Automatic meshing method, device, storage medium and electronic equipment of end effector

Abstract

The present invention provides an automatic meshing method, device, storage medium and electronic equipment of an end effector. The method includes: step S1, acquiring a command value; step S2, if the current meshing state of the end effector is not equal to meshing, and The command value is equal to start meshing; update the current meshing state to be meshing, initialize the step actuator, go to step S1; step S3, if the current meshing state is equal to meshing, the command value is not equal to stop meshing; determine the step execution state to be equal to When in the stopped state, add 1 to the number of step executions; judge whether it meets the preset end conditions; if so, update the current meshing state to equal stopping, update the meshing result to equal meshing success, and stop automatic meshing; if not, when the number of step executions reaches When the first preset value is reached, update the current meshing state equal to stopping, update the meshing result equal to meshing overtime, stop automatic meshing; when the number of step execution times does not reach the first preset value, go to step S1.

Description

technical field [0001] The present invention relates to the technical field of surgical robots, and more specifically, to an automatic engagement method, device, storage medium and electronic equipment of an end effector. Background technique [0002] With the development of intuitive medicine to precision medicine, surgical robots are widely used in surgical operations. When using a surgical robot to perform surgery, the doctor generates handle commands through the control handle to control the surgical instruments of the surgical robot to perform corresponding actions, thus requiring a high-precision consistency between the handle commands generated by the control handle of the surgical robot and the execution actions of the surgical instruments sex. [0003] At present, the surgical instruments of surgical robots are usually disposable consumables, that is, the surgical instruments need to be structurally connected to the base of the surgical robot before each operation....

AI Technical Summary

Problems solved by technology

[0004] The present invention provides an automatic meshing method and device of an end effector, a computer-readable storage medium and electronic equipment, so as to solve the problem that the mechanical gap between the base of an existing surgical robot and the surgical instrument will interfere with the execution of the handle command and the surgical instrument Technical issues that adversely affect consistency between actions

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