Method for training surgical instrument clamping force sensing model

A surgical instrument and perception model technology, applied in the field of medical robots, can solve the problems of poor adaptability, inconvenient use, and low clamping force perception accuracy, and achieve the effects of low hardware cost, improved accuracy, and improved clamping force perception accuracy.

Active Publication Date: 2020-04-10
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

[0004] The present invention aims to solve the problems of low clamping force perception accuracy, inconvenient use and poor adaptability in the existing minimally invasive surgical robot system. The present invention provides a method for training the clamping force perception model of surgical instruments

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  • Method for training surgical instrument clamping force sensing model
  • Method for training surgical instrument clamping force sensing model

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Embodiment Construction

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0026] see figure 1 Describe this embodiment, the method for training the perception model of the clamping...

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Abstract

The invention discloses a method for training a surgical instrument clamping force sensing model, and belongs to the field of medical robots. The invention solves the problems of low clamping force sensing precision, inconvenient use and poor adaptability of an existing minimally invasive surgery robot system. According to the method, firstly, a no-load motion sample set in a no-load state and a loaded motion sample set in a loaded state of all surgical instruments of a same class are acquired, and a clamping force sensing model in the prior art is trained by utilizing a deep learning mode toobtain a trained clamping force sensing model. The method takes a condition that the instruments are in a no-load state into consideration, and all the instruments of the same class are trained in a mode of combining the loaded state, so that sensing precision of the trained clamping force sensing model is improved. The invention is mainly used for surgical instrument clamping force sensing of minimally invasive surgical robots.

Description

technical field [0001] The invention belongs to the field of medical robots. Background technique [0002] The emergence of minimally invasive surgical robots reduces the burden on patients and doctors. The doctor performs surgery by manipulating the main hand to control the surgical instruments that enter the patient's body. The current minimally invasive surgical robot systems mainly rely on visual feedback, and most of them cannot provide doctors with intraoperative clamping force perception. The lack of clamping force greatly reduces the sense of presence in surgery, increases the cost of doctor training and the possibility of misoperation during surgery, and may even endanger the life of patients. Therefore, it cannot effectively meet the intuitive needs of minimally invasive surgery. [0003] The existing schemes for sensing the clamping force of surgical instruments mainly include the following categories: special design of clamping force sensor, design of wire rope...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/76
Inventor 付宜利郭勇辰潘博
Owner HARBIN INST OF TECH
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