CN119225257A - Driver, main control unit, system and method for multi-axis linkage automatic water jet control - Google Patents
Driver, main control unit, system and method for multi-axis linkage automatic water jet control Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B17/3203—Fluid jet cutting instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The application provides a driver, a main control unit, a system and a method for multi-axis linkage automatic water jet control, wherein the driver comprises a main power circuit, a control circuit, a current detection unit and a position detection unit, the main power circuit, the current detection unit and the position detection unit are respectively connected with the control circuit, the main power circuit is used for generating energy for driving a motor to rotate, the motor is used for providing power for an action unit of an automatic water jet, the current detection unit is used for detecting current information of the main power circuit and outputting the current information to the control circuit, the position detection unit is used for detecting position information of the motor and outputting the position information to the control circuit, and the control circuit is used for controlling the action of the motor through an inversion module.
Description
Technical Field
The application relates to the field of automatic control of water knives, in particular to a driver, a main control unit, a system and a method for multi-axis linkage automatic water knife control in a medical water knife operation system.
Background
The existing water jet robot control system is generally directly provided with a control system of the robot system, and has two obvious defects that the control system of the robot system realizes multi-axis linkage movement of a surgical instrument device clamped by a robot, and an FPGA is generally adopted as a main control end to solve the problem of synchronization/real time of the multi-axis linkage movement, but the scheme has high cost, and the function expansion is difficult because the control system is integrated in the control system of the robot.
For medical water jet surgical systems, the preferred multi-axis motion includes not only motion control of the surgical instrument end (i.e., the water jet body), but also flow rate/flow/pressure control for the high pressure water jet specific to the water jet, and/or aspiration flow rate/flow/pressure control for aspiration of fluids accumulated in the surgical environment as a result of the injection of the high pressure water jet for surgery. Obviously, conventional robotic systems are unable to meet the synchronous demands of complex multi-axis coordinated control.
Disclosure of Invention
In order to solve the problems, the application provides a driver, a main control unit, a system and a method for controlling the multi-axis linkage automatic water jet, which realize multi-axis synchronous control and high real-time response of the automatic water jet.
In one aspect, the present application provides a driver for multi-axis linkage automatic water jet control, characterized in that the multi-axis linkage automatic water jet includes a linear motion axis, a rotational motion axis, a high pressure jet pump motion axis, and/or a suction pump motion axis, the driver being used for synchronous drive control between the linear motion axis, the rotational motion axis, the high pressure jet pump motion axis, and/or the suction pump motion axis, and being provided in the motion axes participating in the synchronous drive control, respectively, the driver comprising: a main power circuit, a control circuit, a current detection unit and a position detection unit; the motor is used for providing power for an action unit in an action shaft participating in synchronous driving control, the current detection unit is used for detecting current information of the main power circuit and outputting the current information to the control circuit, the position detection unit is used for detecting position information of the motor and outputting the position information to the control circuit, and the control circuit is used for generating PWM signals and controlling actions of the motor based on the captured time reference signals from a time reference bus.
The main power circuit comprises a high-voltage switch power supply, an isolation driving circuit, a rectifying circuit and an inversion module, wherein the control circuit is used for generating a control signal and outputting the control signal to the inversion module through the isolation driving circuit, the rectifying circuit is respectively connected with the high-voltage switch power supply and the inversion module, and the high-voltage switch power supply is also connected with the isolation driving circuit.
Further, the driver for multi-axis linkage automatic water jet control is characterized by further comprising an isolation circuit, wherein the isolation circuit is used for receiving a time reference signal, decoding the time reference signal into time information and outputting the time information to the control circuit.
Further, the driver for controlling the multi-axis linkage automatic water jet scalpel is characterized by further comprising a buffer for storing a motion track.
In a second aspect, the application provides a main control unit for multi-axis linkage automatic water jet control, which comprises a time generator and an ARM/MCU unit, wherein the main control unit is used for being connected with a control circuit of a driver controlled by the multi-axis linkage automatic water jet control through a CAN bus, and the time generator is used for generating a synchronous clock signal and is connected with the driver controlled by the multi-axis linkage automatic water jet control through a time reference bus.
In a third aspect, the application provides a system for controlling a multi-axis linkage automatic water jet, which comprises the driver for controlling the multi-axis linkage automatic water jet and the main control unit for controlling the multi-axis linkage automatic water jet, wherein the driver is respectively connected with the main control unit through a CAN bus and a time reference bus.
Further, the system for controlling the multi-axis linkage automatic water jet scalpel comprises an upper computer, a plurality of motors, a plurality of action units and a plurality of drivers, wherein the upper computer is connected with the main control unit, the main control unit is connected with the plurality of drivers, the plurality of drivers are respectively connected with the plurality of motors in one-to-one correspondence, and the plurality of motors are respectively connected with the plurality of action units in one-to-one correspondence.
Further, the upper computer is connected with the ARM/MCU unit through the Ethernet, and the plurality of action units comprise a linear motion action unit, a rotary motion action unit, a high-pressure jet pump action unit and/or a suction pump action unit.
In a fourth aspect, the present application provides a method for controlling a multi-axis linkage automatic water jet, which is applied to a system for controlling the multi-axis linkage automatic water jet, and the method comprises:
The master control unit generates a synchronous clock signal, outputs the synchronous clock signal to the driver through a time reference bus, and outputs the surgical information to the driver through a CAN bus;
the driver decodes the synchronous clock signal to obtain time information, and controls the plurality of action units one by one through the plurality of motors based on the time information and the driver.
Further, the main control unit is also used for receiving operation enabling information and starting work, and the operation information comprises operation planning path information and medical monitoring information.
Compared with the prior art, the driver, the main control unit, the system and the method for controlling the multi-axis linkage automatic water jet scalpel can realize accurate, efficient and high-real-time multi-axis synchronous control, improve the real-time performance and control precision of the system, remarkably improve the precision and efficiency of operation, and simultaneously reduce the cost and the risk of electric interference.
Drawings
In order to more clearly illustrate the present application, the following description and the accompanying drawings of the present application will be given. It should be apparent that the figures in the following description merely illustrate certain aspects of some exemplary embodiments of the present application, and that other figures may be obtained from these figures by one of ordinary skill in the art without undue effort.
Fig. 1 is a first architecture diagram of a system for multi-axis linkage automatic water knife control according to an embodiment of the present disclosure.
Fig. 2 is a design architecture diagram of a driver for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.
Fig. 3 is a second architecture diagram of a system for multi-axis linkage automatic water knife control according to an embodiment of the present disclosure.
Fig. 4 is a diagram of a time reference bus software and hardware design architecture for a system for multi-axis linkage automatic water knife control in accordance with an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of an architecture of data transmission directions and control signal sources at the time of a water jet robot surgery in a system for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.
Fig. 6 is a schematic diagram of a specific signal flow of a water jet robotic surgical procedure for a method of multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the application, its application, or uses. The present application may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. It should be noted that the relative arrangement of parts and steps, numerical expressions and numerical values, etc. set forth in these embodiments are to be construed as illustrative only and not limiting unless otherwise indicated.
As used herein, the word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Parameters of, and interrelationships between, components, and control circuitry for, components, specific models of components, etc., which are not described in detail in this section, can be considered as techniques, methods, and apparatus known to one of ordinary skill in the relevant art, but are considered as part of the specification where appropriate.
For a better understanding of the present application, specific embodiments thereof, including hardware designs, software designs, and functional designs, will be described in detail below.
The scheme provided by the application is suitable for a water jet robot control system.
The water blade robot control system typically involves a multi-axis linkage action. The multiaxial linkage action of the water jet robot comprises the following actions:
The motion of the various shaft movements of the water jet blade body refers to the motion of the water jet blade body in different dimensions in a space environment, such as linear motion along the axial direction of the instrument shaft, rotational motion about the axial direction of the instrument shaft, and/or,
The water jet knife sprays high-pressure water jet, the action means that the high-pressure water jet is sprayed from a knife hole through an inner cavity defined by a water knife body, the sprayed high-pressure water jet realizes cutting/ablating on target tissues in a target area, the action range of the cutting/ablating action formed by the high-pressure water jet after being sprayed is related to the flow speed/flow control of the water jet and the pressure applied by a pump for providing high pressure for the water jet, therefore, the cutting/ablating length of the water jet can be adjusted by adjusting the flow speed or the flow rate of the water jet, and the cutting/ablating length adjusting effect of the water jet can be realized by adjusting the pumping pressure of the high-pressure water jet, and/or,
The action of sucking the liquid of the operating environment, which means that when injecting high-pressure water jet to perform the intracavity operation (for example, when cutting the operation environment of the prostatic hyperplasia by a transurethral water knife), the injected water jet forms undesired liquid accumulation in the cavity when not being timely sucked out while cutting/ablating, so that a suction pump needs to be applied to suck the injected liquid out of the body through a suction pipeline, the flow rate/flow rate of the suction is generally approximately equal to or slightly greater than that of the water jet in some cases, and accordingly, the working parameters such as the pump pressure of the suction pump can be determined according to the required flow rate/flow rate of the suction.
In a high-precision automatic water jet surgical scene, especially an automatic water jet robot surgical scene realized based on surgical planning or surgical navigation, it is necessary to precisely control the above-mentioned movements of the water jet, because, on the one hand, by controlling the movements of the axes of the water jet cutter body, the movement position of the water jet cutter body and thus the physical position of the orifice through which the water jet is sprayed can be determined to be at a predetermined position, and by controlling the spraying movements of the water jet high-pressure pump, the position of the action point formed by the sprayed water jet can be determined, and further, in an immersed high-pressure water jet environment, the magnitude of the ambient water pressure directly influences the action range formed by the water jet and thus the position of the action point of the water jet, and therefore, by controlling the liquid suction movements of the suction pump, the position of the action point of the water jet can be influenced and determined together with the spraying movements of the water jet high-pressure pump. As the point of action of ablating/resecting tissue, the water jet point of action position is the most critical information for controlling the automatic water jet system to perform surgery according to the planned path, so that precise control of the aforementioned actions is necessary.
However, due to the difference of the control units, an error may occur in the coordination of the motion control units in the actual working process, and the error may be solved to a certain extent by a closed-loop control mechanism of monitoring and feedback, however, the solution is generally lagged. In order to further improve the control precision, it is also necessary to ensure that the motion control units can realize synchronous and high-real-time cooperative work.
Referring to fig. 1, the system for controlling the multi-axis linkage automatic water jet provided by the application comprises a driver for controlling the multi-axis linkage automatic water jet and a main control unit for controlling the multi-axis linkage automatic water jet, wherein the driver is respectively connected with the main control unit through a CAN bus and a time reference bus. The multi-axis linkage control unit comprises one (embedded) main control unit, a plurality of drivers, and each special driver is connected with a motor to control the motor to act so as to drive the specific action of each action unit to realize. The embedded main control unit and the multiple special driver parts are multi-axis linkage control units, instruction information of the upper computer is converted into motor execution parameters, and each motor is controlled, so that each action and cooperative action of each action unit are controlled. The special drivers 1,2, 3, 4 are four identical motor drivers, controlling different four motors, each motor powering a different action unit.
In the multi-axis linkage automatic water jet control system shown in fig. 1, a linear motion unit, a motor 1 and a special driver 1 form motion control and motion units from one axis, a rotary motion unit, a motor 2 and a special driver 2 form motion control and motion units from one axis, a high-pressure jet pump motion unit, a motor 3 and a special driver 3 form motion control and motion units from one axis, and a suction pump motion unit, a motor 4 and a special driver 4 form motion control and motion units from one axis. Although the shaft is generally defined in the field of mechanical control as a movement direction (for example, a linear movement shaft or a rotational movement shaft) which can be independently controlled in a machine tool or a mechanical device, the concept of the shaft is not limited thereto herein, because specific actions of the high-pressure jet pump and the suction pump in the automatic water jet are also movements which can be independently controlled and affect the position of the action point of the water jet, and thus, as shown in fig. 1, the action unit of the high-pressure jet pump and the corresponding motor and the driver also form a movement control and action unit of the shaft, and the action unit of the suction pump and the corresponding motor and the driver also form a movement control and action unit of the shaft. It should be understood that the present application extends the definition of the control axis of the automatic water jet scalpel, and accordingly proposes an improved multi-axis linkage control unit, and the extension is not limited to the four-axis linkage shown in fig. 1, and if there are other controllable dimensions that may affect the surgical effect (such as the position of the action point), the present application may also incorporate a multi-axis linkage range, for example, an extension to a scheme of five-axis linkage and six-axis linkage.
According to an embodiment of the application, a driver for multi-axis linkage automatic water jet knife control is provided, which is characterized in that the multi-axis linkage automatic water jet knife comprises a linear motion shaft, a rotary motion shaft, a high-pressure jet pump motion shaft and/or a suction pump motion shaft, the driver is used for synchronous driving control among the linear motion shaft, the rotary motion shaft, the high-pressure jet pump motion shaft and/or the suction pump motion shaft and is respectively arranged in the motion shafts participating in the synchronous driving control, the driver comprises a main power circuit, a control circuit, a current detection unit and a position detection unit, the main power circuit, the current detection unit and the position detection unit are respectively connected with the control circuit, the main power circuit is used for generating energy for driving a motor to rotate, the motor is used for providing power for the motion units participating in the synchronous driving control, the current detection unit is used for detecting current information of the main power circuit and outputting the current information to the control circuit, the position detection unit is used for detecting the position information of the motor and outputting the position information to the motor to the control circuit through a reference time signal and a PWM (pulse width modulation) control signal.
Through adopting ARM/MCU as embedded master control unit, use the special driver design of product level, realize coordinated control through improving the running rate and the synchronous performance of control end, a plurality of drivers are parallel simultaneously, synchronous high real-time control and expansibility of multiaxis coordinated motion that can effectively solve water sword robot system.
The hardware part of the special driver comprises a control circuit, a main power circuit, a current detection unit and a position detection unit, wherein the main power circuit, the current detection unit and the position detection unit are respectively connected with the control circuit, the main power circuit is used for generating energy for driving a motor to rotate, the motor is used for providing power for an action unit of an automatic water knife, the current detection unit is used for detecting current information of the main power circuit and outputting the current information to the control circuit, the position detection unit is used for detecting position information of the motor and outputting the position information to the control circuit, and the control circuit is used for controlling the action of the motor through the inversion module. The high-voltage switching power supply, the rectifying circuit and the inversion module are main power circuits of a special driver and serve as energy for driving the motor to rotate, the position detection signal, the current detection signal and the time reference signal are input signals of the control circuit, and the PWM is an output signal which is output by the control circuit and used for controlling the rotating speed of the motor.
The control circuit takes the DSP/MCU as a core, the DSP/MCU is selected as a main control chip of the driver, the specific model of the DSP or the MCU can be selected according to the type of the motor and the control requirement, wherein the DSP is mainly used for high-performance real-time control occasions, and is particularly suitable for motor driving control scenes of the water jet surgical robot, and the control circuit is preferable.
And correspondingly, the control circuit sets 1-2 paths of common IO signals or communication signals, corresponds to the time reference bus signals of the main control unit, and is used for receiving the time reference bus signals from the main control unit so as to realize synchronous control of each axis motion motor of the water jet surgical robot. The control circuit can also acquire the time reference signal through an IO interface arranged on the DSP/MCU, or an input capturing module or other communication modules. It should be noted that the isolation circuit in fig. 2, that is, the time receiver in fig. 5, and the decoding unit in fig. 4, function substantially the same.
The control circuit is provided with a PWM signal interface for outputting an output signal for controlling the rotating speed of the motor to each shaft motion motor of the water jet surgical robot, and the PWM signal interface adopts a high-resolution (at least 12 bits) PWM controller to realize high-precision motor speed control. The control circuit generates a PWM signal based on the captured time reference signal from the time reference bus and controls the operation of the motor.
The control circuit is also provided with an RS-485 communication interface for parameter configuration and state feedback of the driver unit so as to realize monitoring of the working state of each shaft of the water jet by tracking the state feedback signals.
And the main power circuit part in the special driver takes ADI digital isolation as a core device, and the DSP/ARM outputs PWM signals to isolate and drive IGBT (i.e. an isolated driving circuit) so as to realize the control of the power circuit.
The special driver is also provided with a current detection unit and a position detection unit, and the working current of the motor and the feedback of the motor position are core parameters for realizing a motor driving control algorithm in the water jet surgical robot, so that the acquisition of the parameters is important.
Further, in the current detection unit, the control loop isolation is required for current collection, for the water jet surgical robot scene, the general hall collection mode may not be suitable for reasons such as large volume, low precision, difficulty in achieving higher precision requirement, and the like, preferably, the collected current signal is subjected to high-speed modulation conversion, for example, an ADuM7703 isolated sigma-delta modulator of ADI is adopted to convert an analog input signal into a high-speed (the highest frequency is 20 MHz) single-bit data stream, and the average time of the modulator for outputting each bit data is directly proportional to the input signal, so that the detection signal can be conveniently obtained in high real time and used for feedback control.
In the motor position detection unit, in order to realize detection of the motor rotor position, a photoelectric encoder may be employed to detect the movement position of the rotor.
The driver unit software design may be designed using the C language or Verilog language. Preferably, the underlying driver is written in the C language, ensuring direct exchange efficiency with the hardware. The MCU/DSP control circuit comprises a software module and is used for receiving and sending CAN messages by the MCU/DSP control circuit and analyzing the CAN messages transmitted by the embedded main control unit. And a CAN controller local area network (CANopen) protocol stack is realized to support communication with the main control unit. The MCU/DSP control circuit also comprises a software module for capturing the time reference bus message, decoding and taking the time reference bus message as a control reference. By designing an event scheduler based on a time reference bus, accurate scheduling of motor control tasks is realized. The MCU/DSP control circuit also comprises a software module for realizing the control of the PWM and PID linkage motor, and the queue data management and timer interrupt function, wherein the PID controller or ADRC (adaptive dynamic robust control) algorithm is realized, and the further optimization of the motor synchronization and linkage control performance can be realized through the control of the PWM and PID linkage motor based on time reference bus scheduling.
Based on the design of the hardware circuit and the software module of the special driver, the method for analyzing the control instruction by the driver is further specially designed, taking the automatic water jet operation as an example, the mode of analyzing the operation control by the driver is a specially designed checking and supplementing control mode, different from the traditional checking and supplementing control mode, when the traditional checking and supplementing control mode is controlled, the embedded main control unit configures the motor position through the CAN bus and gives a motor rotation signal, the embedded main control unit CAN only write one position to one rotation signal at a time, in the actual control, the CAN bus is required to configure the target position of each shaft and also is required to provide a rotation signal for each shaft, the inside of the driver is planned to move according to a timer, and when a plurality of shafts are required to synchronously rotate in high real time, the read-write speed of the CAN bus of the embedded main control unit is limited, and the internal time of each driver cannot be unified, so that the conditions cannot be met. In contrast, in the present application, the time corresponding to each position in the drive interpolation control mode is the time resolved by the time reference bus, and is not the time generated according to the internal clock of the drive to control the position of the motor. The specific control is realized by controlling the motor to reach different designated positions at different time points according to the track information issued to the driver by the embedded main control unit and against the time reference bus. The embedded main control unit can synchronously control the rotation of different motors by only encoding the time points and outputting the encoded time points to the time reference bus.
The specific hardware and software design of the embedded master control unit in the multi-axis linkage control unit of the present application is described in detail below with reference to fig. 3.
The hardware circuit of the embedded main control unit preferably uses an ARM/MCU as a main control chip, and peripheral circuits surrounding the ARM/MCU chip comprise a reset circuit, a real-time clock circuit, an SDRAM memory, a FLASH memory module, various other input/output IO interfaces, a CAN and a network port, wherein the CAN and the Ethernet interfaces are designed for communication with an upper computer and other devices. In some embodiments, a communication circuit is designed that includes CAN 2.0B and Ethernet 100Base-TX interfaces to meet Fieldbus and local area network communication requirements. The Ethernet port is used for communication with the upper computer software and receiving track information and the like from a human-computer interface and based on image planning. The CAN data configuration bus adopts a standard CAN hardware protocol. In the system provided by the application, a driver time reference bus which is outputted by the ARM/MCU is newly arranged in the embedded main control unit, the time reference bus can be realized by a common IO port, a common communication interface or a differential signal outputted by the ARM/MCU, and in order to ensure the stability of the output, the time reference bus can also be realized by more than two interface modes.
And a reset circuit is also designed in the embedded main control unit, so that the stable operation of the system is ensured. In some embodiments, a multi-level reset circuit including a power-on reset, a watchdog reset, ensures system stability. Further, the real time clock circuit is used to provide an accurate time reference. In some embodiments, the real-time clock circuit employs a temperature compensated crystal oscillator to provide a high accuracy time reference. The SDRAM memory and the FLASH memory module are used for data storage and program storage. In some embodiments, the SDRAM memory is at least 256MB and the FLASH memory module is at least 512MB for storing the operating system, applications, and data. A special storage area for motion trail planning needs to be arranged in the FLASH storage module to be used as a motion trail storage buffer.
And the embedded main control unit software is designed to be matched with a hardware circuit to analyze the instruction from the upper computer and send the analyzed control instruction and the time reference signal to the special drivers of all the shafts. The embedded main control unit can write software by using languages such as C++, QT, python and the like. The core control algorithm is written using C++ with modular design, QT for graphical user interface, python for script processing and rapid prototyping. And the multi-task scheduling based on TROS is realized, and the real-time performance and the stability of the system are ensured. And realizing the infrastructure of GRPC, queues, data structures, equipment trees and the like. And the cross-thread cross-process processes the message to realize command line debugging and network communication. And driving development to enable an application layer to call a hardware interface. And the GRPC is adopted to realize high-efficiency and safe communication with the upper computer. And designing a CAN communication protocol stack to realize real-time data exchange with the driver unit. The data storage mechanism based on the file system is realized, and the safety and the reliability of the motion path are ensured.
In order to provide real-time and synchronous control with higher precision, the scheme provided by the application also comprises a synchronous clock line. A specific design example of the synchronous clock line will be described with reference to fig. 4:
In this embodiment, the two common paths of IO output are used for generating the time reference signal, and after the signal output, the outgoing single-ended signal is converted into the differential signal through the AD3138 chip, so that the stability of the time transmission signal can be more effectively ensured, and although the transmission of the time reference signal can be realized by adopting the common or universal communication interface, the scheme of converting into the differential signal is still preferable. The main control unit sends differential signals through a bus, and the received differential signals are converted into single-ended signals through AD3138 at the driver end.
Correspondingly, the driver units are provided with synchronous clock interfaces, each driver unit is designed to comprise a synchronous clock receiver for receiving and locking clock signals from the master control unit, and the receiver for receiving the clock signals is designed to have high anti-interference capability and can quickly lock and track the clock signals to ensure synchronous precision.
The main power circuit is arranged to synchronize the generation of the PWM signal with the received and parsed clock signal to achieve accurate motor control taking into account the synchronization characteristics of the synchronized clock signal.
Preferably, digital isolation techniques, such as the icouper of ADI, are used to ensure isolation of the synchronous clock signals between the master unit and the driver units, preventing potential electrical interference.
A software design for a synchronous clock line comprising the following aspects:
the software management of the synchronous clock signals comprises a clock management module in the software design of the master control unit, wherein the clock management module is used for generating and managing the synchronous clock signals, and the clock management module is responsible for adjusting the frequency and the phase of the clock signals according to the system requirements so as to adapt to different control scenes.
The synchronous clock processing of the driver unit comprises a clock synchronization module in the software design of the driver unit, wherein the clock synchronization module is used for receiving, locking and tracking the synchronous clock signal sent by the main control unit, and the clock synchronization module ensures that the control algorithm of the driver unit is strictly aligned with the synchronous clock signal, so that accurate time sequence control is realized.
In terms of control algorithms, the triggering and execution of the motor control tasks are ensured in synchronization with the clock signal taking into account the synchronous clock signal, preferably both the updating of the PWM signal and the sending of the motor control command are based on a specific phase or period of the synchronous clock signal.
According to a preferred embodiment, the synchronous clock of the present application can be dynamically adjusted, allowing dynamic adjustment of the synchronous clock signal in the software design of the master control unit, the driver unit, and the control algorithm to accommodate real-time feedback and control demand changes during surgery. The dynamic adjustment can be local or systematic, for example, the driver unit and the control algorithm can carry out local negative feedback adjustment on the received clock signal according to the feedback of the driver unit, and the main control unit can adjust the clock signal parameters in real time according to the system state and the performance feedback to optimize the system performance.
Wherein the encoding unit of fig. 4 corresponds to the time generator function of fig. 5 and the decoding unit of fig. 4 corresponds to the time receiver function of fig. 5.
The message logic of the multiaxial linkage control unit provided by the application is shown in fig. 5:
the embedded main control unit receives the control requests of the upper computer and the input equipment, analyzes and outputs the control requests to the driver unit. Specifically, the embedded main control unit receives an operation planning designation or a motion instruction from the upper computer, analyzes and converts the operation planning designation or the motion instruction into a specific motor control command, sends the control command to each motor driver control unit through the CAN bus, encodes time, sends an encoded time signal to a time receiver of the motor driver control unit through a special time reference bus through a time generator of the embedded main control unit, and decodes the time signal into time information and sends the time information to an ARM/MCU control unit of the driver after the time receiver of the motor driver control unit receives the time signal to form a synchronous control signal for the motor.
In the process of implementing the operation by using the automatic water jet control system provided by the application, the specific flow is shown in fig. 6:
the upper computer plans the motion path of each shaft and sends data to the main control unit.
The main control unit configures the motion path data of the special driver to generate a control instruction corresponding to the motor position and time. Specifically, the main control unit parses and stores the motion path data in a FLASH (driver motion trajectory storage buffer) while calculating the start time and position of each axis.
At the beginning of the operation, the master control unit synchronizes all the drivers through the time reference bus, ensuring that each axis moves according to a predetermined point in time. The driver precisely controls the motor to reach a designated position or rotating speed according to the time reference bus and the stored motion path data. In the operation flow, the main control unit monitors the states of all shafts in real time, and the smooth operation flow is ensured.
In a more detailed surgical implementation procedure, it may also be the following steps:
After the system is powered on, the main control unit performs self-checking and initializes all hardware devices, including configuration of the synchronous clock line. The driver unit receives the initialization instruction from the main control unit, completes the initialization process of the driver unit and prepares to receive the synchronous clock signal.
The main control unit is configured with a special IO port or communication interface for generating and distributing synchronous clock signals. All the driver units receive the synchronous clock signals from the main control unit through special clock lines, and the consistency of the clock signals is ensured.
And the upper computer generates a G code by using CAD/CAM software according to the operation requirement and sends the G code to the main control unit.
The main control unit receives the G code, analyzes and converts the G code into a motor control instruction, and stores the motor control instruction in FLASH. The master control unit calculates the starting time and position of each shaft and sends the starting time and position to the driver units through the CAN bus, and meanwhile, the master control unit generates synchronous clock signals to ensure that all the driver units CAN operate based on a unified time reference.
When the operation starts, the main control unit sends out a starting instruction and synchronizes all the driver units. The driver unit receives the starting instruction and the time reference bus and controls the motor to move according to the preset movement path data. Specifically, the master control unit sends out a synchronizing signal through a synchronizing time line, and after all drivers receive the synchronizing signal, the master control unit starts to execute a motion control task according to a preset time reference. And the driver unit controls the motor to accurately reach the designated position according to the received synchronous clock signal and the stored motion path data so as to realize multi-axis synchronous motion.
The main control unit monitors the running state of each shaft in real time and feeds the running state back to an operator through a human-computer interface. The main control unit may adjust the motion path or the control parameter according to the feedback information, if necessary. Specifically, the master control unit dynamically adjusts the motion path or control parameters according to the feedback information and the synchronous clock signal to cope with any changes in the surgical procedure. If necessary, the main control unit can dynamically adjust the frequency or the phase of the synchronous clock signal so as to adapt to different requirements in the operation process and ensure the synchronism and the instantaneity of each shaft.
After all the preset movements are completed, the main control unit sends out an ending instruction, and all the driver units stop moving. The system enters a standby state and waits for the next operation instruction. The end instruction may inform all driver units through the synchronous clock line.
Through the embodiment, the automatic water jet system can provide stable and reliable multi-axis synchronous control while ensuring high precision and high real-time performance. The application of the synchronous clock lines ensures that all driver units can be accurately controlled based on a uniform time reference, thereby achieving efficient collaborative work in complex surgical procedures.
The application can realize accurate synchronization among a plurality of drivers by using the ARM/MCU-based synchronous clock line, which is very important for the water-jet robot needing a high-precision cutting path, ensures that all motor drivers can receive control signals at the same time, thereby reducing control delay and improving the response speed of the system, and the system can be kept stable under various operation conditions by the cooperative design of hardware and software, thereby reducing the occurrence probability of system faults caused by synchronization errors, and the application adopts a digital isolation technology and differential signal transmission, thereby reducing the influence of electromagnetic interference on the control signals, improving the reliability of the system, further supporting more complex and finer operation and improving the success rate of operation.
The integration of the water jet robot, an upper computer and other peripheral equipment is simplified by integrating CAN communication and an Ethernet interface, so that more complex automatic control flow is convenient to realize; compared with the solutions of high cost such as using FPGA, the ARM/MCU-based control system CAN remarkably reduce the cost while maintaining high performance.
In addition, the scheme provided by the application supports multi-axis control, the special driver design allows the control parameters, such as the frequency and the phase of PWM signals, to be adjusted according to specific application requirements, so that the flexibility of a control strategy is increased, the future system expansion is facilitated, and the control capability of more axes is increased so as to adapt to more complex operation or monitoring requirements.
It should be understood that the above embodiments are only for explaining the present application, the protection scope of the present application is not limited thereto, and any person skilled in the art should be able to modify, replace and combine the technical solution and concept according to the present application within the scope of the present application.
Claims (10)
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