A linkage control system and method for an interventional robot and a storage medium

Abstract

The embodiment of the application belongs to the field of medical devices, and relates to a linkage control system of an interventional robot, which comprises a master device, a slave device and a processor. The master device comprises a first operation end and a second operation end. The slave device comprises a first movement mechanism and a second movement mechanism. The first operation end, the second operation end, the first movement mechanism and the second movement mechanism are all connected with the processor. The processor is used for receiving operation data, wherein the operation data is generated by the first operation end or the second operation end; and judging whether the operation data satisfies a linkage condition. If the operation data satisfies the linkage condition, the first movement mechanism and the second movement mechanism are controlled to move synchronously based on the operation data. The application also provides a linkage control method of an interventional robot and a storage medium. The application effectively guarantees the accuracy of synchronous movement control of the first movement mechanism and the second movement mechanism, and reduces the operation difficulty.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a linkage control system, method and storage medium for an interventional robot. Background Technology

[0002] Currently, interventional robots include master-end devices and slave-end devices. The master-end device has multiple built-in operating terminals, and the slave-end device has a corresponding motion mechanism for each operating terminal. If multiple motion mechanisms need to move synchronously, the operator needs to control multiple operating terminals at the same time. This can easily lead to operator fatigue after long-term control operations, resulting in reduced overall control efficiency. Furthermore, due to human factors, it is difficult to achieve synchronous movement of each motion mechanism, resulting in low motion control accuracy. Summary of the Invention

[0003] The purpose of this application is to propose a linkage control system, method, and storage medium for intervention robots, so as to solve the problems of complex motion control steps and low motion control accuracy in the prior art of slave devices.

[0004] To address the aforementioned technical problems, this application provides a linkage control system for an interventional robot, employing the following technical solution:

[0005] Includes master device, slave device, and processor;

[0006] The master device includes a first operating terminal and a second operating terminal; the slave device includes a first motion mechanism and a second motion mechanism; the first operating terminal, the second operating terminal, the first motion mechanism, and the second motion mechanism are all connected to the processor;

[0007] The processor is used to receive operation data, wherein the operation data is generated by a first operation terminal or a second operation terminal; and to determine whether the operation data meets the linkage condition. If the operation data meets the linkage condition, the processor controls the first motion mechanism and the second motion mechanism to move synchronously based on the operation data.

[0008] Furthermore, before the processor receives operation data, the processor is also used to receive a linkage control mode instruction, and based on the linkage control mode instruction, determine one of the first operation terminal and the second operation terminal as the target operation terminal.

[0009] Furthermore, the processor is also configured to control the second motion mechanism to perform a rubbing motion based on the operation data if the operation data does not meet the linkage conditions.

[0010] Furthermore, the operation data includes displacement values, or displacement values ​​and rotation values; the linkage condition is that the operation data includes displacement values.

[0011] The processor is further configured to, if the operation data includes a displacement value, control the first motion mechanism and the second motion mechanism to move synchronously based on the displacement value; if the operation data includes a displacement value and a rotation value, control the first motion mechanism and the second motion mechanism to move synchronously based on the displacement value, and simultaneously control the second motion mechanism to perform a rubbing motion based on the rotation value.

[0012] To address the aforementioned technical problems, this application also provides a linkage control method for an interventional robot, employing the following technical solution:

[0013] Receive operation data, wherein the operation data is generated by a first operation terminal or a second operation terminal;

[0014] Determine whether the operation data meets the linkage conditions;

[0015] If the operation data satisfies the linkage condition, the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the operation data.

[0016] Furthermore, prior to the step of receiving operation data, the procedure also includes:

[0017] Receive a linkage control mode instruction, and determine one of the first operation terminal and the second operation terminal as the target operation terminal based on the linkage control mode instruction.

[0018] Following the step of receiving operation data, the method further includes:

[0019] Receive and determine whether the operation data was generated by the target operation terminal;

[0020] If the operation data is generated by the target operation terminal, the operation data is determined to be a valid operation, and the step of determining whether the operation data meets the linkage conditions is executed.

[0021] If the operation data is not generated by the target operation terminal, the operation data is determined to be invalid, and operation data is received again.

[0022] Furthermore, after the step of determining whether the operation data meets the linkage conditions, the method further includes:

[0023] If the operation data does not meet the linkage condition, the second motion mechanism is controlled to perform a rubbing motion based on the operation data.

[0024] Furthermore, the operation data includes displacement values, or displacement values ​​and rotation values; the linkage condition is that the operation data includes displacement values; the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data if the operation data satisfies the linkage condition includes:

[0025] If the operation data includes displacement values, then the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the displacement values;

[0026] If the operation data includes displacement and rotation values, then the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the displacement value, and the second motion mechanism is controlled to perform a rubbing motion based on the rotation value.

[0027] Furthermore, the operation data includes displacement values; the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data includes:

[0028] Obtain the stroke mapping relationship between the first motion mechanism and the second motion mechanism;

[0029] Based on the aforementioned travel mapping relationship, the displacement value is converted into a displacement synchronization value;

[0030] The first motion mechanism is controlled to move according to the displacement value, and the second motion mechanism is controlled to move according to the displacement synchronization value.

[0031] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below:

[0032] The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the linkage control method for the interventional robot as described above.

[0033] Compared with the prior art, the embodiments of this application have the following advantages: by receiving operation data, wherein the operation data is generated by a first operation terminal or a second operation terminal; determining whether the operation data meets the linkage condition; if the operation data meets the linkage condition, controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data. In this application, the first motion mechanism and the second motion mechanism both correspond to the first operation terminal or the second operation terminal. After the received operation data from the first operation terminal or the second operation terminal meets the linkage condition, the synchronous movement of the first motion mechanism and the second motion mechanism is controlled based on the operation data, ensuring the accuracy of the synchronous movement control of the first motion mechanism and the second motion mechanism, avoiding the phenomenon that the operation data of the first operation terminal and the operation data of the second operation terminal deviate due to the influence of human factors, resulting in different positions of the first motion mechanism and the second motion mechanism after movement. At the same time, during the operation, the operator can realize the motion control of the first motion mechanism and the second motion mechanism with one hand, reducing the difficulty of operation. Attached Figure Description

[0034] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of a structure of an embodiment of the linkage control system for the interventional robot according to this application;

[0036] Figure 2 This is a flowchart of one embodiment of the linkage control method for interventional robots according to this application.

[0037] Figure label:

[0038] 110. Processor; 120. First operating terminal; 130. Second operating terminal; 140. First motion mechanism; 150. Second motion mechanism. Detailed Implementation

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0042] This invention provides a linkage control method for interventional robots, which is applied to the linkage control system of interventional robots.

[0043] See Figure 1 The aforementioned linkage control system for the interventional robot includes a master device, a slave device, and a processor 110.

[0044] The aforementioned master device serves as the operator's control terminal. Specifically, the master device includes a first operating terminal 120 and a second operating terminal 130. The first operating terminal 120 includes a first encoder and a first joystick. The first encoder is connected to the first joystick and is also connected to the processor 110, used to send the collected joystick operation data (such as linear motion data and / or rotational motion data) to the processor 110 for processing. The second operating terminal 130 includes a second encoder and a second joystick. The second encoder is connected to the second joystick and is also connected to the processor 110, used to send the collected joystick operation data (such as linear motion data and / or rotational motion data) to the processor 110 for processing.

[0045] Furthermore, the first operation terminal 120 and / or the second operation terminal 130 can be virtual buttons. The main terminal device also includes a virtual terminal (such as a tablet or display with a built-in virtual operating system) connected to the processor 110. The virtual buttons are built into the virtual operating system. In practical applications, after the operator generates corresponding operation data (such as linear motion data and / or rotational motion data) by controlling the virtual buttons, the virtual terminal sends the operation data to the processor 110 for processing.

[0046] The aforementioned slave device is the execution end, used to execute corresponding motion actions based on the operation data of the operator on the master device, to control the delivery, retraction, or rotation of the catheter and / or guidewire, enabling doctors to remotely operate the slave device to perform surgery and avoid radiation exposure. Specifically, the slave device includes a slide rail, and a first motion mechanism 140 and a second motion mechanism 150 slidably connected to the slide rail. The first motion mechanism 140 includes a first sliding platform and a first sliding rotation platform slidably connected to the slide rail. The first sliding platform and the first sliding rotation platform cooperate to clamp a first slender medical device (such as a catheter), and the first sliding platform is connected to the processor 110 through a control circuit so that the processor 110 controls the first sliding platform and the first sliding rotation platform to slide on the slide rail when it receives operation data, thereby realizing the forward delivery or backward retraction of the first slender medical device.

[0047] The second motion mechanism 150 includes a second rotary delivery platform slidably connected to a slide rail. The second rotary delivery platform is used to clamp, deliver, and rotate a second elongated medical device (such as a guidewire), and is connected to the processor 110. In practical applications, the processor 110 controls the second rotary delivery platform to slide on the slide rail, enabling forward delivery or backward retraction of the second elongated medical device; and / or, the processor 110 controls the rotary platform to rotate, thereby enabling the second elongated medical device mounted on the rotary platform to rotate and perform a rubbing motion. In this embodiment, a first sliding rotary platform is located between the first sliding platform and the second rotary delivery platform.

[0048] It should be noted that, in this application, in order to achieve synchronous movement of the first motion mechanism 140 and the second motion mechanism 150, the first motion mechanism 140 and the second motion mechanism 150 are respectively corresponding to the first operation terminal 120 or the second operation terminal 130. That is, when the operation data of the first operation terminal 120 or the operation data of the second operation terminal 130 are received, and when the operation data meets the linkage condition, the processor 110 controls the first motion mechanism 140 and the second motion mechanism 150 to move synchronously (synchronous movement is forward movement or backward movement).

[0049] The processor 110 described above is used to execute the linkage control method for the interventional robot described below. Specifically, in some embodiments, the processor 110 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. In this embodiment, the processor 110 is used to run program code stored in memory or process data, for example, to run the program code for the linkage control method for the interventional robot described below.

[0050] It should be noted that the aforementioned memory is built into the linkage control system of the interventional robot. This memory includes at least one type of readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory can be an internal storage unit of a computer device, such as the hard disk or RAM of the computer device. In other embodiments, the memory can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Of course, the memory can also include both internal and external storage units of the computer device. In this embodiment, the memory is typically used to store the operating system and various application software installed on the computer device, such as the program code for the linkage control method of the interventional robot. In addition, the memory can also be used to temporarily store various types of data that have been output or will be output.

[0051] The aforementioned computer equipment can be desktop computers, laptops, handheld computers, cloud servers, and other computing devices. These computer devices can interact with users via keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0052] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, interventional robot, or network device, etc.) to execute the methods described in the various embodiments of this application below.

[0053] See Figure 2 This embodiment provides a linkage control method for an interventional robot, including the following steps executed by a processor:

[0054] Step S201: Receive operation data, wherein the operation data is generated by the first operation terminal or the second operation terminal.

[0055] Specifically, the operational data includes displacement values, or displacement values ​​and rotation values.

[0056] Taking the sending of operation data by the first operating terminal as an example, as mentioned above, if the first operating terminal includes a first operating lever and a first encoder, the displacement generated when the first operating lever moves linearly is collected by the first encoder to generate a displacement value, and the rotation generated when the first operating lever moves rotationally is collected by the first encoder to generate a rotation value.

[0057] In addition, the first operating lever can also be a virtual button, which includes a displacement button and a rotation button. The displacement value is determined based on the duration of continuous pressing of the displacement button and the mapping relationship between the pressing duration and the displacement amount (the mapping relationship can be obtained through prior experiments), and the rotation value is determined based on the rotation angle of the rotation button.

[0058] If the received data is the operation data from the second operation terminal, the method for generating the displacement and rotation values ​​in the operation data from the second operation terminal is the same as when the received data is the operation data from the first operation terminal, and will not be elaborated further here.

[0059] Step S202: Determine whether the operation data meets the linkage conditions.

[0060] Specifically, the aforementioned linkage condition is that the operation data includes displacement values.

[0061] In the operation data generated by the first / second operation terminal, each value carries an identifier. After receiving the operation data, the processor analyzes the operation data and compares the identifiers carried by each value with the displacement setting identifier. If the identifiers carried by the values ​​in the operation data are the same as the displacement setting identifier, the value is determined to be a displacement value, satisfying the linkage condition. Otherwise, if the identifiers carried by the values ​​in the operation data are different from the displacement setting identifier, the value is determined to be a rotation value, not satisfying the linkage condition.

[0062] Preferably, the above-mentioned identifier can be in units, typically the unit of displacement value is centimeters (cm) and the unit of rotation value is degrees (°). Accordingly, the above-mentioned displacement setting identifier has the same unit as the displacement value; thus, in practical applications, whether the operation data includes displacement value can be determined by comparing the units.

[0063] In addition, the units for the above displacement values ​​can also be millimeters (mm), meters (m), etc., without specific limitations here.

[0064] Step S203: If the operation data satisfies the linkage condition, control the first motion mechanism and the second motion mechanism to move synchronously based on the operation data.

[0065] Specifically, when the operation data meets the linkage condition (i.e., when the operation data includes displacement values), the processor converts the displacement values ​​in the operation data into displacement motion commands (including displacement direction and displacement stroke), and synchronously sends the displacement motion commands to the first motion mechanism and the second motion mechanism to control the first motion mechanism and the second motion mechanism to move synchronously.

[0066] Furthermore, synchronous motion is characterized as the synchronous forward motion or synchronous backward motion of the first motion mechanism and the second motion mechanism; after the operation data meets the linkage conditions, the processor analyzes the displacement value through the kinematic model to determine the displacement direction and displacement stroke; if the displacement value is positive, the first motion mechanism is determined to be in the forward displacement direction, and if the displacement value is negative, the second motion mechanism is determined to be in the backward displacement direction.

[0067] Step S204: If the operation data does not meet the linkage condition, control the second motion mechanism to perform a rubbing motion based on the operation data.

[0068] Specifically, the linkage condition is that the operation data includes displacement values.

[0069] When the first / second operating end generates operation data, the operation data includes displacement and / or rotation values. If the operation data does not meet the linkage condition, i.e., the operation data does not include displacement values ​​but only rotation values, the processor converts the rotation values ​​in the operation data into rotation motion commands (including rotation direction and rotation angle). Based on the rotation motion commands, the processor controls the second motion mechanism to perform a rubbing motion, causing the second slender medical device mounted on the second motion mechanism to rotate. The linkage control system of the interventional robot provided in this embodiment allows the doctor to control the movement of the first and / or second slender medical devices through a target operating end to perform surgery, reducing the difficulty of operation while alleviating the doctor's burden and protecting the doctor.

[0070] In addition, the linkage control system of the interventional robot provided in this embodiment can also be equipped with a switching switch. By pressing the switching switch, the doctor can switch the first operating end or the second operating end as the target operating end. At this time, the doctor's hand can be used to operate the target operating end, which is more humane.

[0071] It should be noted that if the operation data does not meet the linkage conditions, the first motion mechanism will not operate.

[0072] The embodiments of this application have the following main advantages: In this application, the first motion mechanism and the second motion mechanism are both corresponding to the first operating end or the second operating end. After the operation data received from the first operating end or the second operating end meets the linkage conditions, the synchronous movement of the first motion mechanism and the second motion mechanism is controlled based on the operation data, ensuring the accuracy of the synchronous movement control of the first motion mechanism and the second motion mechanism, avoiding the phenomenon that the operation data of the first operating end and the operation data of the second operating end deviate due to the influence of human factors, resulting in different positions of the first motion mechanism and the second motion mechanism after movement. At the same time, during the operation, the operator can realize the motion control of the first motion mechanism and the second motion mechanism with one hand, reducing the difficulty of operation.

[0073] In some optional implementations of this embodiment, step S201, before the step of receiving operation data, further includes:

[0074] Receive a linkage control mode instruction, and determine one of the first operation terminal and the second operation terminal as the target operation terminal based on the linkage control mode instruction.

[0075] Specifically, the first and second operating terminals are initially controlled separately, meaning the operating data of the first operating terminal corresponds to the first motion mechanism, and the operating data of the second operating terminal corresponds to the second motion mechanism. After receiving the linkage control mode command, the operator can select one of the first and second operating terminals as the target operating terminal, or switch the first or second operating terminal to the target operating terminal according to factory settings or system presets. After the target operating terminal is set, the operating data generated by the other operating terminal in actual application will not be received, or the operating data of the other operating terminal will not be processed further after receiving it. If the target operating terminal is set to the first operating terminal, the processor will only process the operating data generated by the first operating terminal and will not receive or process the operating data generated by the second operating terminal.

[0076] Furthermore, step S201 above, after the step of receiving operation data, further includes:

[0077] Receive and determine whether the operation data was generated by the target operation terminal;

[0078] If the operation data is generated by the target operation terminal, the operation data is determined to be a valid operation, and the step of determining whether the operation data meets the linkage conditions is executed.

[0079] If the operation data is not generated by the target operation terminal, the operation data is determined to be invalid, and operation data is received again.

[0080] Specifically, initially, the operator or the factory can set a first operating terminal or a second operating terminal as the target operating terminal, wherein the attributes of the target operating terminal correspond to the attributes of the set operating terminal. For example, when the first operating terminal is set as the target operating terminal, the attributes of the first operating terminal and the target operating terminal are the same.

[0081] After receiving the operation data, the attributes are extracted from the operation data and compared with the attributes of the target operation terminal. If the attributes of the operation data are the same as those of the target operation terminal, it is determined that the operation data was generated by the target operation terminal and the operation data is a valid operation, and step S202 is executed. Otherwise, if the attributes of the operation data are different from those of the target operation terminal, it is determined that the operation data was not generated by the target operation terminal, the operation data is an invalid operation, and step S201 is executed again.

[0082] It should be noted that initially, the attributes of the first operation terminal and the second operation terminal are marked respectively. When the first operation terminal / second operation terminal sends operation data, the operation data carries attributes, and the attributes of the first operation terminal and the second operation terminal are different. For example, the attribute marked by the first operation terminal is 1 and the attribute marked by the second operation terminal is 2. After the first operation terminal (or the second operation terminal) is set as the target operation terminal, the attributes of the first operation terminal (or the second operation terminal) are the same as the attributes of the target operation terminal.

[0083] In some optional implementations of this embodiment, the operation data includes displacement values, or displacement values ​​and rotation values; the linkage condition is that the operation data includes displacement values; in step S203 above, the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data if the operation data satisfies the linkage condition includes:

[0084] If the operation data includes displacement values, then the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the displacement values;

[0085] If the operation data includes displacement and rotation values, then the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the displacement value, and the second motion mechanism is controlled to perform a rubbing motion based on the rotation value.

[0086] Specifically, as described above, both displacement and rotation values ​​carry identifiers. The type of value (rotation or displacement) in the operation data is determined by comparing the identifiers of each value with the displacement setting identifier. If the identifiers of the values ​​in the operation data are the same as the displacement setting identifier, then the operation data includes a displacement value; if the identifiers are different, then the operation data includes a rotation value. Then, based on the different value types (rotation or displacement), the first and second motion mechanisms, or the second motion mechanism alone, are controlled to move, effectively ensuring control accuracy. In other words, this embodiment utilizes a single target control lever to achieve multiple control methods, reducing the doctor's workload and operational difficulty while enabling precise control of slender medical devices. In the first control method, when the operation data includes a displacement value, both the first and second motion mechanisms are moved simultaneously, while the first and second slender medical devices are simultaneously delivered or retracted. The second control method involves using displacement and rotation values ​​in the operational data. Based on the displacement value, both the first and second motion mechanisms are simultaneously moved, delivering or retracting the first and second elongated medical devices. Simultaneously, based on the rotation value, the second motion mechanism is rotated, thus rotating the second elongated medical device. In this case, the first elongated medical device is a catheter, and the second elongated medical device is a guidewire. The third control method involves using rotation values ​​in the operational data. Based on these rotation values, the second motion mechanism is rotated, thus rotating the second elongated medical device.

[0087] In some optional implementations of this embodiment, step S203, before the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data, further includes:

[0088] Extract displacement values ​​from the operational data and determine whether the displacement values ​​are greater than the rated values;

[0089] If the displacement value is greater than the rated value, the rated value is used as the displacement value and then the displacement value is output.

[0090] If the displacement value is less than or equal to the rated value, the displacement value is output.

[0091] Specifically, the aforementioned rated values ​​can be calculated based on the current position of the first motion mechanism / second motion mechanism and the maximum travel of the first motion mechanism / second motion mechanism.

[0092] Before each comparison of displacement and rated value, the rated value must be calculated first. Specifically, this involves obtaining the current displacement value corresponding to the current position of the first / second motion mechanism, as well as the maximum displacement value of the first / second motion mechanism. The displacement difference is then calculated based on the current and maximum displacement values, and this difference is used as the rated value. This method of calculating the rated value in real time effectively avoids excessive movement of the first / second motion mechanism.

[0093] In addition, the above-mentioned rated values ​​can also be standard values, which are the maximum displacement values ​​of the first motion mechanism / second motion mechanism. The displacement values ​​are compared with the standard values ​​to avoid excessive movement of the first motion mechanism / second motion mechanism.

[0094] In some optional implementations of this embodiment, in step S203, the operation data includes displacement values; the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data includes:

[0095] Obtain the stroke mapping relationship between the first motion mechanism and the second motion mechanism;

[0096] Based on the aforementioned travel mapping relationship, the displacement value is converted into a displacement synchronization value;

[0097] The first motion mechanism is controlled to move according to the displacement value, and the second motion mechanism is controlled to move according to the displacement synchronization value.

[0098] Specifically, to adapt to different usage scenarios, the displacements of the synchronous movements of the first and second motion mechanisms can be the same or different. For example, both the first and second motion mechanisms can move by 1 cm, or the first motion mechanism can move by 1 cm and the second motion mechanism can move by 2 cm.

[0099] Initially, a stroke mapping relationship is established between the first motion mechanism and the second motion mechanism. This stroke mapping relationship can be constructed based on the maximum displacement stroke of the first motion mechanism and the maximum displacement stroke of the second motion mechanism, or it can be preset by the operator based on the actual usage.

[0100] In practical applications, after receiving the operation data, the displacement value in the operation data is converted according to the stroke mapping relationship to obtain the displacement synchronization value. The displacement value and the displacement synchronization value can be the same or different to meet different usage requirements.

[0101] In some optional implementations of this embodiment, step S203 above, where the operation data includes displacement values; and after the step of controlling the first motion mechanism and the second motion mechanism to move synchronously based on the operation data when the operation data satisfies the linkage condition, the method further includes:

[0102] Obtain the first actual displacement value of the first motion mechanism and the second actual displacement value of the second motion mechanism;

[0103] Determine whether the first actual displacement value and the second actual displacement value are equal to the displacement value;

[0104] If both the first actual displacement value and the second actual displacement value are equal to the displacement value, it is determined that both the first motion mechanism and the second motion mechanism have reached the target position.

[0105] If the first actual displacement value is not equal to the displacement value, it is determined that the first motion mechanism has not reached the target position. The first displacement deviation value between the first actual displacement value and the displacement value is calculated, and the first motion mechanism is controlled to move according to the first displacement deviation value.

[0106] If the second actual displacement value is not equal to the displacement value, it is determined that the second motion mechanism has not reached the target position. The second displacement deviation value between the second actual displacement value and the displacement value is calculated, and the second motion mechanism is controlled to move according to the second displacement deviation value.

[0107] Specifically, before the first motion mechanism and the second motion mechanism move synchronously, the first initial displacement value corresponding to the current position of the first motion mechanism and the second initial displacement value corresponding to the current position of the second motion mechanism are obtained; after the first motion mechanism and the second motion mechanism move synchronously, the first end displacement value corresponding to the movement position of the first motion mechanism after movement and the second end displacement value corresponding to the movement position of the second motion mechanism after movement are obtained.

[0108] The first actual displacement value is determined by the difference between the first initial displacement value and the first final displacement value, and the second actual displacement value is determined by the difference between the second initial displacement value and the second final displacement value.

[0109] If both the first actual displacement value and the second actual displacement value are equal to the displacement value, it indicates that the first motion mechanism and the second motion mechanism have moved to the target position. Then, step S201 can be executed to continue the acquisition of the next operation data.

[0110] If both the first actual displacement value and the second actual displacement value are not equal to the displacement value, it indicates that the first motion mechanism and the second motion mechanism have not moved to the target position. Compensation is required for the first motion mechanism and the second motion mechanism. Specifically, the first displacement deviation value and the second displacement deviation value are calculated from the first actual displacement value and the second actual displacement value. The first position difference value and the second position difference value are used to compensate and control the first motion mechanism and the second motion mechanism to move, so as to ensure the accuracy of the movement position of the first motion mechanism and the second motion mechanism.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0112] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0113] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A linkage control system for an interventional robot, characterized in that, Includes master device, slave device, and processor; The master device includes a first operating terminal and a second operating terminal; the slave device includes a first motion mechanism and a second motion mechanism; the first operating terminal, the second operating terminal, the first motion mechanism, and the second motion mechanism are all connected to the processor; Before the processor receives operation data, the processor is also used to receive a linkage control mode instruction, and based on the linkage control mode instruction, determine one of the first operation terminal and the second operation terminal as the target operation terminal. The processor is used to receive operation data, wherein the operation data is generated by a first operation terminal or a second operation terminal; wherein the operation data includes displacement values ​​or rotation values; and to determine whether the operation data satisfies a linkage condition, wherein the linkage condition is that the operation data includes displacement values. If the operation data satisfies the linkage condition, the first motion mechanism and the second motion mechanism are controlled to move synchronously based on the displacement value in the operation data. If the operation data does not meet the linkage condition, the second motion mechanism is controlled to perform a rubbing motion based on the rotation value in the operation data. Specifically, when controlling the first motion mechanism and the second motion mechanism to move synchronously, the processor converts the displacement value into a displacement synchronization value for controlling the second motion mechanism based on a pre-stored stroke mapping relationship between the first motion mechanism and the second motion mechanism.

2. The linkage control system for the interventional robot according to claim 1, characterized in that, The operation data includes displacement values, or displacement values ​​and rotation values; the linkage condition is that the operation data includes displacement values. The processor is further configured to, if the operation data includes a displacement value, control the first motion mechanism and the second motion mechanism to move synchronously based on the displacement value; if the operation data includes a displacement value and a rotation value, control the first motion mechanism and the second motion mechanism to move synchronously based on the displacement value, and simultaneously control the second motion mechanism to perform a rubbing motion based on the rotation value.

3. A linkage control method for an interventional robot, characterized in that, This includes the following steps performed by the processor: Receive a linkage control mode instruction, and determine one of the first operation terminal and the second operation terminal as the target operation terminal based on the linkage control mode instruction. Receive operation data, wherein the operation data is generated by a first operation terminal or a second operation terminal; wherein the operation data includes displacement values ​​or rotation values; Determine whether the operation data meets the preset linkage condition, wherein the linkage condition is that the operation data includes a displacement value; If the operation data satisfies the linkage condition, a synchronization control command is generated based on the displacement value in the operation data, and the first motion mechanism and the second motion mechanism are controlled to move synchronously. If the operation data does not meet the linkage condition, the second motion mechanism is controlled to perform a rubbing motion based on the rotation value in the operation data. When controlling the first motion mechanism and the second motion mechanism to move synchronously, the processor converts the displacement value into a displacement synchronization value for controlling the second motion mechanism according to the pre-stored stroke mapping relationship between the first motion mechanism and the second motion mechanism. The synchronous motion refers to the first motion mechanism and the second motion mechanism moving in a preset synchronous relationship under the control of the processor.

4. The linkage control method for the interventional robot according to claim 3, characterized in that, Following the step of receiving operation data, the method further includes: Determine whether the operation data was generated by the target operation terminal; If the operation data is generated by the target operation terminal, the operation data is determined to be a valid operation, and the step of determining whether the operation data meets the preset linkage conditions is executed. If the operation data is not generated by the target operation terminal, the operation data is determined to be invalid, and operation data is received again.

5. The linkage control method for the interventional robot according to any one of claims 3 to 4, characterized in that, The operation data includes displacement values, or displacement values ​​and rotation values; the linkage condition is that the operation data includes displacement values; the step of generating a synchronization control command based on the operation data and controlling the first motion mechanism and the second motion mechanism to move synchronously if the operation data satisfies the linkage condition includes: If the operation data includes a displacement value, a synchronization control command is generated based on the displacement value, and the first motion mechanism and the second motion mechanism are controlled to move synchronously. If the operation data includes displacement and rotation values, a synchronization control command is generated based on the displacement value, and the first motion mechanism and the second motion mechanism are controlled to move synchronously. At the same time, the second motion mechanism is controlled to perform a rubbing motion based on the rotation value.

6. The linkage control method for the interventional robot according to any one of claims 3 to 4, characterized in that, The operation data includes displacement values; the step of generating a synchronization control command based on the operation data and controlling the first motion mechanism and the second motion mechanism to move synchronously includes: Obtain the stroke mapping relationship between the first motion mechanism and the second motion mechanism; Based on the aforementioned travel mapping relationship, the displacement value is converted into a displacement synchronization value; A synchronization control command is generated based on the displacement value, and the first motion mechanism is controlled to move. A synchronization control command is also generated based on the displacement synchronization value, and the second motion mechanism is controlled to move.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the linkage control method for the interventional robot as described in any one of claims 3 to 6.

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