabling control system and a robot-assisted surgical device having the operation enabling control system are disclosed. The operation enabling control system includes a switch element and a logic AND circuit. A first terminal of the switch element is connected with a power supply. A second terminal of the switch element is connected with an automated driving system of a robot-assisted surgical system. The logic AND circuit comprises a first input terminal and a second input terminal. The first input terminal is configured to receive a sensor status of the robot-assisted surgical system. The second input terminal is configured to receive a control signal. An output terminal of the logic AND circuit is connected with a control terminal of the switch element.

Claims

1-8. (canceled)

9. An operation enabling control system, comprising: a switch element comprising a control terminal, a first terminal, and a second terminal; and a logic AND circuit comprising first and second input terminals and an output terminal; wherein: the first terminal of the switch element is connected with a power supply; the second terminal of the switch element is connected with an automated driving system of a robot-assisted surgical system; the first input terminal of the logic AND circuit is configured to receive a sensor status of the robot-assisted surgical system; the second input terminal of the logic AND circuit is configured to receive a control signal; and the output terminal of the logic AND circuit is connected with the control terminal of the switch element,

10. The operation enabling control system according to claim 9, further comprising: a control device comprising: an input terminal connected with the robot-assisted surgical system to receive an operation instruction; and an output terminal connected with the second input terminal of the logic AND circuit to output the control signal.

11. The operation enabling control system according to claim 10, further comprising: a feedback circuit connected between the switch element and the control device, the feedback circuit being configured to detect whether the switch element provides a supply voltage to the automated driving system.

12. The operation enabling control system according to claim 11, wherein the feedback circuit comprises a level detection circuit.

13. A robot-assisted. surgical device, comprising: a console, wherein the console comprises a sensor system configured to detect whether an operator is ready for conducting an operation; and an automated surgical device, comprising: a surgical control unit; an operation enabling control system; and an automated driving system, wherein: the operation enabling control system is arranged between a power supply and the automated driving system; the operation enabling control system comprises a switch element and a logical AND circuit; the switch element comprises a first terminal connected with the power supply; the switch element comprises a second terminal connected with the automated driving system; the logic AND circuit comprises a first input terminal configured to receive a sensor status from the sensor system; the logic AND circuit comprises a second input terminal configured to receive a control signal; and the logic AND circuit comprises an output terminal connected with a control terminal of the switch element.

14. The robot-assisted surgery device according to claim 13, wherein the first input terminal of the logical AND circuit is connected with one or more sensors of the sensor system.

15. The robot-assisted surgery device according to claim 13, wherein the console further comprises a second logical AND circuit comprising: an input terminal connected with one or more sensors of the sensor system; and an output terminal connected with the first input terminal of the logic AND circuit.

16. The robot-assisted surgery device according to claim 13, wherein the operation enabling control system further comprises: a control device comprising: an input terminal connected with the surgical control unit; and an output terminal connected with the second input terminal of the logic AND circuit to output the control signal.

17. The robot-assisted surgical device according to claim 16, further comprising: a feedback circuit connected between the switch element and the control device, the feedback circuit being configured to detect whether the switch element provides a supply voltage to the automated driving system.

18. The robot-assisted surgical device according to claim 16, wherein the console further comprises: a console power supply unit, a switch, a button, a manipulator, a console control unit, a display, a microphone, and a speaker, wherein: the console power supply unit is connected with an external power supply network; the console control unit comprises input terminals connected with one or more sensors of the sensor system; and the switch, the button, the manipulator, the microphone, and an output terminal of the console control unit are respectively connected with the corresponding display and speaker to assist the operator to interact with the console.

19. The robot-assisted surgical device according to claim 18, wherein the automated surgical device further comprises: a surgical device power supply unit, a switch, a button, a display, a microphone, a speaker, and a corresponding surgical tool, wherein: the surgical control unit is connected bidirectionally with the console control unit, the control device, and the automated driving system to perform interactive communication; the surgical control unit is configured to control a corresponding electrical driven motion through the automated driving system to drive the corresponding surgical tool to move; the surgical control unit comprises input terminals connected with the corresponding switch, button, and microphone of the automated surgical device; and the surgical control unit comprises an output terminal connected with the corresponding display and speaker of the automated surgical device to assist the operator to interact with the automated driving system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG. 1 is a schematic diagram of a workflow of a traditional robot-assisted surgical system;

[0020] FIG. 2 is a schematic diagram of a workflow of a robot-assisted surgical system including an operation enabling control system according to the present disclosure;

[0021] FIG. 3 is a schematic diagram of a structure of a robot-assisted surgical system including an operation enabling control system according to the present disclosure;

[0022] FIG. 4 is another embodiment of a robot-assisted surgical system including an operation enabling control system according to the present disclosure.

DETAILED DESCRIPTION

[0023] In order to make objectives, technical solutions, and advantages of embodiments of the present disclosure clear, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to accompanying drawings in the embodiments of the present disclosure. Obviously, a part of, rather than all of, the embodiments of the present disclosure are described. Based on the embodiments of the present disclosure, all other embodiments obtained by one of ordinary skill in the art without inventive work shall fall within the protection scope of the present disclosure.

Embodiment 1

[0024] As shown in FIG. 2, this embodiment provides an operation enabling control system for managing a driving power supply of automated surgical device. The operation enabling control system of this embodiment can change the driving power supply from an original direct power supply to controlled power supply. The operation enabling control system provided in this embodiment includes a logical AND circuit, a control device, and a switch element.

[0025] The logic AND circuit includes a first input terminal and a second input terminal. The first input terminal of the logic AND circuit can be connected with all sensors in the multi-sensor combination system on a console of a robot-assisted surgical system through an electrical connector, and used to collect operating statuses of all sensors in the multi-sensor combination system. The control device includes an input terminal and an output terminal. The input terminal of the control device is connected with a master-slave teleoperation control system of the robot-assisted surgical system to receive instruction information from the master-slave teleoperation control system. The second input terminal of the logic AND circuit is connected with an output terminal of the control device to receive control signal sent by the control device. The output terminal of the logic AND circuit is connected with a control terminal of a switch element. The logic AND circuit performs a logic AND operation on signals received by the first input terminal and the second input terminal, and a result of the operation is output to control on or off of the switch element. One end of the switch element (a front terminal shown in FIG. 2) is connected with an external power supply system, and another end of the switch element (a back terminal shown in FIG. 2) is connected with a power supply module of an automated driving system. The switch element is connected with a driving power supply loop of an automated surgical device, and turn on or off the driving power supply.

[0026] A feedback circuit may also be provided between the switch element and the control device to detect whether there is a supply voltage at the back terminal of the switch element. The feedback circuit is a level detection circuit. For example, an photo coupler or a voltage comparator can perform detection feedback, which can be found in the prior art and will not be described in detail here.

[0027] In summary, the operation enabling control system of this embodiment is provided with a control device independent of the master-slave teleoperation control system. The control device can detect a status of a driving power supply through a feedback signal, thereby ensuring reliability of an action of the switch element. When the master-slave teleoperation control system informs the control device that the driving power supply should be off, but the control device detects that the driving power supply is still on, the control device sends a signal to notify the master-slave teleoperation control system that the operation enabling control system has a failure, and the automated driving system is powered. There is a potential risk, and the operation cannot continue. Similarly, when the master-slave teleoperation control system informs the control device that the driving power supply should be on, but the control device detects that the driving power supply is not available, it can also issue a corresponding warning. When other systems of the robot-assisted surgical system detect that a system has a failure and the failure may cause a risk of injury, the control device can be used to quickly and forcibly turn off the driving power supply to ensure personnel safety.

Embodiment 2

[0028] As shown in FIG. 3, the present disclosure also provides a robot-assisted surgical device with the operation enabling control system of Embodiment 1, including a console and an automated surgical device. The console includes a console power supply unit, multi-sensor combination system, a switch, a button, a manipulator, a console control unit, a display, a microphone, and a speaker.

[0029] Automated surgical device includes surgical device power supply unit, surgical control unit, a switch, a button, a display, a microphone, a speaker, other surgical device (such as high-frequency electrotome, etc.), operation enabling control system, automated driving system, and corresponding surgical tool.

[0030] The console power supply unit is connected with an external power supply, converts AC power into working voltage required by various components of the console, and supply power to various components of the console. The multi-sensor combination system is used to detect whether an operator is ready to operate (such as detecting whether a hand or a foot is in a specified position, whether eyes are facing the screen, etc., which can be set according to actual situation, and will not be described in detail here). Input terminals of the console control unit are connected with sensors of the multi-sensor combination system, the switch, the button, the manipulator and the microphone, respectively. Output terminals of the console control unit are connected with the display and speaker. The operator interacts with the console through the devices above.

[0031] The surgical control unit is bidirectionally connected with the console control unit, a control device of the operation enabling control system, the automated driving system and other surgical device to perform interactive communication. The surgical control unit controls corresponding electrical driven motion through the automated driving system to drive surgical tool to move. Input terminals of the surgical control unit are connected with the switch, the button and the microphone, respectively. Output terminals of the surgical control unit are connected with the display and the speaker to assist the operator to interact with the automated driving system through the devices above.

[0032] The surgical power supply unit is connected with the external power supply network, and converts AC power into working voltage required by various parts of the automated surgical device to supply power to electrical components of the automated surgical device. An operation enabling control system is set between the surgical power supply unit and the automated driving system. A first input terminal of the logic AND circuit of the operation enabling control system is connected with the multi-sensor combination system n parallel. The operation enabling control system can change the surgical power supply unit from an original direct power supply to conrolled power supply. The surgical control unit controls the switch element through a control device of the operation enabling control system.

[0033] In summary, when the operator is ready to operate (that is, the operator riggers all detection sensors in the multi-sensor combination system). In an aspect, the surgical control unit detects that all sensors are triggered, and informs the automated driving system to enter movement enabled mode through a software control loop and be ready to start electrical driving operation. And the surgical control unit notifies the control device of the operation enabling control system to output an effective control signal to the logic AND circuit. The control signal and hardware output signals of all sensors in the multi-sensor combination system are collected by the operation enabling control system and used to perform a hardware logical AND operation. An output signal of the logical AND operation is directly used to control on and off of the switch element of the operation enabling control system. Only when all sensors are triggered, the driving power supply of the automated driving system can be supplied, thereby ensuring that the automated surgical device does not take any unexpected action when the operator is not ready to operate. During operation, if any sensor is not triggered (for example, the operator gives up triggering a detection sensor in the multi-sensor combination system), the power supply of the automated driving system can be immediately turn off, so that all electrical driven motion can be stopped quickly. When the operator discovers a dangerous situation, it is obviously faster to stop the automated surgical device by disconnecting any sensor than by press a stop switch. Thus, a risk can be reduced or even avoided.

EXAMPLE 3

[0034] As shown in FIG. 4, this embodiment also provides a robot-assisted surgical device with the above-mentioned operation enabling control system, including a console and an automated surgical device. The structures of the console and the automated surgical device is basically the same as that of the embodiment 2. The difference is that the console of this embodiment can also include a logical AND circuit. Input terminal of the logic AND circuit on the console are connected with multi-sensor combination system in parallel. Output terminal of the logical AND circuit is connected with the logic AND circuit of the operation enabling control system in the automated surgical device. The logic AND circuit of the console performs a logical AND operation on the hardware output signals of the multi-sensor combination system. The result of the operation is transmitted to the logical AND circuit of the automated surgical device. A logical AND operation is performed on the result and output signal of the control device in the operation enabling control system, and the operation result is used to control the switch element. An advantage of this implementation is to simplify connection cable between the console and the automated surgical device. The sensors no longer need to be connected with the automated surgical device, but only output signal of the logical AND operation is transmitted to the logic AND circuit of the operation enabling control system in the automated surgical device.

[0035] Based on the disclosure and teaching of the foregoing description, those skilled in the related art can also make appropriate changes and modifications to the foregoing embodiments. Therefore, the present disclosure is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present disclosure should also fall within the protection scope of the claims of the present disclosure. In addition, although some specific terms are used in this disclosure, these terms are only for convenience of description and do not constitute any limitation to the present disclosure.