Control method of mobile device and minimally invasive robot

Abstract

The present application relates to the technical field of intelligent control, in particular to a control method of mobile equipment and a minimally invasive robot. The control method of mobile equipment comprises the following steps: in a state formed by a standard parameter set, a current first basic parameter is acquired; a standard parameter matched with the current first basic parameter is acquired in the standard parameter set according to the first basic parameter; a current second basic parameter is read, and a control signal output is formed according to the second basic parameter and the standard parameter.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a control method for a mobile device and a minimally invasive robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console (also called the master hand), a patient-side trolley (also called the slave hand), and a display device (also called a video trolley). The surgeon operates the input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. Based on the surgeon's input at the surgeon's console, the remotely operated surgical instruments are actuated at the patient-side trolley to perform surgery on the patient, thus establishing a master-slave control relationship between the surgeon's console and the surgical instruments on the patient-side trolley. Due to space and equipment cost considerations, hospitals typically cannot equip themselves with multiple minimally invasive surgical robots. Therefore, the patient-side trolley often needs to be moved from one location to another (the surgeon's console also needs to be moved, and the display device sometimes needs to be moved as well, but this is relatively easy, so the focus is on describing the patient-side trolley). For example, the patient-side trolley may be moved from one location in the operating room to another location within the same operating room, or from one operating room to another.

[0004] Chinese patent application CN109455218A discloses a control armrest device for an electric mobile platform, comprising: a base, a tension / compression sensor, a sensor mounting base, an armrest-type micro-motion rotatable assembly, and two handle-type micro-motion rotatable assemblies. The armrest-type micro-motion rotatable assembly is rotatably connected to the base in the middle and is also connected to the tension / compression sensor, which is fixedly mounted on the base via the sensor mounting base. The two handle-type micro-motion rotatable assemblies are respectively installed at both ends of the armrest-type micro-motion rotatable assembly, and each handle-type micro-motion rotatable assembly contains a torque sensor. It can "control the controlled equipment or vehicle to move linearly at different speeds depending on the signal strength of the tension / compression sensor." However, because the armrest is located behind the hand, the upright may obstruct the view of medical personnel when pushed, potentially leading to collisions with obstacles or other people, posing a safety hazard to both people and the machine. The movement speed of the slave hand is only related to the pushing and pulling force. Since the pushing and pulling force provided by the medical staff's hands cannot remain constant, the speed of the slave hand changes instantaneously, which has an adverse effect on the life of the motor and battery. Furthermore, the movement is not smooth enough. Moreover, since the speed is only related to the pushing and pulling force, it is impossible to guarantee the high efficiency of the slave hand's movement. In complex environments (such as those with many obstacles or narrow passageways), relying on the medical staff's experience to move the slave hand is also an unwise approach, as there will be problems such as lack of experience and lack of concentration. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a control method for mobile devices and a minimally invasive robot. Specifically:

[0006] On the one hand, this application provides a method for controlling a mobile device, wherein: it includes,

[0007] Given the established standard parameter set, obtain the current first basic parameter.

[0008] Based on the first basic parameter, obtain the standard parameter that matches the current first basic parameter from the standard parameter set;

[0009] Read the current second basic parameter, and generate a control signal output based on the second basic parameter and the standard parameter.

[0010] Preferably, in the above-described control method for a mobile device, the standard parameter set includes at least the proportional relationship between the maximum speed and a first basic parameter.

[0011] Preferably, in the above-described method for controlling a mobile device, obtaining standard parameters matching the current first basic parameters from the standard parameter set based on the first basic parameters includes:

[0012] Read the distance data at the current time and the distance data at the previous time.

[0013] When the difference between the distance data at the current moment and the distance data at the previous moment is greater than a predetermined distance difference, the current distance data is used as reference data, and the first basic parameter is formed based on the reference data.

[0014] If the difference between the distance data at the current moment and the distance data at the previous moment is not greater than the predetermined distance difference, the current distance parameter is used as an auxiliary parameter.

[0015] A control coefficient is formed based on the first basic parameter and the auxiliary parameter; the standard parameter is formed based on the control coefficient and the standard parameter set and the first basic parameter.

[0016] Preferably, in the above-described control method for a mobile device, the control signal includes a first type of displacement state command, a second type of displacement state command, and a third type of displacement state command. The specific steps of forming a control signal output based on the second basic parameters and standard parameters include:

[0017] When the first basic parameter is not less than the third predetermined threshold and the second basic parameter is greater than the second predetermined threshold, the control signal is a first type of displacement state command, and the mobile device moves at a maximum speed under the action of the first type of displacement state command.

[0018] When the first basic parameter is not less than the third predetermined threshold and the second basic parameter is not greater than the second predetermined threshold, the control signal is a second type of displacement state command. Under the action of the second type of displacement state command, the mobile device moves at a speed that matches the current second basic parameter.

[0019] Preferably, the above-described method for controlling a mobile device further includes:

[0020] When the first basic parameter is less than the third predetermined threshold, the third type of displacement state instruction is generated, and the current state of the mobile device is adjusted under the action of the third type of displacement state instruction so that the first basic parameter is not less than the third predetermined threshold.

[0021] Preferably, in the above-described method for controlling a mobile device, obtaining standard parameters matching the current first basic parameters from the standard parameter set based on the first basic parameters specifically includes:

[0022] When the first basic parameter is greater than the first preset threshold, the mapping parameter that matches the first basic parameter is set as the first mapping standard parameter;

[0023] When the first basic parameter is not greater than the first preset threshold, the mapping parameter that matches the first basic parameter is set as the second mapping standard parameter.

[0024] Preferably, in the above-described control method for a mobile device, the step of reading the current second basic parameter and generating a control signal output based on the second basic parameter and a standard parameter specifically includes:

[0025] In the state of obtaining the current second basic parameter, and in the state where the mapping parameter that matches the first basic parameter is the first mapping standard parameter, the control instruction is formed based on the second basic parameter and the first mapping standard parameter; or, in the state where the mapping parameter that matches the first basic parameter is the second mapping standard parameter, the control instruction is formed based on the second basic parameter and the second mapping standard parameter.

[0026] The control signal is output according to the control command.

[0027] On the other hand, this application provides a minimally invasive robot, which includes a slave hand and a control system. The slave hand includes a base, a column, a robotic arm, and an instrument movement platform. Sensors are provided on the column and the base. The control system is used to implement the above-described device movement control method.

[0028] In another aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described device movement control method.

[0029] Finally, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described device movement control method.

[0030] Compared with the prior art, the beneficial effects of the present invention include at least the following:

[0031] The current operation of the mobile device is determined by combining the first and second basic parameters with a standard parameter set. This avoids the drawbacks of frequent current fluctuations caused by unstable manual force application, and allows the mobile device to operate at high speed in favorable walking environments, improving handling efficiency. It also avoids the adverse consequences of the column obstructing the operator's view. Attached Figure Description

[0032] Figure 1 A flowchart illustrating a control method for a mobile device provided in an embodiment of the present invention;

[0033] Figure 2This is a mapping diagram of the standard parameter set in a control method for a mobile device provided in an embodiment of the present invention;

[0034] Figure 3 This is a diagram illustrating the relationship between speed and force in a control method for a mobile device provided in an embodiment of the present invention.

[0035] Figure 4 A graph showing the relationship between speed and force in a high-speed mode of a control method for a mobile device provided in an embodiment of the present invention;

[0036] Figure 5 A diagram showing the relationship between speed and force in a low-speed mode of a control method for a mobile device provided in an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of a minimally invasive robot provided in an embodiment of the present invention;

[0038] Figure 7 This is a top view of a structural schematic diagram of a minimally invasive robot provided in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0040] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0041] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Although the illustrations only show components related to the present invention and are not drawn according to the actual number, shape and size of the components, the shape, quantity and proportion of each component can be arbitrarily changed in actual implementation, and the layout of the components may also be more complex.

[0042] Example 1

[0043] A method for controlling a mobile device, wherein: the mobile device may be a minimally invasive surgical robot, the minimally invasive surgical robot includes a column, and at least two sensors are disposed at predetermined positions on the column, including...

[0044] like Figure 1As shown, in step S110, under the state of forming a standard parameter set, the current first basic parameter is obtained; the first basic parameter is formed by the transmitter, and the sensor collects the distance between the current position and the target object, and forms the first basic parameter based on the distance;

[0045] The standard parameter set records the proportional relationship between the maximum speed and the first basic parameter. The maximum speed and the first basic parameter are directly proportional; the larger the first basic parameter, the greater the corresponding maximum speed. For example... Figure 2 As shown, Vmax = K * L; Vmax is the maximum speed matched with L; K is the ratio of the maximum speed to the first basic parameter; the value of K ranges from 0.6 to 0.9; L is the first basic parameter;

[0046] Schematic, the sensors are set on both sides of the column and on the column surface corresponding to the forward direction. The sensors acquire the distance data between the current column and the target object, and the first basic data is formed based on the distance data acquired by the three transmission sensors.

[0047] It should be noted that because the sensors are positioned differently, the data they collect is not the actual distance between the column and the target object. Therefore, the sensor data needs to be processed using a common reference. For example, based on the rectangular frame defined by the robot's outer contour, the distance from the frame line to the obstacle is used as a reference. Each data point is combined with the distance from the corresponding sensor to the corresponding side of the frame line to form the distance data; this distance data forms the first basic data.

[0048] Step S120: Obtain standard parameters matching the current first basic parameters from the standard parameter set based on the first basic parameters; furthermore, since the first basic parameters include multiple parameters, not every parameter can be used as the basis for selecting standard parameters. Specifically:

[0049] Step S1201: Read the distance data at the current time and the distance data at the previous time.

[0050] Step S1202: When the difference between the distance data at the current time and the distance data at the previous time is greater than the predetermined distance difference, the current distance data is used as the reference data L, and the parameter data is the first basic parameter.

[0051] Step S1203: When the difference between the distance data at the current time and the distance data at the previous time is not greater than the predetermined distance difference, the current distance parameter is used as an auxiliary parameter.

[0052] Step S1204: Form a control coefficient based on the standard parameters and the auxiliary parameters; form the standard parameters based on the control coefficient, the standard parameter set, and the first basic parameters.

[0053] Indicatively:

[0054] Wherein, a is the control parameter, f is the auxiliary parameter, the unit is meters, and L is the parameter data. The threshold values ​​of the auxiliary parameter and the parameter data can be selected according to actual use. For example, when f > 0.1 and L > 0.5, the control coefficient a = 0.8 can be set. The numerical parameters in this embodiment are only examples and are not specific limitations of this application. They can be determined by the user in actual use.

[0055] It should be noted that the distance data at the current moment is determined to be the data indicating the direction of movement of the minimally invasive robot when the difference between the distance data at the current moment and the distance data at the previous moment is greater than a predetermined distance difference. Therefore, this data is used as the parameter data. Taking walking in a narrow space as an example, the minimally invasive robot has walls on two sides and a person 2 meters in front. During the movement of the minimally invasive robot, the difference between the distance data at the current moment and the distance data at the previous moment obtained by the sensors on both sides is relatively small, but the difference between the distance data at the current moment and the distance data at the previous moment obtained by the sensor on the front is relatively large. This allows the robot to determine its direction of movement, and the distance data in this direction determines whether the robot can enter the high-speed mode. However, it should be noted that the distance data on both sides is still used as an auxiliary parameter. Assuming that the distance data on both sides is relatively small, it can be considered that the current space is relatively narrow. This auxiliary parameter helps determine whether to enter the high-speed mode. If the control coefficient formed by the standard parameter and the auxiliary parameter is greater than 0.8, the robot can enter the high-speed mode; otherwise, it cannot.

[0056] It should be noted that the "time" division in the above "previous time" is not based on the sensor's sampling frequency. Because the sensor's sampling frequency is relatively high (it can collect data multiple times per second, with very small distance differences between each sample), while the surgical robot's movement speed during transport is relatively slow (estimated displacement of 1-2 meters per minute at maximum speed), and the sensor's sampling frequency is measured in seconds, while the surgical robot's displacement speed is measured in minutes, the difference in their frequencies is relatively large. Therefore, the "distance data from the previous time" should be understood as the distance data from the previous output.

[0057] Alternatively, a sensor with a lower sampling frequency can be selected as needed, which can also reduce costs. The sampling frequency here is selected based on the actual situation and no specific restrictions are imposed.

[0058] Step S130: Read the current second basic parameter, and generate a control signal output based on the second basic parameter and the standard parameter. Specifically, this includes: Figure 3 As shown, the control signals include a first type of displacement state command, a second type of displacement state command, and a third type of displacement state command.

[0059] Step S1301: When the first basic parameter is not less than the third predetermined threshold and the second basic parameter is greater than the second predetermined threshold, the control signal is a first type of displacement state command. Under the action of the first type of displacement state command, the mobile device displaces at a maximum speed.

[0060] Step S1302: When the first basic parameter is not less than the third predetermined threshold and the second basic parameter is not greater than the second predetermined threshold, the control signal is a second type of displacement state command. Under the action of the second type of displacement state command, the mobile device moves at a speed that matches the current second basic parameter.

[0061] The second basic parameter is the driving force F2 applied by the operator to the minimally invasive surgical robot. Based on the force applied by the operator to the minimally invasive surgical robot and the current movement mode, a control signal can be formed. When the second basic parameter is greater than a second predetermined threshold, this control signal allows the minimally invasive surgical robot to operate in a high-speed mode under favorable walking conditions. When the second basic parameter is not greater than the second predetermined threshold, the control signal is a speed control signal matched to the current second basic parameter. It should be noted that the high-speed mode here refers only to the maximum value matched to the current walking environment. The corresponding high-speed mode differs under different walking environments.

[0062] The first and second types of displacement state commands enable the minimally invasive surgical robot to achieve forward, backward, and in-situ turning movements. Forward movement refers to the two casters of the minimally invasive surgical robot rotating in the same direction, or at least one caster rotating forward at a speed greater than the other caster rotating backward. Conversely, backward movement is achieved when one caster moves forward and the other moves backward at the same speed. In-situ turning occurs when one caster moves forward and the other moves backward at the same speed.

[0063] Step S1303: When the first basic parameter is less than the third predetermined threshold, the control signal is a third type of displacement state command. Under the action of the third type of displacement state command, the current state of the mobile device is adjusted so that the first basic parameter is not less than the third predetermined threshold. The third predetermined threshold is the minimum distance between the minimally invasive surgical robot and the target object. When the first basic parameter is less than the minimum distance, the minimally invasive surgical robot stops its forward movement and only maintains its backward and stationary turning functions.

[0064] Schematic, when the first basic parameter is not less than half of the third predetermined threshold, the minimally invasive surgical robot stops moving forward. When the first basic parameter is close to the third predetermined threshold, it is determined that the minimally invasive robot is still some distance away from the target object, for example, it remains stationary or turns around in place at the current position.

[0065] When the first basic parameter is less than half of the third predetermined threshold, the robot remains in a backward state. Schematic, when the first basic parameter is much less than the third predetermined threshold, it is determined that the distance between the minimally invasive surgical robot and the target object is relatively close. In order to ensure that the minimally invasive surgical robot is at a safe distance, the robot is controlled to retreat, and the maximum retreat distance is the third predetermined threshold.

[0066] Step S140: The control signal acts on the motor, and the motor generates a driving force under the action of the control signal to cause the mobile device to move.

[0067] In the above embodiments, the current movement state of the mobile device is determined by combining the first basic parameter, the second basic parameter, and the standard parameter set. This avoids the drawbacks of frequent current changes caused by unstable manual force application, and at the same time enables the mobile device to move at high speed in a good walking environment, thereby improving the transfer efficiency.

[0068] In this application, as a further preferred implementation, to facilitate the operator's mastery of the movement mode of the minimally invasive surgical robot, the movement mode of the minimally invasive surgical robot is set to two modes: high-speed mode and low-speed mode. Specifically, based on the above-mentioned control method for a mobile device, wherein: the standard parameters include a first mapping standard parameter and a second mapping standard parameter, and step S120, obtaining the standard parameter matching the current first basic parameter from the standard parameter set according to the first basic parameter specifically includes:

[0069] like Figure 4 As shown in step S1201, when the first basic parameter is greater than the first preset threshold, the mapping parameter matching the first basic parameter is set as the first mapping standard parameter; wherein the first preset threshold can be set according to the actual situation, or it can be set to a fixed 1 meter, 2 meters, 5 meters, etc. The specific setting method is not described here.

[0070] When the first basic parameter is greater than the first preset threshold, it is determined that the distance between the current minimally invasive surgical robot and the target object is relatively far, and the current walking environment can be considered relatively good.

[0071] like Figure 5As shown, in step S1202, when the first basic parameter is not greater than the first preset threshold, the mapping parameter that matches the first basic parameter is set as the second mapping standard parameter.

[0072] When the first basic parameter is not greater than the first pre-set threshold, it is determined that the distance between the current minimally invasive surgical robot and the target object is relatively close, and it can be determined that the current walking environment is relatively undesirable.

[0073] Furthermore, based on the aforementioned control method for a mobile device: step S130, reading the current second basic parameter and forming a control signal output based on the second basic parameter and the standard parameter, specifically includes:

[0074] Step S1301: In the state of obtaining the current second basic parameter, a control instruction matching the second basic parameter is formed based on the second basic parameter and the standard parameter; that is, in the state where the mapping parameter matching the first basic parameter is the first mapping standard parameter, the control instruction is formed based on the second basic parameter and the first mapping standard parameter; in the state where the mapping parameter matching the first basic parameter is the second mapping standard parameter, the control instruction is formed based on the second basic parameter and the second mapping standard parameter.

[0075] Step S1302: Generate the control signal output according to the control command.

[0076] Example 2

[0077] The present invention provides a minimally invasive robot, comprising a slave hand and a control system. The slave hand includes a base, a column, a robotic arm, and an instrument movement platform. Sensors are provided on the column and the base. The control system is used to implement the device movement control method of the above embodiment one.

[0078] Specifically: such as Figure 6 , 7 As shown, the slave hand is not limited to the structure described in this solution and the accompanying drawings, as long as it can achieve the corresponding function and the corresponding hardware can be laid out. Similarly, the sensor setup is not limited to the layout shown in this solution, as long as it can achieve the detection function required by this solution. Furthermore, to clearly demonstrate the structure of the slave hand, the robotic arm shown is in an extended state. It is understood that the robotic arm is generally retracted before movement to reduce its size and facilitate movement.

[0079] The arm includes a base 1, a column 2, a robotic arm 3, and a device motion platform 4. Medical personnel can move the arm by pushing or pulling the handrail connected to the base 1. The base 1 has a power-assist mechanism (e.g., a motor, wheels) to provide movement assistance when the arm needs to move. First-type sensors 51 are respectively installed on the front and rear sides of the top of the column 2 to sense the distance between the column 2 and obstacles (target objects). In this description, the side where the handrail (where the person pushes the arm, or the area where force is applied) is considered the rear, and the opposite side is considered the front. Similarly, second-type sensors 52 and third-type sensors 53 are respectively installed on the front and rear sides of the bottom of the base 1 to sense the distance between the base 1 and obstacles. It should be noted that the third-type sensors 53, located on the rear side of the base 1, are positioned at both ends of the base 1's outline, while the second-type sensors 52, located on the front side of the base 1, are evenly distributed along the outline of the base 1. This is because when moving the hand, medical staff need to stand in the middle of the back side of the base 1 to push it, in order to avoid mistaking the medical staff for an obstacle.

[0080] When a handrail moves within a hospital, several common obstacle structures are encountered. One is stools, such as round stools or benches, which are the most common items in hospitals, higher than the base but lower than the top of the pillar. Another is other people, such as patients and their families, who are mobile and unpredictable, also higher than the base but lower than the top of the pillar. Walls and door frames also pose obstacles. Correspondingly, the sensor layout is designed to accommodate these different obstacle types. For example, other people can be detected by sensors at the rear end of the base, stools by sensors in the middle of the front side of the base, and walls by sensors at the front end of the base. Of course, if cost and space permit, the more sensors installed, the more accurate the detection will be; for example, sensors can also be placed in the middle of the pillars. Furthermore, the handrail movement control system has a pre-set mapping relationship between the handrail's pushing and pulling force and the handrail's nominal moving speed (or nominal motor current), which is equivalent to realizing the function of "controlling the controlled equipment or vehicle to move at different speeds based on the magnitude of the signals collected by the tension and compression sensors" in existing technologies.

[0081] Based on the above structure, combined with the device movement control method provided in Embodiment 1, the stable operation of the minimally invasive robot can be achieved. In particular, in the high-speed mode, the current of the assist motor remains the same, reducing the adverse effects on the lifespan of the motor and battery.

[0082] Here is a specific implementation method, employing two stealth modes: high-speed and low-speed. The movement is divided into two different modes based on the distance between the handrail and the obstacle. In high-speed mode, the handrail always moves at maximum speed for efficient handling (it can maintain maximum speed even after the pushing / pull force reaches a certain value, and the speed remains unchanged even if the pushing / pull force increases). In low-speed mode, the mapping relationship between the handrail's pushing / pull force and the handrail's movement speed is altered to achieve precise control. The details are explained below:

[0083] The handrail uses sensors to detect the distance to obstacles (this can be done in real time or after a healthcare worker applies force to the handrail). The handrail also has corresponding tension / compression or torsion sensors to detect the force applied by the healthcare worker. It should be noted that the distance detected by sensors located in different positions (e.g., the column and the base) will differ, but the system will process and convert it to a unified reference, such as the rectangle formed by the outline of the base (i.e., processing based on the same reference).

[0084] When the distance to the obstacle is no greater than a first predetermined threshold, the system enters high-speed mode. Simultaneously, based on the first mapping standard parameter and the magnitude of the force F2, the nominal moving speed of the slave hand is output. When the force F2 is greater than a second predetermined threshold, the nominal moving speed always equals the maximum moving speed. Therefore, when the force F2 is not greater than the second predetermined threshold, the slave hand moves at the nominal moving speed; the greater the force F2, the greater the moving speed. When the force F2 increases to exceed the second predetermined threshold, the slave hand always moves at the maximum speed, and further increases in force F2 do not affect the moving speed. It can be seen that when the environment is good (obstacles in the target direction are far away or even non-existent), and medical personnel apply a force greater than the second predetermined threshold (which is generally achieved during long-distance movement), the slave hand can always maintain maximum speed, resulting in high equipment transfer efficiency. Furthermore, changes in force above the second predetermined threshold do not affect the speed, meaning the assist motor current remains constant, reducing adverse effects on the lifespan of the motor and battery.

[0085] When the distance to an obstacle is less than a first threshold, a low-speed mode is entered. Based on the second mapping standard parameter, the nominal movement speed of the hand is output according to the magnitude of the force. The hand moves at this nominal speed, and the greater the force, the greater the nominal speed. It can be seen that in low-speed mode, when medical staff apply the same amount of force to the handrail, the hand moves slower compared to high-speed mode (the degree of slowdown depends on the magnitude of the first coefficient). This facilitates precise operation in complex environments (such as those with many obstacles or narrow passageways) and prevents collisions.

[0086] The aforementioned assistive system includes a drive wheel motor, a brake, and wheel sensors. Optionally, the three components of the drive system can be integrated together or remain as separate individual components. In this control system, the controller receives signals from the sensors and push-button switches, processes and calculates the signals, and then sends corresponding control signals to the drive wheel motor or brake to drive the movement and stopping of the hand. For details, please refer to the applicant's prior patent application No. 202210233620.4, "Medical Device Mobility Control System and Method".

[0087] Example 3

[0088] This application provides an electronic device. Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 8 As shown, this embodiment provides an electronic device 400, which includes: one or more processors 420; and a storage device 410 for storing one or more programs, which, when executed by the one or more processors 420, cause the one or more processors 420 to perform:

[0089] Given the established standard parameter set, obtain the current first basic parameter.

[0090] Based on the first basic parameter, obtain the standard parameter that matches the current first basic parameter from the standard parameter set;

[0091] Read the current second basic parameter, and generate a control signal output based on the second basic parameter and the standard parameter.

[0092] like Figure 8 As shown, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the electronic device can be one or more. Figure 8 Taking a processor 420 as an example; the processor 420, storage device 410, input device 430, and output device 440 in the electronic device can be connected via a bus or other means. Figure 8 For example, China and Israel are connected via bus 450.

[0093] Storage device 410 is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and module units.

[0094] Storage device 410 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, storage device 410 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, storage device 410 may further include memory remotely located relative to processor 420, which can be connected via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0095] Input device 430 can be used to receive input digital, character, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 440 may include devices such as a display screen and a speaker.

[0096] Example 4

[0097] In some embodiments, the methods described above can be implemented as a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of this disclosure. Specifically:

[0098] Given the established standard parameter set, obtain the current first basic parameter.

[0099] Based on the first basic parameter, obtain the standard parameter that matches the current first basic parameter from the standard parameter set;

[0100] Read the current second basic parameter, and generate a control signal output based on the second basic parameter and the standard parameter.

[0101] The aforementioned computer-readable storage medium can be a tangible device capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage medium as used herein is not to be construed as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0102] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to computer-readable storage media within the respective computing / processing device.

[0103] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​and conventional procedural programming languages. The computer-readable program instructions may execute entirely on a user's computer, partially on a user's computer, as a standalone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0104] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0105] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0107] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control method of a mobile device, characterized by: comprising, acquiring a current first basic parameter in a state of forming a standard parameter set; acquiring a standard parameter matching the current first basic parameter in the standard parameter set according to the first basic parameter; reading a current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter; the standard parameter set at least contains a proportional relationship between an extreme speed and the first basic parameter; acquiring a standard parameter matching the current first basic parameter in the standard parameter set according to the first basic parameter specifically includes: reading distance data at a current time and distance data at a last time; in a state that a difference between the distance data at the current time and the distance data at the last time is greater than a predetermined distance difference, taking the distance data at the current time as reference data, and forming the first basic parameter according to the reference data; in a state that the difference between the distance data at the current time and the distance data at the last time is not greater than the predetermined distance difference, taking the distance parameter at the current time as an auxiliary parameter; forming a control coefficient according to the first basic parameter and the auxiliary parameter, and forming the standard parameter according to the control coefficient, the standard parameter set and the first basic parameter; the second basic parameter is a driving force applied to the mobile device by an operator.

2. The control method of a mobile device according to claim 1, wherein: the control signal includes a first type of displacement state instruction, a second type of displacement state instruction and a third type of displacement state instruction, and forming a control signal output according to the second basic parameter and the standard parameter specifically includes: in a state that the first basic parameter is not less than a third predetermined threshold and the second basic parameter is greater than a second predetermined threshold, the control signal is the first type of displacement state instruction, and the mobile device is displaced at an extreme speed under the action of the first type of displacement state instruction; in a state that the first basic parameter is not less than the third predetermined threshold and the second basic parameter is not greater than the second predetermined threshold, the control signal is the second type of displacement state instruction, and the mobile device is displaced at a speed matching the current second basic parameter under the action of the second type of displacement state instruction.

3. The control method of a mobile device according to claim 2, wherein: further comprising: in a state that the first basic parameter is less than the third predetermined threshold, the control signal is the third type of displacement state instruction, and the state of the mobile device is adjusted under the action of the third type of displacement state instruction so that the first basic parameter is not less than the third predetermined threshold.

4. The control method of a mobile device according to claim 1, wherein: acquiring a standard parameter matching the current first basic parameter in the standard parameter set according to the first basic parameter specifically includes: in a state that the first basic parameter is greater than a first predetermined threshold, setting a mapping parameter matching the first basic parameter as a first mapping standard parameter; in a state that the first basic parameter is not greater than the first predetermined threshold, setting a mapping parameter matching the first basic parameter as a second mapping standard parameter.

5. The control method of a mobile device according to claim 4, wherein: reading a current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter specifically includes: In a state of acquiring a current second basic parameter, in a state of the current mapping parameter matching the first basic parameter being a first mapping standard parameter, a control instruction is formed according to the second basic parameter combined with the first mapping standard parameter; or, in a state of the current mapping parameter matching the first basic parameter being a second mapping standard parameter, a control instruction is formed according to the second basic parameter combined with the second mapping standard parameter. The control signal is output according to the control instruction.

6. A minimally invasive robot, characterized by, The slave hand comprises a base, a stand, a mechanical arm and an instrument movement platform, sensors are arranged on the stand and the base, and the control system is used to realize the control method of the mobile device according to any one of claims 1-5.

7. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed by the processor to realize the control method of the mobile device according to any one of claims 1-5.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the control method of the mobile device according to any one of claims 1-5.

Images