CN108814715A - A kind of the sound effect control method and system of the pedal of laparoscopic surgery robot - Google Patents

Abstract

The invention discloses a kind of sound effect control method of the pedal of laparoscopic surgery robot and systems.The sound effect control method includes：When stepping on any pedal, which issues control signal corresponding with the pedal；Main control computer receives the control signal, and controls laparoscopic surgery robot according to the control signal and execute corresponding movement；Microcontroller receives the control signal, and generates corresponding drive pulse signal according to the control signal；Sound effect device receives the drive pulse signal, and generates corresponding sound effect according to the drive pulse signal；Wherein, a variety of sound effects corresponding to multiple pedals are different, with the classification for the pedal for prompting user to step on.The prompt that corresponding different sound effects can be issued when stepping on different pedals using the present invention helps to improve the accuracy that doctor operates the identification of pedal key and raising doctor in the course of surgery.

Description

Acoustic control method and system for a pedal of a laparoscopic surgical robot

technical field

The invention relates to the technical field of minimally invasive surgical robots, in particular to a sound effect control method and system for pedals of a laparoscopic surgical robot.

Background technique

Minimally Invasive Surgery (MIS, Minimally Invasive Surgery) robotics is a new research field developed in recent years. According to different structural forms, minimally invasive surgical robots can be divided into three types: master-slave minimally invasive surgical robots, active minimally invasive surgical robots, and teleoperated minimally invasive surgical robots. Among them, the master-slave minimally invasive surgical robot mainly includes four parts: doctor console, operating table, image control cabinet and surgical instruments. The doctor's console is the control center of the entire surgical robot system. The chief surgeon can obtain a three-dimensional visual effect of the surgical site through the immersive visual system, and can control the machinery on the operating table through the main hand on the doctor's console (replicating the doctor's movement). The movement of the arm can also be controlled by pedals to control the high-quality vision system.

At present, the pedals of surgical robots can only make mechanical sounds when they are stepped on, and the mechanical sounds made by pedals with different functions are very small and almost indistinguishable. Doctors can't judge the type of pedal stepped on according to the sound of stepping on the pedal, which will cause the problem of inaccurate stepping.

The disadvantage of the existing technology is that the sound when the doctor steps on different pedals is almost indistinguishable, which may cause the doctor to misuse during the operation.

Contents of the invention

In view of the above-mentioned technical problems, the present invention provides a method for controlling the sound effects of the pedals of a laparoscopic surgical robot, which mainly includes the following steps:

When any pedal is depressed, the pedal sends out a control signal corresponding to the pedal;

The main control computer receives the control signal, and controls the laparoscopic surgery robot to perform corresponding actions according to the control signal;

The microcontroller receives the control signal, and generates a corresponding driving pulse signal according to the control signal;

The sound effect device receives the driving pulse signal, and generates a corresponding sound effect according to the driving pulse signal;

Wherein, the various sound effects corresponding to the multiple pedals are all different, so as to remind the user of the type of the pedal stepped on.

In one embodiment, the plurality of pedals mainly include a main switch pedal, a main clutch pedal, an endoscope pedal and an energy instrument pedal; wherein,

When the main switch pedal is stepped on, a main switch control signal is sent to control other switches of the laparoscopic surgery robot to be effective;

When the main clutch pedal is stepped on, a main clutch control signal is sent to cut off the control of the doctor's console on the mechanical arms and instruments of the laparoscopic surgery robot;

When the endoscope pedal is stepped on, an endoscope control signal is sent to switch the operating handle of the laparoscopic surgery robot to control the endoscope mechanical arm;

When the energy instrument pedal is depressed, an energy instrument control signal is sent to control the energy electric knife of the laparoscopic surgery robot to coagulate or cut visceral tissue.

In one embodiment, the frequencies of the multiple driving pulse signals corresponding to the multiple pedals are different and the duty ratios are the same.

In one embodiment, the above sound effect control method may further include the following steps:

The indicator light device receives the driving pulse signal, and displays a corresponding color according to the driving pulse signal;

Wherein, the multiple display colors corresponding to the multiple pedals are all different, so as to prompt the user to step on the type of the pedal.

In one embodiment, the sound effect device further amplifies the driving pulse signal, and generates corresponding sound effects according to the amplified driving pulse signal.

The present invention also provides a sound effect control system for pedals of a laparoscopic surgical robot, which mainly includes a doctor's console and a plurality of pedals, wherein when any pedal is depressed, the pedal sends out a control signal corresponding to the pedal;

The Physician Console includes:

A main control computer, which is connected to a plurality of pedals, is used to receive the control signal, and control the laparoscopic surgical robot to perform corresponding actions according to the control signal;

A microcontroller, which is connected to a plurality of pedals, is used to receive the control signal, and generate a corresponding driving pulse signal according to the control signal;

A sound effect device, which is connected to the microcontroller, is used to receive the driving pulse signal, and generate a corresponding sound effect according to the driving pulse signal;

Wherein, the various sound effects corresponding to the multiple pedals are all different, so as to remind the user of the type of the pedal stepped on.

In one embodiment, the plurality of pedals mainly include:

The main switch pedal is used to send the main switch control signal when it is stepped on, so as to control other switches of the laparoscopic surgery robot to be effective;

The main clutch pedal, which is used to send a main clutch control signal when being stepped on, to cut off the control of the doctor's console on the mechanical arms and instruments of the laparoscopic surgery robot;

An endoscope pedal, which is used to send an endoscope control signal when it is stepped on, to switch the operating handle of the laparoscopic surgery robot to control the endoscope mechanical arm;

The energy instrument pedal is used to send an energy instrument control signal when it is stepped on, so as to control the energy electrocautery of the laparoscopic surgery robot to coagulate or cut visceral tissue.

In one embodiment, the frequencies of the multiple driving pulse signals corresponding to the multiple pedals are different and the duty ratios are the same.

In one embodiment, the main switch pedal mainly includes a main switch for sending a main switch control signal and an isolation circuit for isolating the main switch from external interference sources;

The main clutch pedal mainly includes a main clutch switch for sending a main clutch control signal and an isolation circuit for isolating the main clutch switch from external interference sources;

The endoscope pedal mainly includes an endoscope switch for sending endoscope control signals and an isolation circuit for isolating the endoscope switch from external interference sources;

The energy equipment pedal mainly includes an energy equipment switch for sending energy equipment control signals and an isolation circuit for isolating the energy equipment switch from external interference sources.

In one embodiment, the above-mentioned doctor console may also include:

An indicator light device, which is connected to the microcontroller and is used to receive the driving pulse signal and display a corresponding color according to the driving pulse signal;

Wherein, the multiple display colors corresponding to the multiple pedals are all different, so as to prompt the user to step on the type of the pedal.

Compared with the prior art, one or more embodiments of the present invention may have the following advantages:

1) Using the sound effect control method of the pedal of the laparoscopic surgical robot of the present invention can send out corresponding prompts of different sound effects when different pedals are stepped on, which helps to improve the doctor's recognition of the pedal buttons and improve the doctor's operation during surgery. accuracy.

2) The pedal sound effect control system of the laparoscopic surgical robot of the present invention adds a microcontroller and a sound effect device in the existing doctor's console, and the microcontroller can generate corresponding drive pulses according to the control signal when the pedal is stepped on signal, the sound effect device can generate corresponding sound effects according to the driving pulse signal, so that when different pedals are stepped on, different sound effect prompts can be issued, which helps to improve the doctor's recognition of the pedal buttons and improve the doctor's operation during surgery. accuracy.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is the structure schematic diagram of the sound effect control system of the pedal of the laparoscopic surgery robot of the embodiment of the present invention;

2 is a flowchart of a method for controlling sound effects of pedals of a laparoscopic surgical robot according to an embodiment of the present invention;

3 is a schematic structural view of the sound effect control system of the pedal of the laparoscopic surgical robot according to the embodiment of the present invention;

Fig. 4 is another specific structural diagram of the sound effect control system of the pedal of the laparoscopic surgical robot according to the embodiment of the present invention;

Fig. 5 is another flow chart of the sound effect control method of the pedal of the laparoscopic surgical robot according to the embodiment of the present invention.

Detailed ways

The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and examples, so as to fully understand and implement the process of how to apply technical means to solve technical problems and achieve technical effects in the present invention. It should be noted that, as long as there is no conflict, each embodiment and each feature in each embodiment of the present invention can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

In order to solve the problem in the prior art that the sound when the doctor steps on different pedals is almost unrecognizable, which may cause the doctor to misuse during the operation, the embodiment of the present invention provides a sound effect control of the pedals of the laparoscopic surgery robot methods and systems.

Fig. 1 is a structural schematic diagram of an acoustic effect control system for a pedal of a laparoscopic surgical robot.

As shown in FIG. 1 , the pedal sound effect control system of the laparoscopic surgical robot according to the embodiment of the present invention mainly includes a doctor console 1 and a plurality of pedals 2 . The doctor console 1 mainly includes: a main control computer 11 , a microcontroller 12 and a sound effect device 13 . Wherein, the main control computer 11 is connected with a plurality of pedals 2 , the microcontroller 12 is connected with a plurality of pedals 2 , and the sound effect device 13 is connected with the microcontroller 12 .

Based on the above-mentioned sound effect control system for the pedal of the laparoscopic surgical robot, this embodiment also proposes a method for controlling the sound effect of the pedal of the laparoscopic surgical robot, which is specifically as follows.

Fig. 2 is a flow chart of the sound effect control method of the pedal of the laparoscopic surgical robot in this embodiment. As shown in FIG. 2 , the following steps S210 to S240 may be included.

In step S210 , when any pedal 2 is depressed, the pedal 2 sends a control signal corresponding to the pedal 2 .

In a preferred embodiment of the present invention, as shown in FIG. 3 , the plurality of pedals 2 may include a main switch pedal 21 , a main clutch pedal 22 , an endoscope pedal 23 and an energy instrument pedal 24 . Specifically, when the main switch pedal 21 is depressed, a main switch control signal is sent to control other switches of the laparoscopic surgical robot to be valid. When the main clutch pedal 22 is depressed, a main clutch control signal is sent to cut off the control of the doctor's console on the mechanical arms and instruments of the laparoscopic surgical robot. When the endoscope pedal 23 is depressed, an endoscope control signal is sent to switch the doctor's operating device (such as an operating handle) of the laparoscopic surgical robot to control the endoscope robotic arm. When the energy instrument pedal 24 is depressed, an energy instrument control signal is sent to control the energy electric knife of the laparoscopic surgery robot to coagulate or cut visceral tissue.

Of course, the plurality of pedals 2 may also include other pedals than the above-mentioned main switch pedal 21, main clutch pedal 22, endoscope pedal 23 and energy instrument pedal 24, such as pedals for controlling the vision system of a laparoscopic surgical robot.

In a preferred embodiment of the present invention, the above-mentioned pedal is mainly provided with a pedal switch and an isolation circuit for isolating the pedal switch and external interference sources, and the path of noise interference can be cut off through the isolation circuit, thereby achieving the effect of suppressing noise interference . Specifically, the main switch pedal 21 is provided with a main switch 211 for sending a main switch control signal and an isolation circuit 212 for isolating the main switch 211 from external interference sources. The main clutch pedal 22 includes a main clutch switch 221 for sending a main clutch control signal and an isolation circuit 222 for isolating the main clutch switch 221 from external interference sources. The endoscope pedal 23 includes an endoscope switch 231 for sending endoscope control signals and an isolation circuit 232 for isolating the endoscope switch 231 from external interference sources. The energy equipment pedal 24 includes an energy equipment switch 241 for sending energy equipment control signals and an isolation circuit 242 for isolating the energy equipment switch 241 from external interference sources.

In step S220, the main control computer 11 receives the control signal, and controls the laparoscopic surgical robot to perform corresponding actions according to the control signal.

Specifically, the main control computer 11 is provided with a plurality of IO ports (at least including IO1, IO2, IO3, IO4), the output end of the isolation circuit 212 of the main switch pedal 21 is connected with the IO1 port of the main control computer 11, and the main clutch pedal 22 The output end of the isolation circuit 222 is connected to the IO2 port of the main control computer 11, the output end of the isolation circuit 232 of the endoscope pedal 23 is connected to the IO3 port of the main control computer 11, and the output end of the isolation circuit 242 of the energy instrument pedal 24 It is connected with the IO4 port of the main control computer 11.

The control signal sent when the doctor steps on the pedal is transmitted to the corresponding IO port of the main control computer 11 through the isolation circuit, and the corresponding IO port recognizes the control signal and then performs accurate system control.

For example, the main switch 211 is the main switch for all controls, and when the IO1 port of the main control computer 11 recognizes the main switch control signal, other switches for controlling the laparoscopic surgical robot are valid.

When the IO2 port of the main control computer 11 recognizes the main clutch control signal, it cuts off the control of the doctor's console to the mechanical arms and instruments of the laparoscopic surgery robot. When the main clutch switch 222 was stepped on, the mechanical arm and the instrument of the laparoscopic surgery robot all stopped running, and now the doctor's operating device (such as the operating handle) of the doctor's console can be adjusted; The robotic arms and instruments continue to operate.

When the IO3 port of the main control computer 11 recognizes the endoscope control signal, switch the doctor's operating device (such as the operating handle) of the laparoscopic surgical robot to control the endoscope robotic arm. Because there are only two doctor operating devices (such as operating handles) for controlling the actions of medical instruments on the surgical robotic arm, the doctor holds one in the left hand and one in the right hand when operating. At least two surgical instruments are used (1 grasping forceps, 1 scissors, monopolar electrosurgical unit, bipolar electrosurgical unit or ultrasonic electrosurgical unit), and the endoscope also has an instrument arm, which is equivalent to 3 mechanical arms, but There are only two operating handles, so when it is necessary to move the endoscope robotic arm, it is necessary to step on the endoscope pedal and switch to controlling the endoscope robotic arm with a doctor's operating device (such as an operating handle).

When the IO4 port of the main control computer 11 recognizes the energy instrument control signal, it controls the energy electrocautery of the laparoscopic surgery robot to coagulate or cut visceral tissues. If the energy device switch 241 is not depressed, this action will not be executed.

In step S230, the microcontroller 12 receives the control signal, and generates a corresponding driving pulse signal according to the control signal.

Specifically, when the pedal is stepped on, the control signal is transmitted to the corresponding IO port of the main control computer 11 , and at the same time, one signal is collected to the IO port of the microcontroller 12 . In this embodiment, microcontroller 12 can generate four driving pulses with different frequencies and the same duty ratio according to four control signals (main switch control signal, main clutch control signal, endoscope control signal and energy instrument control signal) .

In step S240, the sound effect device 13 receives the driving pulse signal, and generates corresponding sound effects according to the driving pulse signal; wherein, the multiple sound effects corresponding to the multiple pedals are all different, so as to remind the user of the type of pedal stepped on.

Specifically, the sound effect device 13 may include a buzzer, or other devices capable of emitting sound effects. The sound effect device 13 receives the driving pulse signals corresponding to different pedals. Since the driving pulse signals corresponding to different pedals have the same frequency and different duty ratios, the buzzer is driven to generate different sound effects to remind the user of the type of pedal stepped on.

In a preferred embodiment of the present invention, as shown in FIG. 3 , the sound effect device 13 may include a buzzer speaker, a resistor R, a transistor Q and a diode D, which can amplify the driving pulse signal. Based on this, in step S240, the sound effect device 13 further amplifies the driving pulse signal, and generates a corresponding sound effect according to the amplified driving pulse signal.

In a preferred embodiment of the present invention, as shown in FIG. 4 , the above-mentioned sound effect control system may further include an indicator light device 14 connected to the microcontroller 12 . As shown in Figure 5, the above-mentioned sound effect control method may further include step S250: the indicator light device 14 receives the driving pulse signal, and displays the corresponding color according to the driving pulse signal; Each is a different color to indicate the type of pedal the user is depressing. Specifically, the indicator light device may be a plurality of LED indicator lights, and the plurality of LED indicator lights receive driving pulse signals corresponding to different pedals and display different colors as prompts. The use of the indicator light device 14 can display different colors as prompts when different pedals are stepped on, which can further improve the doctor's recognition of the pedal buttons and improve the accuracy of the doctor's operation during the operation.

In summary, in the sound effect control scheme of the pedal of the laparoscopic surgical robot in the embodiment of the present invention, a microcontroller and a sound effect device are added to the existing doctor's console, and the microcontroller can The control signal generates a corresponding driving pulse signal, and the sound effect device can generate corresponding sound effects according to the driving pulse signal, so that different sound effect prompts can be issued when different pedals are stepped on, which helps to improve the doctor's recognition of the pedal buttons and Improve the accuracy of the doctor's operation during the operation.

Although the embodiments disclosed in the present invention are as above, the described content is only an embodiment adopted for the convenience of understanding the present invention, and is not intended to limit the present invention. Any person skilled in the technical field to which the present invention belongs can make any modification and change in the implementation form and details without departing from the spirit and scope disclosed in the present invention, but the protection scope of the present invention remains within the scope of the present invention. The scope defined by the appended claims shall prevail.

Claims (10)

1. a sound effect control method of the pedal of laparoscopic surgery robot, it is characterized in that, comprises the following steps: When any pedal is depressed, the pedal sends out a control signal corresponding to the pedal; The main control computer receives the control signal, and controls the laparoscopic surgery robot to perform corresponding actions according to the control signal; The microcontroller receives the control signal, and generates a corresponding driving pulse signal according to the control signal; The sound effect device receives the driving pulse signal, and generates a corresponding sound effect according to the driving pulse signal; Wherein, the various sound effects corresponding to the multiple pedals are all different, so as to remind the user of the type of the pedal stepped on. 2. The sound effect control method according to claim 1, wherein the plurality of pedals include a main switch pedal, a main clutch pedal, an endoscope pedal and an energy instrument pedal; wherein, When the main switch pedal is stepped on, a main switch control signal is sent to control other switches of the laparoscopic surgery robot to be effective; When the main clutch pedal is stepped on, a main clutch control signal is sent to cut off the control of the doctor's console on the mechanical arms and instruments of the laparoscopic surgery robot; When the endoscope pedal is stepped on, an endoscope control signal is sent to switch the operating handle of the laparoscopic surgery robot to control the endoscope mechanical arm; When the energy instrument pedal is depressed, an energy instrument control signal is sent to control the energy electric knife of the laparoscopic surgery robot to coagulate or cut visceral tissue. 3. The sound effect control method according to claim 1 or 2, characterized in that the frequency of the multiple driving pulse signals corresponding to the multiple pedals is different and the duty cycle is the same. 4. The sound effect control method according to claim 3, further comprising the following steps: The indicator light device receives the driving pulse signal, and displays a corresponding color according to the driving pulse signal; Wherein, the multiple display colors corresponding to the multiple pedals are all different, so as to prompt the user to step on the type of the pedal. 5. The sound effect control method according to claim 1 or 2, wherein the sound effect device further amplifies the driving pulse signal, and generates a corresponding sound effect according to the amplified driving pulse signal. 6. A sound effect control system for a pedal of a laparoscopic surgical robot, characterized in that it comprises a doctor's console and a plurality of pedals, wherein when any pedal is depressed, the pedal sends a control signal corresponding to the pedal; The Physician Console includes: A main control computer, which is connected to a plurality of pedals, is used to receive the control signal, and control the laparoscopic surgical robot to perform corresponding actions according to the control signal; A microcontroller, which is connected to a plurality of pedals, is used to receive the control signal, and generate a corresponding driving pulse signal according to the control signal; A sound effect device, which is connected to the microcontroller, is used to receive the driving pulse signal, and generate a corresponding sound effect according to the driving pulse signal; Wherein, the various sound effects corresponding to the multiple pedals are all different, so as to remind the user of the type of the pedal stepped on. 7. The sound effect control system according to claim 6, wherein the plurality of pedals comprise: The main switch pedal is used to send the main switch control signal when it is stepped on, so as to control other switches of the laparoscopic surgery robot to be effective; The main clutch pedal, which is used to send a main clutch control signal when being stepped on, to cut off the control of the doctor's console on the mechanical arms and instruments of the laparoscopic surgery robot; An endoscope pedal, which is used to send an endoscope control signal when it is stepped on, to switch the operating handle of the laparoscopic surgery robot to control the endoscope mechanical arm; The energy instrument pedal is used to send an energy instrument control signal when it is stepped on, so as to control the energy electrocautery of the laparoscopic surgery robot to coagulate or cut visceral tissue. 8. The sound effect control system according to claim 6 or 7, wherein the frequencies of the driving pulse signals corresponding to the multiple pedals are different and the duty ratios are the same. 9. The sound effect control system according to claim 7, wherein: The main switch pedal includes a main switch for sending a main switch control signal and an isolation circuit for isolating the main switch from external interference sources; The main clutch pedal includes a main clutch switch for sending a main clutch control signal and an isolation circuit for isolating the main clutch switch from external interference sources; The endoscope pedal includes an endoscope switch for sending endoscope control signals and an isolation circuit for isolating the endoscope switch from external interference sources; The energy equipment pedal includes an energy equipment switch for sending energy equipment control signals and an isolation circuit for isolating the energy equipment switch from external interference sources. 10. The sound effect control system according to claim 9, further comprising: An indicator light device, which is connected to the microcontroller, is used to receive the driving pulse signal, and display a corresponding color according to the driving pulse signal; Wherein, the multiple display colors corresponding to the multiple pedals are all different, so as to prompt the user to step on the type of the pedal.