Interventional robot from end rotation data calculation method, device, equipment and medium

Abstract

The application relates to the control field of interventional treatment equipment, in particular to a rotation data calculation method for a slave end of an interventional robot, which comprises the following steps: acquiring current motor steps based on operation information of a master end operating lever; adding the current motor steps and residual steps stored in a preset memory to generate total steps; judging whether the total steps are greater than a preset threshold step number; when the total steps are less than the threshold step number, rounding the total steps to generate an integer step number and a decimal step number; sending the integer step number to the slave end and updating the residual steps in the preset memory with the decimal step number. When the current motor steps are not integers, the current motor steps are rounded, the integer part is sent to the slave end, and the decimal step number is reserved to be added to the motor steps to be sent to the slave end next time, so that the decimal step number part of the step number is discarded only in the last step, and thus the overall error can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control of interventional robots, in particular to a rotation data calculation method, device and equipment of a slave end of an interventional robot and a medium. BACKGROUND

[0002] An interventional robot is a medical device for performing interventional surgery, which integrates high-tech means and has comprehensive performance such as surgical image guidance and minimally invasive surgery. The interventional robot combines robot technology and interventional surgery, and can quickly and accurately assist a doctor to complete interventional surgery. In the interventional surgery, the doctor can control the action of the slave end of the interventional robot in the master control room to control the action of the slave end of the interventional robot, so as to introduce a specially designed interventional medical instrument (catheter, guide wire, etc.) into the human body to diagnose and treat the disease in the body.

[0003] In the delivery process of the interventional medical instrument, the interventional medical instrument needs to be continuously rotated; in order to avoid damage to the blood vessel wall, the rotation angle of the interventional medical instrument needs to be strictly controlled; in the interventional surgery, the doctor can obtain the rotation angle of the operating rod of the master end through the rotation encoder arranged on the master end, but there is a deviation between the structure of the operating rod of the master end and the structure of the interventional medical instrument of the slave end, and the rotation angle of the operating rod of the master end cannot be directly mapped to the rotation angle of the interventional medical instrument of the slave end; therefore, a new method is needed to process the rotation angle of the operating rod of the master end and accurately control the rotation of the interventional medical instrument of the slave end. SUMMARY

[0004] The present application provides a rotation data calculation method, device, equipment and medium of a slave end of an interventional robot, which aims to provide a new rotation data calculation method of a slave end of an interventional robot to process the rotation angle of the operating rod of the master end and accurately control the rotation of the interventional medical instrument of the slave end.

[0005] In order to solve the above technical problems, in a first aspect, the present application provides a rotation data calculation method of a slave end of an interventional robot, comprising:

[0006] obtaining a current motor step number based on operation information of an operating rod of a master end;

[0007] adding the current motor step number and a remaining step number stored in a preset storage to generate a total step number;

[0008] judging whether the total step number is greater than a preset threshold step number;

[0009] when the total step number is less than the threshold step number, rounding the total step number to generate an integer step number and a decimal step number;

[0010] sending the integer step number to the slave end and updating the remaining step number in the preset storage with the decimal step number.

[0011] Preferably, the step of judging whether the total number of steps is greater than a preset threshold number of steps further comprises:

[0012] When the total number of steps is greater than or equal to the threshold number of steps, sending the threshold number of steps to the slave end, and updating the remaining number of steps in the preset memory by the difference between the total number of steps and the threshold number of steps.

[0013] Preferably, the step of obtaining the current motor step number based on the operation information of the master end operation lever comprises:

[0014] obtaining the rotation angle of the master end operation lever at the current sampling time to generate a current rotation angle;

[0015] obtaining a rotation coefficient of the operation lever rotation relative to the motor rotation on the slave end;

[0016] multiplying the current rotation angle by the rotation coefficient to obtain the current motor step number.

[0017] Preferably, the step of obtaining the current motor step number based on the operation information of the master end operation lever comprises:

[0018] performing an initialization operation on the master end, wherein the initialization operation comprises resetting the operation lever and clearing the data stored in the preset memory.

[0019] Preferably, the step of obtaining the current motor step number based on the operation information of the master end operation lever comprises:

[0020] analyzing the operation information of the operation lever;

[0021] if the operation information contains a stop instruction, then stopping sending the number of steps to the slave end.

[0022] Preferably, the step of stopping sending the number of steps to the slave end if the operation information contains a stop instruction comprises:

[0023] obtaining the last operation time of the operation lever, and clearing the data stored in the first preset memory and the second preset memory when the last operation time exceeds a preset time interval from the real-time time.

[0024] In a second aspect, the application also provides a rotation data calculation device for a slave end of an interventional robot, comprising:

[0025] a current motor step number obtaining module for obtaining a current motor step number based on the operation information of a master end operation lever;

[0026] An adding step number generating module is configured to add the current motor step number and a remaining step number stored in a preset memory to generate an added step number.

[0027] A judging module is configured to judge whether the added step number is greater than a preset threshold step number.

[0028] A rounding module is configured to round the added step number when the added step number is less than the threshold step number to generate an integer step number and a decimal step number.

[0029] A first processing module is configured to send the integer step number to the slave end and update the remaining step number in the preset memory with the decimal step number.

[0030] Preferably, the device further comprises a second processing module configured to:

[0031] When the added step number is greater than or equal to the threshold step number, the second processing module is configured to send the threshold step number to the slave end and update the remaining step number in the preset memory with a difference between the added step number and the threshold step number.

[0032] In a third aspect, the present application provides a computer device, which comprises a memory and a processor, and the memory stores a computer program, and the processor implements the steps of the rotation data calculation method of the slave end of the interventional robot according to any one of the above aspects when executing the computer program.

[0033] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the rotation data calculation method of the slave end of the interventional robot according to any one of the above aspects.

[0034] The rotation data calculation method of the slave end of the interventional robot provided by the present application comprises the following steps: obtaining a current motor step number based on operation information of a master end operating lever; adding the current motor step number and a remaining step number stored in a preset memory to generate an added step number; judging whether the added step number is greater than a preset threshold step number; rounding the added step number when the added step number is less than the threshold step number to generate an integer step number and a decimal step number; and sending the integer step number to the slave end and updating the remaining step number in the preset memory with the decimal step number. When the current motor step number is not an integer, the current motor step number is rounded, the integer part is sent to the slave end, and the decimal step number is reserved to be added to a motor step number to be sent to the slave end obtained next time. Only the last step will discard the decimal step number part, so that the rotation of the slave end interventional medical instrument can be accurately controlled, the control precision is improved, and the overall error is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 Flowchart of the rotation data calculation method of the slave end of the interventional robot for an embodiment;

[0036] Figure 2 Structure diagram of the rotation data calculation device of the slave end of the interventional robot for an embodiment;

[0037] Figure 3 Structure schematic block diagram of the computer device for an embodiment.

[0038] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0040] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements, units, units and / or components exist, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, units, components and / or their combinations. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intermediate elements. In addition, the "connection" or "coupling" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of the associated listed items.

[0041] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such.

[0042] Reference Figure 1 The rotation data calculation method of the slave end of the interventional robot provided in an embodiment of the present application, comprising:

[0043] S1: obtaining the current motor step number based on the operation information of the master end operating lever;

[0044] S2: adding the current motor step number to the remaining step number stored in the preset memory to generate a total step number;

[0045] S3: judging whether the total step number is greater than a preset threshold step number;

[0046] S4: when the total step number is less than the threshold step number, rounding the total step number to generate an integer step number and a decimal step number;

[0047] S5: sending the integer step number to the slave end and updating the remaining step number in the preset memory with the decimal step number.

[0048] In the present application, when the current motor step number obtained is not an integer step number, the current motor step number is rounded, the integer part is sent to the slave end, and the decimal step number is retained and added to the motor step number obtained next time to be sent to the slave end. Only the decimal part of the step number is discarded in the last step, so the overall error can be minimized.

[0049] In the present embodiment, the interventional robot comprises a master end and a slave end. The master end is composed of an operating rod, an encoder for collecting rotation data of the operating rod, a processor and a controller for calculating and processing the rotation data collected by the encoder, a communication unit for sending processing data (control signal) to the slave end of the interventional robot, and peripheral devices for providing power or support to these components. The slave end of the interventional robot is composed of an interventional medical instrument, a communication unit for receiving the processing data (control signal) sent by the master end of the interventional robot or sending feedback data to the master end of the interventional robot, a feed device (stepping motor) for driving the movement of the interventional medical instrument, and peripheral devices for providing power or support to these components. When the interventional robot starts to work, the encoder on the master end can collect the rotation angle of the operating rod once every preset interval, such as every 10 milliseconds. The rotation angle of the operating rod is multiplied by a preset rotation coefficient to convert into the step number of the stepping motor of the slave end, wherein the step number of the slave end motor = a (a is the angle of one step of the slave end motor) * rotation angle * transmission ratio (rotation coefficient), transmission ratio (rotation coefficient) = (π * secondary gear rotation teeth number * secondary gear modulus * motor teeth number) / (π * interventional medical instrument diameter * primary transmission teeth number). Multiplying the rotation angle of the operating rod of the master end by the coefficient can convert into the step number of the stepping motor of the slave end. The stepping motor of the slave end controls the rotation of the stepping motor according to the step number sent by the master end, and then drives the movement of the interventional medical instrument.

[0050] As described in steps S1-S3 above, the data (rotation angle of the operating lever, etc.) when the physician operates the operating lever is acquired based on the encoder on the master end for monitoring the operating lever, and the operating lever motion data is converted into the motor step number. Since the operating lever of the master end has a speed limit function, the speed limit value is the maximum motor step number for actively controlling the motion of the slave end motor, i.e., the threshold step number (the maximum step number of the stepping motor under the premise of ensuring the safety of the operation), therefore, when the physician operates the operating lever once, the encoder of the master end converts the rotation angle into the current motor step number, and compares the current motor step number with the threshold step number. If the current operation is the first operation after the interventional robot is started, the remaining step number stored in the preset memory is zero, and the current motor step number obtained is directly compared with the threshold step number. If the current operation is the Nth operation after the interventional robot is started, N is greater than 1, the current motor step number obtained is added to the remaining step number stored in the preset memory after the last sending to obtain the total step number.

[0051] As described in steps S4-S5 above, when the total step number is less than the threshold step number, since the stepping motor can only move in integer steps, and the rotation angle is converted into the motor step number, a decimal step number is inevitably generated, therefore, the master end performs an integer operation on the total step number each time, truncates the integer part and the decimal part of the total step number to generate an integer step number and a decimal step number, then directly sends the integer step number in the total step number to the slave end, and updates and saves the decimal step number as the remaining step number in the preset memory.

[0052] It can be understood that, since the blood vessel environment of each patient, such as the size of the blood vessel, the thickness and toughness of the blood vessel wall, is different, the threshold step number can be set by the physician according to the blood vessel environment of the patient during the interventional operation;

[0053] Therefore, each time the current motor step number is sampled, the processor first adds the current motor step number to the remaining step number stored in the preset memory at the last sampling to obtain the total step number, and then judges the size of the total step number and the threshold step number. When the total step number is less than the threshold step number, the total step number is truncated, the integer part is sent to the slave end, and the decimal step number is reserved and added to the motor step number obtained next time to be sent to the slave end. Only the last step loses the decimal step number part, therefore, the overall error can be minimized.

[0054] In one embodiment, after the step of judging whether the total step number is greater than the preset threshold step number, the method further comprises:

[0055] When the accumulated step number is greater than or equal to the threshold step number, the threshold step number is sent to the slave end, and the difference between the accumulated step number and the threshold step number is used to update the remaining step number in the preset memory.

[0056] As described above, if the accumulated step number is greater than or equal to the threshold step number, the threshold step number is sent to the slave end, and the step motor of the slave end moves according to the threshold step number. At the same time, the remaining step number in the preset memory is updated by subtracting the threshold step number from the accumulated step number. Therefore, the remaining step number after each time the step number is sent to the slave end, whether it is only the decimal part or the part exceeding the threshold step number, is stored as the new remaining step number in the preset memory by the processor, so that the motor step number obtained by sampling next time is superimposed on the remaining step number for comparison, without causing data loss. At the same time, it can also ensure that each operation of the motor is within the threshold step number of the step motor, and the safety of the operation can be ensured.

[0057] In one embodiment, the step of obtaining the current motor step number based on the operation information of the master end operating rod comprises:

[0058] obtaining the rotation angle of the master end operating rod at the current sampling time to generate a current rotation angle;

[0059] obtaining a rotation coefficient of the operating rod rotation relative to the motor rotation on the slave end;

[0060] multiplying the current rotation angle by the rotation coefficient to obtain the current motor step number.

[0061] As described above, the encoder of the master end collects the operation information of the operating rod after the doctor operates the operating rod once. The operation information refers to the rotation angle of the operating rod. Based on the rotation angle each time, the corresponding motor step number is converted. When the interventional robot works, the encoder on the master end collects the rotation angle of the operating rod, and converts the collected rotation angle into the step number of the step motor of the slave end by using the rotation coefficient of the operating rod rotation relative to the motor rotation on the slave end. The step number of the slave end motor = a (a is the angle of one step of the slave end motor) * rotation angle * transmission ratio (rotation coefficient), transmission ratio (rotation coefficient) = (π * secondary gear rotation teeth * secondary gear modulus * motor teeth) / (π * interventional medical instrument diameter * primary transmission teeth). Multiplying the rotation angle of the master end operating rod by the coefficient can convert the step number of the step motor of the slave end. The step motor of the slave end is controlled to rotate according to the step number sent by the master end, and then drives the interventional medical instrument to move. The doctor can control the movement step number of the slave end motor by controlling the rotation angle of the operating rod, and realize remote control.

[0062] In one embodiment, the step of obtaining the current motor step number based on the operation information of the master operation lever is preceded by:

[0063] performing an initialization operation on the master, wherein the initialization operation comprises resetting the operation lever and clearing the data stored in the preset memory.

[0064] As described above, the processor performs an initialization operation on the master before each surgery or at the first time after the machine is started, which comprises resetting the operation lever and clearing the data stored in the preset memory, so as to prevent inaccurate data collection due to the operation lever not being reset or the preset memory still storing data left from the last surgery, and to avoid misuse.

[0065] In one embodiment, the step of obtaining the current motor step number based on the operation information of the master operation lever is followed by:

[0066] analyzing the operation information of the operation lever;

[0067] if the operation information contains a stop instruction, then stop sending the step number to the slave.

[0068] As described above, in the sampling process, the inductive sensor arranged on the operation lever also continuously collects the operation information of the operation lever, which can specifically be whether there is operation or stop operation, such as whether the doctor's hand is always holding the operation lever, etc. If the hand is not released, the step number (including the integer step number and / or the threshold step number) will be continuously sent to the slave until completion, and if the hand is released in advance, the remaining step number will not be sent and the process will be directly exited, so as to realize the following of the slave by the master and ensure the response of the slave.

[0069] In one embodiment, the step of stopping sending the step number to the slave if the operation information contains a stop instruction is followed by:

[0070] obtaining the last operation time of the operation lever, and clearing the data stored in the preset memory when the last operation time exceeds a preset time interval from the real-time.

[0071] As described above, if the operation information contains a stop instruction, i.e. the doctor does not operate, therefore, the master calculates the last operation time of the doctor, such as within 1 hour after the last operation, the doctor does not operate the operation lever again, which indicates that the surgery may have been completed, therefore, the master clears the data stored in the preset memory during the surgery, so as to prepare for the next surgery.

[0072] Reference Figure 2 In a second aspect, the application further provides a rotation data calculation device of an interventional robot slave, comprising:

[0073] The current motor step acquisition module 100 is configured to acquire a current motor step based on operation information of a master end operating lever.

[0074] The total step generation module 200 is configured to add the current motor step and a remaining step stored in a preset memory to generate a total step.

[0075] The judgment module 300 is configured to judge whether the total step is greater than a preset threshold step.

[0076] The rounding module 400 is configured to round the total step when the total step is less than the threshold step to generate an integer step and a decimal step.

[0077] The first processing module 500 is configured to send the integer step to the slave end and update the remaining step in the preset memory with the decimal step.

[0078] The rotation data calculation device of the slave end of the intervention robot comprises a current motor step acquisition module 100 configured to acquire a current motor step based on operation information of a master end operating lever; a total step generation module 200 configured to add the current motor step and a remaining step stored in a preset memory to generate a total step; a judgment module 300 configured to judge whether the total step is greater than a preset threshold step; a rounding module 400 configured to round the total step when the total step is less than the threshold step to generate an integer step and a decimal step; and a first processing module 500 configured to send the integer step to the slave end and update the remaining step in the preset memory with the decimal step. Each time a current motor step is obtained by sampling, the processor first adds the current motor step and a remaining step stored in a preset memory at a previous sampling time, judges the size of the total step and the threshold step after the total step is obtained, and rounds the total step when the total step is less than the threshold step. The integer part is sent to the slave end, and the decimal step is reserved to be added to a motor step to be sent to the slave end obtained next time. Only the decimal step part of the step is discarded in the last step. Therefore, the overall error can be minimized.

[0079] In an embodiment, the rotation data calculation device of the slave end of the intervention robot further comprises a second processing module configured to:

[0080] When the total step is greater than or equal to the threshold step, the threshold step is sent to the slave end, and a difference between the total step and the threshold step is used to update the remaining step in the preset memory.

[0081] In one embodiment, the current motor step obtaining unit further comprises:

[0082] a rotation angle obtaining subunit, configured to obtain a rotation angle of the master end operating lever at a current sampling time, and generate a current rotation angle;

[0083] a rotation coefficient obtaining subunit, configured to obtain a rotation coefficient of the operating lever relative to the motor at the slave end when the operating lever rotates;

[0084] a current motor step obtaining subunit, configured to multiply the current rotation angle by the rotation coefficient to obtain a current motor step

[0085] In one embodiment, the device further comprises an initialization module, configured to:

[0086] perform an initialization operation on the master end, wherein the initialization operation comprises resetting the operating lever and clearing data stored in the preset memory.

[0087] In one embodiment, the rotation data calculation device of the slave end of the interventional robot further comprises an analysis module, configured to:

[0088] analyze operating information of the operating lever;

[0089] if the operating information contains a stop instruction, stop sending steps to the slave end.

[0090] In one embodiment, the rotation data calculation device of the slave end of the interventional robot further comprises a clearing unit, configured to:

[0091] obtain a last operating time of the operating lever, and clear data stored in the preset memory when the last operating time exceeds a preset time interval from a real time.

[0092] Referring to Figure 3 In the embodiments of the present application, a computer device is also provided, which can be a server, and the internal structure of the computer device can be as shown in Figure 3The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store rotation data calculation data and the like of the slave end of the interventional robot. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement an interventional robot slave end rotation data calculation method.

[0093] Those skilled in the art can understand that, Figure 3 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied.

[0094] The computer program is executed by the processor to implement an interventional robot slave end rotation data calculation method. It can be understood that the computer readable storage medium in the embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0095] In summary, the interventional robot slave end rotation data calculation method, device, equipment and medium of the present application can ensure that each operation of the motor is within the threshold number of steps of the stepping motor, can ensure the safety of the operation, and the decimal step part left after the previous calculation will be added to the motor step calculated by the rotation angle collected next time. Only the last step will lose the decimal step part, so the overall error can be reduced.

[0096] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database, or other medium provided by the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0097] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, device, article, or method that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed, or inherent to such process, device, article, or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, device, article, or method that includes the element.

[0098] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. An intervention robot slave end rotation data calculation method characterized by, The method comprises the following steps: acquiring the current motor steps based on the operation information of the master end operating lever; adding the current motor steps and the remaining steps stored in the preset storage to generate the total steps; judging whether the total steps are greater than the preset threshold steps; when the total steps are less than the threshold steps, rounding the total steps to generate the integer steps and the decimal steps; sending the integer steps to the slave end and updating the remaining steps in the preset storage with the decimal steps; when the total steps are greater than or equal to the threshold steps, sending the threshold steps to the slave end and updating the remaining steps in the preset storage with the difference between the total steps and the threshold steps.

2. The method of claim 1, wherein: The step of acquiring the current motor steps based on the operation information of the master end operating lever comprises the following steps: acquiring the current rotation angle of the master end operating lever to generate the current rotation angle; acquiring the rotation coefficient of the operating lever relative to the motor rotation on the slave end; multiplying the current rotation angle by the rotation coefficient to obtain the current motor steps.

3. The method of claim 1, wherein: Before the step of acquiring the current motor steps based on the operation information of the master end operating lever, the method comprises the following steps: performing the initialization operation on the master end, wherein the initialization operation comprises resetting the operating lever and clearing the data stored in the preset storage.

4. The method of claim 1, wherein: After the step of acquiring the current motor steps based on the operation information of the master end operating lever, the method comprises the following steps: analyzing the operation information of the operating lever; when the operation information contains the stop instruction, stopping sending the steps to the slave end.

5. The method of claim 4, wherein: After the step of stopping sending the steps to the slave end when the operation information contains the stop instruction, the method comprises the following steps: acquiring the last operation time of the operating lever, and clearing the data stored in the preset storage when the last operation time exceeds the preset time interval from the real-time time.

6. An interventional robot slave end rotating data computing device, characterized by, The method comprises the following steps: a current motor step acquisition module for acquiring the current motor steps based on the operation information of the master end operating lever; a total step generation module for adding the current motor steps and the remaining steps stored in the preset storage to generate the total steps; a judgment module for judging whether the total steps are greater than the preset threshold steps; a rounding module for rounding the total steps to generate the integer steps and the decimal steps when the total steps are less than the threshold steps; a first processing module for sending the integer steps to the slave end and updating the remaining steps in the preset storage with the decimal steps; a second processing module for sending the threshold steps to the slave end and updating the remaining steps in the preset storage with the difference between the total steps and the threshold steps when the total steps are greater than or equal to the threshold steps.

7. A computer device, comprising: The method comprises the following steps: a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the steps of the rotation data calculation method of the slave end of the interventional robot in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program product comprising a computer readable medium having stored thereon computer program, the computer program comprising instructions executable by a processor to cause the processor to perform the steps of the method of claim 1 to 5. A computer program product comprising a computer readable medium having stored thereon computer program, the computer program comprising instructions executable by a processor to cause the processor to perform the steps of the method of claim 1 to 5.

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