阅读说明：本技术 用于手术系统的功率管理方案 (Power management scheme for surgical systems ) 是由 爱德华·纳克莱里奥 于 2020-04-02 设计创作，主要内容包括：一种手术机器人系统包含具有至少一个手术器械的机器人臂和联接到所述机器人臂且被配置成控制所述机器人臂的控制装置,所述控制装置包含一个或多个组件。所述手术机器人系统还包含电源,具有：塔式电源箱,其被配置成将第一直流电供应到所述机器人臂；功率分配单元,其被配置成将第二直流电供应到所述一个或多个组件；第一不间断电源装置,其联接到所述塔式电源箱且被配置成从第一交流电输入接收第一交流电；以及第二不间断电源装置,其联接到所述功率分配单元且被配置成从第二交流电输入接收第二交流电。(A surgical robotic system includes a robotic arm having at least one surgical instrument and a control device coupled to the robotic arm and configured to control the robotic arm, the control device including one or more components. The surgical robotic system further includes a power source having: a tower power supply box configured to supply a first direct current to the robotic arm; a power distribution unit configured to supply a second direct current to the one or more components; a first uninterruptible power supply device coupled to the tower power supply box and configured to receive a first alternating current from a first alternating current input; and a second uninterruptible power supply device coupled to the power distribution unit and configured to receive a second alternating current from a second alternating current input.)

1. A surgical robotic system, comprising:

a robotic arm including at least one surgical instrument;

a control device coupled to the robotic arm and configured to control the robotic arm, the control device including at least one component;

a power supply, comprising:

a tower power supply box configured to supply a first direct current to the robotic arm;

a power distribution unit configured to supply a second direct current to the at least one component;

a first uninterruptible power supply device coupled to the tower power supply box and configured to receive a first alternating current from a first alternating current input; and

a second uninterruptible power supply device coupled to the power distribution unit and configured to receive a second alternating current from a second alternating current input.

2. The surgical robotic system of claim 1, further comprising:

a power input module that interconnects the first and second AC power inputs with the first and second uninterruptible power supply devices, respectively.

3. The surgical robotic system according to claim 2, wherein the power input module is configured to disconnect the first and second ac power inputs from the first and second uninterruptible power supply devices, respectively.

4. The surgical robotic system according to claim 1, wherein the at least one component is selected from the group consisting of: a core controller, a security controller, a visualization system, a display, a network adapter, a light source, and a camera control unit.

5. The surgical robotic system according to claim 1, wherein the at least one component is a core controller and each of the core controller and the tower power supply box is configured to detect connection or disconnection of the power supply to at least one of the first ac power input or the second ac power input.

6. The surgical robotic system according to claim 5, further comprising at least one of a fixed support base or a movable support base, wherein the robotic arm is coupled to at least one of the fixed support base or the movable support base.

7. The surgical robotic system according to claim 6, wherein each of the core controller and the tower power supply box is configured to detect a connection or disconnection of the power supply to at least one of the fixed support base or the movable support base.

8. The surgical robotic system according to claim 2, further comprising an electrosurgical generator and a foot switch emulator interconnecting the electrosurgical generator and the power input module.

9. The surgical robotic system according to claim 8, wherein the foot switch emulator is configured to receive a third alternating current from a third alternating current input.

10. A power supply for a surgical robotic system, the power supply comprising:

a tower power supply box configured to supply a first direct current to the robot arm;

a power distribution unit configured to supply a second direct current to a control device configured to control the robotic arm;

a first uninterruptible power supply device coupled to the tower power supply box and configured to receive a first alternating current from a first alternating current input; and

a second uninterruptible power supply device coupled to the power distribution unit and configured to receive a second alternating current from a second alternating current input.

11. The power supply of claim 10, further comprising:

a power input module that interconnects the first and second AC power inputs with the first and second uninterruptible power supply devices, respectively.

12. The power supply of claim 11, wherein the power input module is configured to disconnect the first and second ac power inputs from the first and second uninterruptible power supply devices, respectively.

13. The power supply of claim 10, wherein the power distribution unit is coupled to at least one component selected from the group consisting of: a core controller, a security controller, a visualization system, a display, a network adapter, a light source, and a camera control unit.

14. The power supply of claim 13, wherein the at least one component is a core controller and each of the core controller and the tower power supply box is configured to detect connection or disconnection of the power supply to at least one of the first ac power input or the second ac power input.

15. The power supply of claim 13, wherein each of the core controller and the tower power supply box is configured to detect a connection or disconnection of the power supply to a support base.

16. The power supply of claim 11, further comprising a foot switch emulator interconnecting an electrosurgical generator and the power input module.

17. The power supply of claim 16, wherein the foot switch emulator is configured to receive a third alternating current from a third alternating current input.

Background

Surgical robotic systems are currently being used for minimally invasive medical procedures. Some surgical robotic systems may include a console supporting a surgical robotic arm and a surgical instrument having an end effector (e.g., forceps or grasping tool) coupled to the robotic arm, which is actuated by the robotic arm. Such robotic systems are powered by complex power supply systems having multiple power supply rails and backup units. Thus, there is a need for a streamlined power management scheme for surgical robotic systems to control complex power supplies.

Disclosure of Invention

The present disclosure provides a power management system for a surgical robotic system. Some power supplies for powering robots include multiple power supply components controlled by a single off switch (e.g., a 3-pole switch) to simultaneously turn power on and off to all of multiple loads. However, this configuration is inflexible in certain respects and prevents selective activation and deactivation of certain loads in response to situations where some of the loads need to be turned off and the remaining loads need to be turned on. The present disclosure provides a power management architecture that allows for independent activation and deactivation of power components that power a load.

In addition, single off-switch architectures that include an uninterruptible power supply ("UPS") (including one or more batteries) also tend to suffer from battery depletion due to prolonged periods of non-power. Even if the shutdown switch isolates the load from the UPS, its battery is drained after the AC mains is disconnected, since the UPS is still running. The present power management architecture provides communication between individual components of a power supply and their respective UPSs to disconnect each UPS based on the demand of the load.

According to one embodiment of the present disclosure, a surgical robotic system is disclosed that includes a robotic arm having at least one surgical instrument and a control device coupled to the robotic arm and configured to control the robotic arm, the control device including one or more components. The surgical robotic system further includes a power source having: a tower power supply box configured to supply a first direct current to the robotic arm; a power distribution unit configured to supply a second direct current to the one or more components; a first uninterruptible power supply device coupled to the tower power supply box and configured to receive a first alternating current from a first alternating current input; and a second uninterruptible power supply device coupled to the power distribution unit and configured to receive a second alternating current from a second alternating current input.

According to one aspect of the above embodiment, the surgical robotic system further includes a power input module that interconnects the first ac power input and the second ac power input with the first uninterruptible power supply device and the second uninterruptible power supply device, respectively. The power input module is configured to disconnect the first and second ac power inputs from the first and second uninterruptible power supply devices, respectively.

According to another aspect of the above embodiment, the component is one of a core controller, a security controller, a visualization system, a display, a network adapter, a light source, or a camera control unit.

According to another aspect of the above embodiment, the component is a core controller and each of the core controller and the tower power box is configured to detect a connection or disconnection of the power supply to at least one of the first ac power input or the second ac power input. The surgical robotic system also includes one of a fixed support base or a movable support base, wherein the robotic arm is coupled to one of the fixed support base or the movable support base. The core controller and the tower power box are configured to detect connection or disconnection of the power source to at least one of the fixed support base or the moveable support base.

According to one aspect of the above embodiment, the surgical robotic system further includes an electrosurgical generator and a foot switch emulator interconnecting the electrosurgical generator and the power input module. The foot switch emulator is configured to receive a third alternating current from a third alternating current input.

In accordance with another embodiment of the present disclosure, a power supply for a surgical robotic system is disclosed. The power supply includes: a tower power supply box configured to supply a first direct current to the robot arm; a power distribution unit configured to supply a second direct current to a control device configured to control the robotic arm; a first uninterruptible power supply device coupled to the tower power supply box and configured to receive a first alternating current from a first alternating current input; and a second uninterruptible power supply device coupled to the power distribution unit and configured to receive a second alternating current from a second alternating current input.

According to one aspect of the above embodiment, the power supply further includes a power input module that interconnects the first ac power input and the second ac power input with the first uninterruptible power supply device and the second uninterruptible power supply device, respectively. The power input module is configured to disconnect the first and second ac power inputs from the first and second uninterruptible power supply devices, respectively. The power distribution unit is coupled to at least one component selected from a core controller, a security controller, a visualization system, a display, a network adapter, a light source, or a camera control unit. In an embodiment, the at least one component is a core controller and each of the core controller and the tower power supply box is configured to detect connection or disconnection of the power supply to at least one of the first ac power input or the second ac power input. In an embodiment, each of the core controller and the tower power supply box is configured to detect a connection or disconnection of the power supply to a support base.

According to another aspect of the above embodiment, the power supply further includes a foot switch emulator interconnecting the electrosurgical generator and the power input module. The foot switch emulator is configured to receive a third alternating current from a third alternating current input.

Drawings

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

FIG. 1 is a schematic illustration of a surgical robotic system incorporating a surgical robotic arm according to the present disclosure;

FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to the present disclosure; and is

Fig. 3 is a schematic circuit diagram of a power supply according to the present disclosure.

Detailed Description

Embodiments of the presently disclosed surgical robotic system are described in detail with reference to the figures, wherein like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the surgical robotic system that is closer to the patient and/or the surgical instrument coupled thereto, while the term "proximal" refers to the portion that is further from the patient.

Although the following description is specific to a surgical robotic system, the power supply described below may be used in any suitable medical device requiring electrical power. Referring first to fig. 1, a surgical robotic system 1 includes a plurality of robotic arms 2 each having a surgical instrument 10 removably attached thereto; a control device 4; and an operation console 5 coupled to the control device 4. The surgical robotic system 1 is configured for treating a patient "P" lying on a stationary support base, such as an operating table 3a, in a minimally invasive manner using a surgical instrument 10. The robotic arm 2 may be attached to a fixed support base, such as the table 3a, or a movable support base, such as a movable cart 3 b. The surgical robotic system 1 further includes a power supply 200 configured to provide electrical power to the robotic arm 2 and the control device 4. In an embodiment, power supply 200 may also be coupled to operating console 5 depending on the proximity of operating console 5 (e.g., whether operating console 5 is disposed in an operating room or remotely).

The operating console 5 includes a display device 6 which displays the surgical site and manual input devices 7, 8 by which the clinician can remotely control the robotic arm 2. Each of the robot arms 2 may be constituted by a plurality of links connected via joints. The robot arm 2 may be driven by an electric drive (not shown) connected to the control device 4. The control device 4 (e.g., a computer, logic controller, etc.) is configured to activate the drivers based on a set of programmable instructions stored in memory in such a way that the robotic arm 2 and surgical instrument 10 perform desired movements according to the movements in response to inputs from the manual input devices 7, 8.

The control device 4 may include one or more processors (not shown) operatively connected to memory (not shown) that may include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), Random Access Memory (RAM), electrically erasable programmable ROM (eeprom), non-volatile RAM (nvram), or flash memory. The processor may be any suitable processor (e.g., control circuitry) suitable for performing the operations, calculations and/or sets of instructions described in this disclosure, including but not limited to a hardware processor, a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), a Central Processing Unit (CPU), a microprocessor and combinations thereof. Those skilled in the art will appreciate that the processor may be replaced by any logic circuitry suitable for executing the algorithms, calculations and/or instruction sets described herein.

The control device 4 may control a plurality of motors 9, … …, n, each configured to actuate the surgical instrument 10 to effect manipulation and/or movement of the surgical instrument 10. It is contemplated that the control device 4 coordinates activation of the motors 9, … …, n to coordinate clockwise or counterclockwise rotation of drive members (not shown) to coordinate operation and/or movement of the surgical instrument 10. In an embodiment, each of the plurality of motors 9, … …, n may be configured to actuate a drive rod, cable or lever arm (not shown) to effect operation and/or movement of each surgical instrument 10. In an embodiment, the motor 9, … …, n may comprise embedded control electronics integrated within the motor housing, avoiding reliance on the control device 4.

For a detailed discussion of the construction and operation of surgical robotic systems, reference may be made to U.S. patent No. 8,828,023, which is incorporated herein by reference in its entirety.

Referring to fig. 2, the robotic arm 2 includes a plurality of movable links, a first link 104, a second link 106, a third link 108, and a support 110, which are coupled to each other by actuators (not shown) to allow the robotic arm 2 to be moved into various configurations. The bracket 110 is configured to receive an instrument drive unit configured to be coupled to an actuation mechanism of the surgical instrument 10. The instrument drive unit transfers actuation forces from its motor to the surgical instrument 10 to actuate components (e.g., end effectors) of the surgical instrument 10.

The first linkage 104 includes a curved base 105 configured to secure the robotic arm 2 to the table 3a or the movable cart 3b (fig. 1). Second link 106 is rotatable about axis "X-X" at joint 107 and relative to first link 104 such that angle a defined by first link 104 and second link 106 is about 0 ° to about 140 °. Third link 108 is rotatable about axis "Y-Y" at joint 109 and relative to second link 106 such that angle β defined by second link 106 and third link 108 is about 0 ° to about 140 °. The bracket 110 is rotatable relative to the third link 108 such that the angle θ defined by the bracket 110 and the third link 108 is about 25 ° to about 160 °.

The robotic arm 2 is coupled to a power supply 200 (fig. 1) which provides regulated electrical power to the robotic arm 2 and to the motors 9, … …, n. Referring to fig. 3, the power supply 200 includes a power input module 202 coupled to one or more AC line inputs 204a, 204b, 204 c. Each of the AC line inputs 204 a-c includes line and neutral connections that are coupled to each other via fuses 205a, 205b, 205c, respectively, to provide overcurrent protection. In addition, each of the AC line inputs 204 a-c also contains a secure ground connection 207a, 207b, 207c, respectively. The power input module 202 also includes an equipotential terminal 203 to provide a common ground.

Each of the AC line inputs 204a and 204b is also coupled for electrical safety purposes to a corresponding isolation transformer 206a and 206b of the power and control apparatus 4, respectively, and to an uninterruptible power supply ("UPS") 208a and 208b that provides backup electrical power. Specifically, the UPSs 208a and 208b are coupled to a power tower enclosure ("TPSC") 210 and a power distribution unit ("PDU") 212, respectively. In some embodiments, TPSC 210 may also be configured to be coupled to table 3a or mobile cart 3 b. Thus, TPSC 210 powers the motor and other electromechanical actuators of the robotic arm 2.

AC line input 204a supplies electrical power to TPSC 210, AC line input 204b supplies electrical power to PDU 212, and AC line input 204c supplies electrical power to electrosurgical generator 214 via foot switch emulator 208c, which is used to provide an activation signal to electrosurgical generator 214. Each of the UPSs 208a and 208b and the foot switch emulator 208c is coupled to a corresponding emergency power down connection 209a, 209b, 209c, respectively, thereby allowing the UPSs 208a and 208b to be disconnected.

The PDU 212 powers the various control, input and communication components of the control device 4, such as the core controller 216a, security controller 216b, visualization controller 216c, visualization system 216d, display 216e, network adapter 216f, light source 216g, camera control unit 216h and other auxiliary devices 216 i.

The power supply 200 also includes a first network switch 218 coupled to the UPS208a and a second network switch 220 coupled to the UPS208 b. The first network switch 218 and the second network switch 220 may be any suitable local area network device, wired, such as ethernet, or wireless, such as WiFi. The core controller 216a is coupled to a first network switch 218 and a second network switch 220. In addition, a first network switch 218 is coupled to TPSC 210. Thus, the first network switch 218 provides bidirectional communication with the UPS208a, the TPSC 210, and the core controller 216a and the second network switch 220 provides bidirectional communication with the UPS208b and the core controller 216 a. In addition, the first network switch 218a and the second network switch 218b also interconnect the control device 4, the operation console 5, the robot arm 2, and the power supply 200.

The core controller 216a is configured to operate in a low power mode and monitor the UPSs 208a and 208b to determine if the power supply 200 is still connected to the AC line inputs 204a, 204b, 204 c. Thus, when the surgical robotic system 1 is turned off, such as when a surgical procedure is completed, the core controller 216a is allowed to continue operation. In the event that the AC line inputs 204a, 204b, 204c are disconnected, the core controller 216a is also configured to control the UPSs 208a and 208b to be fully disconnected to conserve battery power. Additionally, the first network switch 218 and the second network switch 220 are also configured to turn on after disconnecting from the AC line inputs 204a, 204b, 204 c. This allows for a faster start-up time because the first network switch 218 and the second network switch 220 will no longer need to be started.

In the event that the AC line inputs 204a, 204b, 204c are disconnected from the power supply 200 during a surgical procedure, the UPSs 208a and 208b are configured to maintain AC power to the components connected to the power supply 200 until the core controller 216a initiates shutdown of all system components including the UPSs 208a and 208b under operator control, or if the UPSs 208a and 208b are about to be exhausted.

If the AC line inputs 204a, 204b, 204c are disconnected from the power supply 200, the core controller 216a is configured to monitor the UPSs 208a and 208b and detect the disconnection of the AC line inputs 204a, 204b, 204 c. The core controller 216a is also configured to command the UPSs 208a and 208b to shut down after a short delay to allow recovery from an accidental disconnection.

The TPSC 210 is operable when connected to the AC line input 204a via the UPS208 a. The TPSC 210 is configured to be connected to the table 3a and/or the movable cart 3b to provide power thereto and the robotic arm 2. The TPSC 210 is configured to detect whether it is connected to the table 3a and/or the movable cart 3b, so that electric power is supplied to the table 3a and/or the movable cart 3b after the TPSC 210 is attached thereto. Thus, if the AC line input 204a is disconnected from the TPSC 210 and the TPSC 210 is not connected to the station 3a and/or the movable cart 3b, the TPSC 210 commands the UPS208a to disconnect and conserve battery power.

When the mobile cart 3b is connected to TPSC 210, TPSC 210 is configured to detect which port the mobile cart 3b is connected to and enable a respective output from an AC/DC converter (not shown) to supply power to the mobile cart 3 b. Similarly, when movable cart 3b is disconnected from TPSC 210, TPSC 210 is configured to detect which port movable cart 3b is disconnected from and to disable the respective output from the AC/DC converter that powers movable cart 3 b.

The TPSC 210 is also configured to monitor the UPS208a and detect loss of AC line inputs 204a, 204b, 204 c. The TPSC 210 is configured to command the UPS208a to shut down after a short delay period to allow recovery from an accidental disconnection.

The power supply 200 according to the present disclosure provides faster start-up times and better conserves the state of charge of the batteries in the UPSs 208a and 208 b. The first network switch 218 allows the TPSC 210 to communicate with the UPS208a regardless of the power status of the rest of the power supply 200, e.g., the PDU 212, because the UPSs 208a and 208b are controlled by their corresponding components from which power is received. Additionally, the UPSs 208a and 208b and the TPSC 210 are configured to monitor power consumption. This data is collected and used during operation of the surgical robotic system 1 and during fault detection and treatment. Core controller 216a is also configured to access this data via first network switch 218a and second network switch 218 b.

The power supply 200 is configured to operate in a plurality of operating states, as described in further detail below. Initially, the AC line inputs 204a, 204b, 204c are connected to the power supply 200 without the surgical robotic system 1 being set up or used for a surgical procedure. Because the AC line inputs 204a and 204b are connected, the UPSs 208a and 208b are charging their respective batteries. The TPSC 210 and core controller 216a may also operate at this time and monitor their respective UPSs 208a and 208b to determine if the AC line inputs 204a and 204b are connected. The core controller 216a also monitors whether a system activation signal is received from, for example, a system activation button to start the system. In an embodiment, a system activation button (not shown) may be disposed on the control device 4 and/or the operating console 5.

The first network switch 218a and the second network switch 218b are also powered and operable. The security controller 216b, visualization controller 216c, visualization system 216d, display 216e, network adapter 216f, light source 216g, camera control unit 216h, and other auxiliary devices 216i may be disconnected by the user to conserve power. Foot switch emulator 208c is also powered on, but electrosurgical generator 214 is off.

As indicated above, the control device 4 may be used to activate the surgical robotic system 1. The activation process begins with the core controller 216a activating the control device 4 and its computing components to prepare for a surgical procedure and any of the following systems that may have been previously powered down: security controller 216b, visualization controller 216c, visualization system 216d, display 216e, network adapter 216f, light source 216g, camera control unit 216h, and other auxiliary devices 216 i. In addition, the core controller 216a also notifies the operation console 5 that the startup process has been initiated.

Since the first network switch 218a and the second network switch 218b were previously turned on, the readiness time of the control device 4 is shortened and depends on the start-up of the remaining system, e.g. the start-up time, the operating system and application time loading time, etc. At this point, the core controller 216a also attempts to communicate with the movable cart 3b as described above.

The operating console 5 may also be used to activate the surgical robotic system 1. Once the user presses the system activation button on the operation console 5, a signal is sent to the core controller 216a through the operation console 5 because the first network switch 218a and the second network switch 218b are turned on and connect the operation console 5 to the core controller 216 a. The core controller 216a then activates the control device 4 and its computing components to prepare for the surgical procedure and any of the following systems that may have been previously powered down: security controller 216b, visualization controller 216c, visualization system 216d, display 216e, network adapter 216f, light source 216g, camera control unit 216h, and other auxiliary devices 216 i. The core controller 216a also attempts to establish communication with the movable cart 3b and sends a message of the surgical robotic system 1 to the operating console 5.

After the surgical robot system 1 is activated via the control device 4 and/or the operating console 5, the surgical robot system 1 is used to perform a surgical procedure. After the surgical procedure is completed, the operating console 5 prompts the user to power down the electrosurgical generator 214, the light source 216g and the camera control unit 216 h. The security controller 216b and visualization controller 216c may also enter a low power state or be completely powered down. The core controller 216a also commands the console 5 to turn off.

During operation, a user may press an emergency power off button (not shown) that may be disposed on control device 4 and/or operating console 5 to activate emergency power off connections 209a, 209b, 209c to disconnect AC line inputs 204a, 204b, 204c from TPSC 210, PDU 212, and electrosurgical generator 214. More specifically, UPSs 208a and 208b interrupt the supply of AC from AC line inputs 204a, 204b, 204c to TPSC 210 and PDU 212. To recover from an emergency outage, each of the UPSs 208a and 208b may then be manually turned on by a user.

It should be understood that various modifications may be made to the embodiments disclosed herein. In embodiments, the sensor may be disposed on any suitable portion of the robotic arm. Accordingly, the above description should not be construed as limiting, but merely as exemplifications of the various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.