Mechanical zero calibration method, device, equipment and medium

Abstract

The embodiment of the present invention discloses a mechanical zero position calibration method, device, equipment and medium. The method controls the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, determines the joint torque change information corresponding to each set direction, and then determines the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction, and determines the motor position corresponding to the mechanical zero position of the target instrument according to the critical point information corresponding to each set direction, thereby realizing the automatic calibration of the mechanical zero position of the target instrument. The method is not limited by the scene such as the site, equipment, and technicians. The user can use the method to perform the designated calibration of the mechanical zero position at any time according to the actual needs, which solves the technical problem that the prior art cannot perform the zero position calibration of the surgical instrument at any time, and improves the movement accuracy of the instrument.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of surgical robots, and in particular to a mechanical zero position calibration method, device, equipment and medium. Background Art

[0002] In robotic surgery, surgical instruments usually need to determine the mechanical zero position before they can move at absolute angles (such as pitch, yaw, or opening and closing). Specifically, mechanical zero position means that when defining the angle of the instrument joint, it is necessary to define a certain mechanical state of the instrument joint as zero degrees. Zero position calibration refers to obtaining the motor angle corresponding to the drive motor when the instrument is in the mechanical zero position.

[0003] Therefore, the accuracy of the mechanical zero position determines the control accuracy of the target instrument joint angle. Due to the small size of surgical instruments, it is difficult to add more mechanical marks. The existing technology usually uses some concave and convex alignment mechanisms to achieve calibration. However, due to the limitations of application scenarios, it is usually impossible to use external professional equipment for on-site calibration, such as clean requirements, site space limitations, and the need for professionals. The existing technology often only performs calibration once when the machine is produced and shipped.

[0004] Because the drive chain of surgical instruments often has poor rigidity and is prone to deformation, and in the N+1 drive structure, the degree of freedom of the drive input is one more than the degree of freedom of the output, the zero position of surgical instruments often shifts after storage, transportation, and handling after leaving the factory, resulting in a decrease in motion accuracy during actual surgery, which in turn affects the effectiveness of the surgical operation. Summary of the invention

[0005] The embodiments of the present invention provide a mechanical zero-position calibration method, device, equipment and medium to solve the technical problem that the surgical instrument cannot be zero-position calibrated at any time.

[0006] In a first aspect, an embodiment of the present invention provides a mechanical zero position calibration method, the method comprising:

[0007] Controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determining the joint torque change information corresponding to each of the set directions;

[0008] Determining critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction;

[0009] Based on the critical point information corresponding to each of the set directions, the motor position corresponding to the mechanical zero position of the target device is determined.

[0010] Optionally, controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively includes:

[0011] The target motor is controlled to drive the instrument joint of the target instrument to move in a first pitch direction, a second pitch direction, a first yaw direction and a second yaw direction respectively, wherein the first pitch direction is opposite to the second pitch direction, and the first yaw direction is opposite to the second yaw direction.

[0012] Optionally, determining the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions includes:

[0013] Determining a first position corresponding to a mechanical zero position of a pitch angle of the target device based on critical point information corresponding to the first pitch direction and critical point information corresponding to the second pitch direction;

[0014] Based on the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction, the second position corresponding to the mechanical zero position of the yaw angle of the target device is determined; based on the first position and the second position, the motor position corresponding to the mechanical zero position of the target device is determined.

[0015] Optionally, controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively further includes:

[0016] Controlling the target motor to drive the opening angle of the instrument joint of the target instrument to move to a first opening angle;

[0017] Controlling the target motor to drive the opening angle of the instrument joint of the target instrument to move from the first opening angle to a second opening angle;

[0018] Wherein, the first opening angle is greater than the second opening angle.

[0019] Optionally, determining the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction includes:

[0020] Based on the joint torque change information corresponding to each of the set directions, determine the torque command relationship curve corresponding to each of the set directions, wherein the horizontal axis of the torque command relationship curve is the joint position command and the vertical axis is the joint torque;

[0021] A target joint position command is determined based on the torque command relationship curve, and critical point information corresponding to the set direction of the instrument joint is determined based on a motor reference position corresponding to the target joint position command.

[0022] Optionally, the method further comprises: determining the joint torque of the instrument joint during the movement of the set direction;

[0023] Determining the joint torque of the instrument joint during the movement of the set direction includes:

[0024] The joint torque of the instrument joint during the movement in the set direction is determined based on the instrument force mapping matrix of the target instrument, the tension of the drive rope of the target instrument, and the friction of the drive rope of the target instrument.

[0025] Optionally, the critical points include the contact points between the target instrument and the inner wall of the puncture device, the contact points between the target instrument and the sleeve outlet of the puncture device, and the mechanical limit position points of the instrument joint.

[0026] Optionally, the method further includes:

[0027] If it is detected that the end of the target instrument is located inside the sleeve of the puncture device, or, it is detected that the pitch axis of the target instrument is located at the sleeve opening of the puncture device, or, it is detected that the end of the target instrument is located outside the sleeve of the puncture device, an operation of controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively is executed.

[0028] Optionally, before controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, the method further includes:

[0029] The tension of the drive rope component is loaded based on a preset rope constraint condition.

[0030] In a second aspect, an embodiment of the present invention further provides a mechanical zero position calibration device, the device comprising:

[0031] A torque change determination module, used to control the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determine the joint torque change information corresponding to each of the set directions;

[0032] A critical point determination module, used to determine critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction;

[0033] The position determination module is used to determine the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions.

[0034] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0035] one or more processors;

[0036] a storage device for storing one or more programs,

[0037] When the one or more programs are executed by the one or more processors, the one or more processors implement the mechanical zero position calibration method provided by any embodiment of the present invention.

[0038] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a mechanical zero position calibration method as provided in any embodiment of the present invention.

[0039] The embodiments of the above invention have the following advantages or beneficial effects:

[0040] The target motor is controlled to drive the instrument joint of the target instrument to move in at least two set directions respectively, and the joint torque change information corresponding to each set direction is determined. Then, based on the joint torque change information corresponding to each set direction, the critical point information corresponding to each set direction of the instrument joint is determined. According to the critical point information corresponding to each set direction, the motor position corresponding to the mechanical zero position of the target instrument is determined, thereby realizing automatic calibration of the mechanical zero position of the target instrument. This method is not limited by scenes such as site, equipment, and technicians. Users can use this method to perform designated calibration of the mechanical zero position at any time according to actual needs, which solves the technical problem that the prior art cannot perform zero position calibration of surgical instruments at any time, and improves the movement accuracy of the instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1A A schematic flow chart of a mechanical zero calibration method provided in Embodiment 1 of the present invention;

[0043] Figure 1B A schematic diagram of the structure of a target device provided in Embodiment 1 of the present invention;

[0044] Figure 1C A schematic diagram of a critical point provided in Embodiment 1 of the present invention;

[0045] Figure 1D A schematic diagram of a torque command relationship curve provided in the first embodiment of the present invention;

[0046] Figure 2A A schematic flow chart of a mechanical zero calibration method provided in Embodiment 2 of the present invention;

[0047] Figure 2BA schematic diagram of a target device moving along a pitch or yaw direction provided by the second embodiment of the present invention;

[0048] Figure 3 A schematic flow chart of a mechanical zero calibration method provided in Embodiment 3 of the present invention;

[0049] Figure 4 A schematic diagram of the structure of a mechanical zero position calibration device provided in Embodiment 4 of the present invention;

[0050] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0052] Embodiment 1

[0053] Figure 1A A flow chart of a mechanical zero position calibration method provided in the first embodiment of the present invention is provided. This embodiment can be applied to the case of automatically calibrating the mechanical zero position of an instrument, and is particularly applicable to the case of controlling the motor of the instrument to drive the instrument joint to move in each set direction, and performing mechanical zero position calibration based on the joint torque change information obtained by the movement. The method can be executed by a mechanical zero position calibration device, which can be implemented by hardware and / or software. The method specifically includes the following steps:

[0054] S110, controlling the target motor to drive the instrument joints of the target instrument to move in at least two set directions respectively, and determining the joint torque change information corresponding to each of the set directions.

[0055] In this embodiment, the target instrument may be a surgical instrument. Figure 1B , a schematic diagram of the structure of a target instrument is shown, wherein the target motor can drive the instrument joint of the target instrument to move, and specifically, the number of the target motor can be one or more, and the number of the instrument joint can also be one or more.

[0056] Specifically, the method provided in this embodiment can automatically control the target motor to drive the instrument joints of the target instrument to move in each set direction respectively. In this embodiment, the mechanical zero calibration of the target instrument may include at least one of yaw angle zero calibration, pitch angle zero calibration and opening angle zero calibration. For any one of yaw angle zero calibration, pitch angle zero calibration and opening angle zero calibration, it is necessary to drive the instrument joints to move in two set directions respectively. Exemplarily, taking yaw angle zero calibration as an example, the set direction includes two yaw directions in opposite directions; taking pitch angle zero calibration and opening angle zero calibration as examples, the set direction includes two pitch directions in opposite directions, as well as moving to a first opening angle and moving from a first opening angle to a second opening angle.

[0057] It should be noted that the target motor can drive the instrument joint of the target instrument to move in a set direction with a relative constraint relationship until the target instrument touches the inner wall of the puncture device, or reaches the joint limit of the target instrument itself, etc.; and obtain the joint torque change information in this process. Of course, each time the instrument joint of the target instrument is driven to move in a set direction, the joint torque change information corresponding to the set direction can be obtained; therefore, this embodiment can obtain the joint torque change information corresponding to each set direction based on the above method. Among them, the joint torque change information can be information that the joint torque changes with the change of the joint position instruction. Exemplarily, the joint position instruction can be an instruction containing the angle of movement of the instrument joint along the set direction. That is, the joint torque change information can include information that the joint torque of the instrument joint changes with the change of the movement angle.

[0058] S120, determining critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction.

[0059] The critical point may be a mechanical limit point of the instrument joint in a set direction. Exemplarily, the critical point includes the contact point between the target instrument and the inner wall of the puncture device, the contact point between the target instrument and the cannula outlet of the puncture device, and the mechanical limit position point of the instrument joint. Exemplarily, Figure 1C As shown, a schematic diagram of a critical point is shown. Specifically, Figure 1C In a and b of FIG, the critical point is the contact point between the target device and the cannula outlet of the trocar. Figure 1B , the critical point may also be a mechanical limit position point of the instrument joint of the target instrument. In this embodiment, when the instrument joint of the target instrument moves to the critical point along the set direction, the value of the joint torque at this moment increases from zero. Specifically, the critical point information may be the actual motor position corresponding to the critical point, that is, the actual motor position corresponding to the moment when the value of the joint torque increases from zero.

[0060] Specifically, without considering the influence of friction, before the instrument joint moves to the critical point along the set direction, the joint torque is always close to zero; at the moment when the instrument joint moves to the critical point along the set direction, the joint torque begins to increase, and after the instrument joint moves to the critical point along the set direction, due to the elastic characteristics of the target instrument drive rope, the joint torque and the movement angle are in a monotonically increasing relationship. Therefore, in this embodiment, the critical point can be determined based on the moment when the joint torque in the joint torque change information starts to increase from zero; in this way, the critical point information corresponding to each set direction is determined respectively.

[0061] In an optional embodiment, the critical point information corresponding to each set direction of the instrument joint is determined based on the joint torque change information corresponding to each set direction, including: determining the torque command relationship curve corresponding to each set direction based on the joint torque change information corresponding to each set direction, wherein the horizontal axis of the torque command relationship curve is the joint position command and the vertical axis is the joint torque; determining the target joint position command based on the torque command relationship curve, and determining the critical point information corresponding to the set direction of the instrument joint based on the motor reference position corresponding to the target joint position command.

[0062] Specifically, the corresponding joint position command and joint torque can be collected at a set period to obtain the joint position command and joint torque corresponding to each period, that is, the joint torque change information. Further, the joint position command and joint torque at each moment are polynomially fitted by the least squares method to draw a torque command relationship curve with the horizontal axis being the joint position command and the vertical axis being the joint torque. For example, Figure 1D As shown, taking the setting direction as the yaw direction or the pitch direction as an example, a schematic diagram of a torque command relationship curve is shown.

[0063] Further, after determining the torque command relationship curve, the joint position command corresponding to the moment when the joint torque in the torque command relationship curve increases from zero is determined as the target joint position command, and the actual motor position corresponding to the target joint position command, that is, the motor reference position, is determined as the critical point information corresponding to the set direction. Of course, the intersection of the curve and the joint position command axis in the torque command relationship curve can also be found to obtain the displacement information of the critical point, record the motor reference position corresponding to the intersection, and determine it as the critical point information. Through this optional implementation, the critical point information corresponding to the set direction can be determined for each set direction according to the collected joint torque change information, so as to achieve the accurate determination of the critical point information corresponding to the set direction, thereby improving the accuracy of the mechanical zero position calibration.

[0064] S130. Determine the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions.

[0065] In this embodiment, the critical point information corresponding to each set direction can be determined respectively in the above manner. Based on the critical point information corresponding to each set direction, the motor position corresponding to the mechanical zero position of the target device is determined, which can be: the median of the critical point information corresponding to the two opposite set directions is determined as the motor position corresponding to the mechanical zero position of the target device.

[0066] Exemplarily, taking the setting direction including two opposite pitch directions as an example, since the relative position of the target instrument and the sleeve is limited by the mechanical structure, the target instrument is located at the center of the sleeve, and the motor position corresponding to the mechanical zero position of the target instrument is (P1+P2) / 2, wherein P1 and P2 are the critical point information corresponding to the two opposite pitch directions, i.e., the actual position of the motor. Of course, the setting direction may also include any two of the two opposite pitch directions, the two opposite yaw directions, and the two opposite opening angle directions. Taking the setting direction including two opposite pitch directions and two opposite yaw directions as an example, the motor position corresponding to the mechanical zero position of the target instrument can be determined based on the two opposite pitch directions, and the motor position can be the mechanical zero position position of one or more target motors that drive the instrument joint to move along the pitch direction; and the motor position corresponding to the mechanical zero position of the target instrument can be determined based on the two opposite yaw directions, and the motor position can be the mechanical zero position position of one or more target motors that drive the instrument joint to move along the yaw direction.

[0067] It should be noted that the method provided in this embodiment can also reduce the influence of the instrument backlash on the zero calibration. Specifically, the friction force and the stiffness of the driving rope have a significant influence on the instrument transmission system, so the backlash is more significant on the rope-driven instrument than the traditional system. Specifically, when the motor-driven movement attempts to reverse, there will be an angle lag in the joint reversal, which can also be described as: the motor has a range of motion, within this range of motion, the instrument joint will not move, and at this time the motor and the instrument joint have no motion relationship. Therefore, doing traditional zero point calibration in this state will produce greater randomness and error. In the method provided in this embodiment, since the motor zero position corresponding to the mechanical zero position is in a stress state close to one end angle during calibration, the motor is on both sides of the backlash, so the position of the motor is determined, which can provide consistency of zero point calibration to a certain extent, eliminate the influence caused by randomness, and also provide certain conditions for compensation of backlash.

[0068] The technical solution of this embodiment controls the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, determines the joint torque change information corresponding to each set direction, and then determines the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction, and determines the motor position corresponding to the mechanical zero position of the target instrument according to the critical point information corresponding to each set direction, thereby realizing automatic calibration of the mechanical zero position of the target instrument. This method is not limited by scenes such as site, equipment, and technicians. Users can use this method to perform designated calibration of the mechanical zero position at any time according to actual needs, which solves the technical problem that the prior art cannot perform zero position calibration of surgical instruments at any time, and improves the movement accuracy of the instrument.

[0069] Embodiment 2

[0070] Figure 2A A flow chart of a mechanical zero position calibration method provided for the second embodiment of the present invention. In this embodiment, based on the above embodiment, optionally, the target motor is controlled to drive the target instrument's instrument joints to move in at least two set directions, including: the target motor is controlled to drive the target instrument's instrument joints to move in a first pitch direction, a second pitch direction, a first yaw direction, and a second yaw direction, respectively, wherein the first pitch direction is opposite to the second pitch direction, and the first yaw direction is opposite to the second yaw direction. Optionally, the motor position corresponding to the mechanical zero position of the target instrument is determined based on the critical point information corresponding to each of the set directions, including: determining the first position corresponding to the mechanical zero position of the pitch angle of the target instrument based on the critical point information corresponding to the first pitch direction and the critical point information corresponding to the second pitch direction; determining the second position corresponding to the mechanical zero position of the yaw angle of the target instrument based on the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction; and determining the motor position corresponding to the mechanical zero position of the target instrument based on the first position and the second position. The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here. See. Figure 2A The mechanical zero position calibration method provided in this embodiment includes the following steps:

[0071] S210, controlling the target motor to drive the device joint of the target device to move in the first pitch direction, the second pitch direction, the first yaw direction, and the second yaw direction respectively, and determining the joint torque change information corresponding to each set direction.

[0072] The first pitch direction is opposite to the second pitch direction, and the first yaw direction is opposite to the second yaw direction. In this embodiment, the target motor can be controlled to drive the instrument joint of the target instrument to move in the first pitch direction, the second pitch direction, the first yaw direction, and the second yaw direction, respectively, to obtain the joint torque change information corresponding to the first pitch direction, the second pitch direction, the first yaw direction, and the second yaw direction, respectively.

[0073] S220. Determine critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction.

[0074] The critical point information corresponding to each set direction can be determined based on the actual motor position corresponding to the moment when the joint torque increases from zero in the joint torque change information. For example, taking the critical point as the contact point between the target instrument and the inner wall of the puncture device, as Figure 2B FIG. 2 shows a schematic diagram of a target device moving along a pitch or yaw direction.

[0075] In this embodiment, the critical point information corresponding to the first pitch direction of the instrument joint can be determined based on the joint torque change information in the first pitch direction; the critical point information corresponding to the second pitch direction of the instrument joint can be determined based on the joint torque change information in the second pitch direction; the critical point information corresponding to the first yaw direction of the instrument joint can be determined based on the joint torque change information in the first yaw direction; the critical point information corresponding to the second yaw direction of the instrument joint can be determined based on the joint torque change information in the second yaw direction. Among them, the critical point information can be the actual motor position corresponding to the critical point; the critical point can be the contact point between the target instrument and the inner wall of the puncture device, the contact point between the target instrument and the sleeve outlet of the puncture device, or the mechanical limit position point of the instrument joint, and the critical point can be determined based on the moment when the joint torque starts to increase from zero.

[0076] S230: Determine a first position corresponding to a mechanical zero position of the pitch angle of the target device based on the critical point information corresponding to the first pitch direction and the critical point information corresponding to the second pitch direction.

[0077] The pitch angle mechanical zero position may be the mechanical zero position of the target motor driving the instrument joint to move along the first pitch direction and the second pitch direction. The first position corresponding to the pitch angle mechanical zero position of the target instrument may be the intermediate value of the critical point information corresponding to the first pitch direction and the critical point information corresponding to the second pitch direction.

[0078] S240: Determine a second position corresponding to the mechanical zero position of the yaw angle of the target device based on the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction.

[0079] The yaw angle mechanical zero position may be the mechanical zero position of the target motor driving the instrument joint to move along the first yaw direction and the second yaw direction. The first position corresponding to the yaw angle mechanical zero position of the target instrument may be the intermediate value of the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction.

[0080] S250, determining a motor position corresponding to a mechanical zero position of the target device based on the first position and the second position.

[0081] In an optional embodiment, considering that some surgical instruments have an opening angle, such as surgical scissors, the method provided in this embodiment includes mechanically calibrating the opening angle direction of the target instrument. It should be noted that this embodiment can perform mechanical zero-position calibration based on the opening angle direction, pitch angle direction and yaw angle direction at the same time, and can also perform mechanical zero-position calibration only in the opening angle direction. That is, the target motor is controlled to drive the instrument joints of the target instrument to move in at least two set directions respectively, including: controlling the opening angle of the instrument joint of the target instrument driven by the target motor to move to a first opening angle; controlling the opening angle of the instrument joint of the target instrument driven by the target motor to move from the first opening angle to the second opening angle; wherein the first opening angle is greater than the second opening angle.

[0082] Exemplarily, the first opening angle may be 30°, and the second opening angle may be 0°. In this optional embodiment, the opening angle of the instrument joint of the target instrument may be first moved to a larger angle, and then the opening angle of the instrument joint may be reduced; in this process, when the opening angle of the instrument joint does not reach 0°, the value of the joint torque is zero, and when the opening angle of the instrument joint is 0°, that is, in the merged state, the value of the joint torque increases from zero, and if the opening angle of the instrument joint continues to be reduced at this time, the clamping force (joint torque) of the opening angle will increase monotonically.

[0083] Specifically, the joint torque and joint position command corresponding to each moment in the set period can be collected to obtain the joint torque change information when the opening angle moves to the first opening angle and the opening angle moves from the first opening angle to the second opening angle, and polynomial fitting is performed on each point of the joint torque change information to obtain a torque command relationship curve, and the motor reference position corresponding to the intersection of the torque command relationship curve and the horizontal axis (target joint position command) is determined as the critical point information corresponding to the opening angle direction. Through this optional implementation, mechanical zero position calibration of the opening angle can be achieved.

[0084] The technical solution of this embodiment controls the target motor to drive the instrument joints of the target instrument to move in the first pitch direction, the second pitch direction, the first yaw direction and the second yaw direction respectively, so as to determine the first position corresponding to the mechanical zero position of the pitch angle of the target instrument based on the critical point information corresponding to the first pitch direction and the critical point information corresponding to the second pitch direction, and determine the second position corresponding to the mechanical zero position of the yaw angle of the target instrument based on the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction, and then determine the motor position corresponding to the mechanical zero position of the target instrument according to the first position and the second position, thereby realizing automatic calibration of the mechanical zero position of the yaw angle and the mechanical zero position of the pitch angle of the target instrument. This method is not limited by scenes such as site, equipment, and technicians. Users can use this method to perform designated calibration of the mechanical zero position at any time according to actual needs, which solves the technical problem that the prior art cannot perform zero position calibration of surgical instruments at any time, and improves the movement accuracy of the instrument.

[0085] Embodiment 3

[0086] Figure 3 A flowchart of a mechanical zero-position calibration method provided in the third embodiment of the present invention. Based on the above embodiments, this embodiment optionally controls the target motor to drive the target instrument's instrument joint to move in at least two set directions if it is detected that the end of the target instrument is located inside the cannula of the puncture device, or if it is detected that the pitch axis of the target instrument is located at the cannula opening of the puncture device, or if it is detected that the end of the target instrument is located outside the cannula of the puncture device. The explanation of the terms that are the same or corresponding to the above embodiments will not be repeated here. Figure 3 The mechanical zero position calibration method provided in this embodiment includes the following steps:

[0087] S310: If it is detected that the end of the target instrument is located inside the sleeve of the puncture device, or, it is detected that the pitch axis of the target instrument is located at the sleeve opening of the puncture device, or, it is detected that the end of the target instrument is located outside the sleeve of the puncture device, an operation of controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively is executed.

[0088] In this embodiment, before executing the operation of controlling the target motor to drive the instrument joints of the target instrument to move in at least two set directions, the surgical instrument needs to be loaded into the target instrument. Specifically, since most surgical instruments are consumables and need to be replaced frequently, it is impossible to connect the surgical instrument transmission chain and the motor output flange when leaving the factory, and the user needs to install it on-site in the operating room. After the surgical instrument is installed, the end of the target instrument should be located inside the sleeve of the puncture device, or the pitch axis of the target instrument is located at the sleeve opening of the puncture device, or the end of the target instrument is located outside the sleeve of the puncture device.

[0089] Specifically, this embodiment determines that the loading of the surgical instrument is complete when it is detected that the end of the target instrument is located inside the cannula of the puncture device, or when it is detected that the pitch axis of the target instrument is located at the cannula opening of the puncture device, or when it is detected that the end of the target instrument is located outside the cannula of the puncture device, and executes the operation of controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively.

[0090] Optionally, considering that after the loading of the instrument is completed, the motor is required to load the tension of the drive rope while the target instrument maintains its current position, so as to prevent the target instrument from touching the inner wall of the puncture device prematurely during the process, thereby interfering with subsequent calibration work. Therefore, before controlling the target motor to drive the instrument joints of the target instrument to move in at least two set directions respectively, the method may also include: loading the tension of the drive rope component based on a preset rope constraint condition.

[0091] The rope constraint condition may be 1+D2+D3...+Dn=0, where D is the travel of the driving rope and n represents the driving degree of freedom of the driving rope. Specifically, after the tension of the driving rope component is loaded, the operation of controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions may continue to be performed. Through this optional implementation, the target instrument may be prevented from touching the inner wall of the puncture device in advance, thereby interfering with subsequent calibration work.

[0092] S320, determining the joint torque change information corresponding to each of the set directions, and based on the joint torque change information corresponding to each of the set directions, determining the critical point information corresponding to each of the set directions of the instrument joint.

[0093] S330. Determine the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions.

[0094] Optionally, this embodiment also provides a method for acquiring joint torque, that is, the method also includes: determining the joint torque of the instrument joint during the movement of the set direction; the determining the joint torque of the instrument joint during the movement of the set direction includes: determining the joint torque of the instrument joint during the movement of the set direction based on the instrument force mapping matrix of the target instrument, the tension of the drive rope of the target instrument, and the friction of the drive rope of the target instrument.

[0095] Exemplarily, joint torque = instrument force mapping matrix × (drive rope tension - drive rope friction). Wherein, drive rope tension = drive motor torque / drive pulley radius; drive rope friction is determined by the dynamic friction model of the rope and the pulley groove in the pulley system, and the instrument force mapping matrix is ​​defined by the specific instrument drive structure. Through this optional implementation, the joint torque of the instrument joint during the movement of each set direction can be accurately determined, and then the joint torque change information can be accurately determined based on the joint torque collected at each moment, thereby improving the accuracy of mechanical zero calibration.

[0096] The technical solution of this embodiment performs an operation of controlling the target motor to drive the instrument joints of the target instrument to move in at least two set directions respectively when it is detected that the end of the target instrument is located inside the sleeve of the puncture device, or when it is detected that the pitch axis of the target instrument is located at the sleeve opening of the puncture device, or when it is detected that the end of the target instrument is located outside the sleeve of the puncture device. This achieves automatic calibration of the mechanical zero position of the target instrument when it is automatically determined that the loading of the instrument is completed, solves the technical problem of the prior art that the zero position calibration of the surgical instrument cannot be performed at any time, and improves the movement accuracy of the instrument.

[0097] Embodiment 4

[0098] Figure 4 A structural schematic diagram of a mechanical zero position calibration device provided in Example 4 of the present invention is applicable to the situation where the mechanical zero position of an instrument is automatically calibrated, and in particular to the situation where the motor of the instrument is controlled to drive the instrument joints to move in various set directions, and the mechanical zero position calibration is performed based on the joint torque change information obtained from the movement. The device specifically includes: a torque change determination module 410, a critical point determination module 420 and a position determination module 430.

[0099] The torque change determination module 410 is used to control the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determine the joint torque change information corresponding to each of the set directions;

[0100] A critical point determination module 420, configured to determine critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction;

[0101] The position determination module 430 is used to determine the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions.

[0102] Optionally, the torque change determination module 410 includes a joint control motion unit, which is used to control the target motor to drive the instrument joint of the target instrument to move in a first pitch direction, a second pitch direction, a first yaw direction and a second yaw direction, respectively, wherein the first pitch direction is opposite to the second pitch direction, and the first yaw direction is opposite to the second yaw direction.

[0103] Optionally, the location determination module 430 is specifically used for:

[0104] Based on the critical point information corresponding to the first pitch direction and the critical point information corresponding to the second pitch direction, the first position corresponding to the mechanical zero position of the pitch angle of the target device is determined; based on the critical point information corresponding to the first yaw direction and the critical point information corresponding to the second yaw direction, the second position corresponding to the mechanical zero position of the yaw angle of the target device is determined; based on the first position and the second position, the motor position corresponding to the mechanical zero position of the target device is determined.

[0105] Optionally, the joint control motion unit is also used to control the target motor to drive the opening angle of the instrument joint of the target instrument to move to a first opening angle; control the target motor to drive the opening angle of the instrument joint of the target instrument to move from the first opening angle to a second opening angle; wherein the first opening angle is greater than the second opening angle.

[0106] Optionally, the critical point determination module 420 is specifically used to:

[0107] Based on the joint torque change information corresponding to each of the set directions, the torque command relationship curve corresponding to each of the set directions is determined, wherein the horizontal axis of the torque command relationship curve is the joint position command and the vertical axis is the joint torque; based on the torque command relationship curve, the target joint position command is determined, and based on the motor reference position corresponding to the target joint position command, the critical point information corresponding to the set direction of the instrument joint is determined.

[0108] Optionally, the device also includes a joint torque determination module, which is used to determine the joint torque of the instrument joint during the movement of the set direction; the joint torque determination module is specifically used to determine the joint torque of the instrument joint during the movement of the set direction based on the instrument force mapping matrix of the target instrument, the driving rope tension of the target instrument and the driving rope friction of the target instrument.

[0109] Optionally, the critical points include the contact points between the target instrument and the inner wall of the puncture device, the contact points between the target instrument and the sleeve outlet of the puncture device, and the mechanical limit position points of the instrument joint.

[0110] Optionally, the device also includes an execution determination module, which is used to control the target motor to drive the instrument joint of the target instrument to move in at least two set directions if it is detected that the end of the target instrument is located inside the cannula of the puncture device, or the pitch axis of the target instrument is located at the cannula opening of the puncture device, or the end of the target instrument is detected outside the cannula of the puncture device.

[0111] Optionally, the device also includes a tension loading module, which is used to load the tension of the drive rope component based on a preset rope constraint condition before the target motor is controlled to drive the instrument joints of the target instrument to move in at least two set directions respectively.

[0112] In this embodiment, the torque change determination module is used to control the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and the joint torque change information corresponding to each set direction is determined. Then, the critical point determination module is used to determine the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction. The position determination module is used to determine the motor position corresponding to the mechanical zero position of the target instrument according to the critical point information corresponding to each set direction, thereby realizing automatic calibration of the mechanical zero position of the target instrument. This method is not limited by the site, equipment, technicians and other scenarios. Users can use this method to perform designated calibration of the mechanical zero position at any time according to actual needs, which solves the technical problem that the prior art cannot perform zero position calibration of surgical instruments at any time, thereby improving the movement accuracy of the instrument.

[0113] The mechanical zero position calibration device provided in the embodiment of the present invention can execute the mechanical zero position calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0114] It is worth noting that the various units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0115] Embodiment 5

[0116] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 5 of the present invention. Figure 5 A block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 5The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The device 12 is typically an electronic device that performs the function of determining the mechanical zero calibration.

[0117] like Figure 5 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting the various components (including the memory 28 and the processing unit 16).

[0118] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0119] The electronic device 12 typically includes a variety of computer readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0120] The memory 28 may include computer device readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer storage media. By way of example only, the storage device 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a read-only optical disk (Compact Disc-Read Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product 40, which has a set of program modules 42, which are configured to perform the functions of various embodiments of the present invention. The program product 40 may be stored in, for example, the memory 28, and such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each of which or some combination may include the implementation of a network environment. The program module 42 generally performs the functions and / or methods in the embodiments described in the present invention.

[0121] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) devices, tape drives, and data backup storage devices.

[0122] The processor 16 executes various functional applications and data processing by running the program stored in the memory 28, for example, implementing the mechanical zero calibration method provided in the above embodiment of the present invention, including:

[0123] Controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determining the joint torque change information corresponding to each of the set directions;

[0124] Determining critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction;

[0125] Based on the critical point information corresponding to each of the set directions, the motor position corresponding to the mechanical zero position of the target device is determined.

[0126] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the mechanical zero position calibration method provided by any embodiment of the present invention.

[0127] Embodiment 6

[0128] Embodiment 6 of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the mechanical zero calibration method provided in any embodiment of the present invention are implemented. The method includes:

[0129] Controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determining the joint torque change information corresponding to each of the set directions;

[0130] Determining critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction;

[0131] Based on the critical point information corresponding to each of the set directions, the motor position corresponding to the mechanical zero position of the target device is determined.

[0132] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0133] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0134] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0135] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of 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).

[0136] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A mechanical zero calibration method, characterized in that: The method comprises: Controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determining the joint torque change information corresponding to each of the set directions; Based on the joint torque change information corresponding to each of the set directions, determine the critical point information corresponding to each of the set directions of the instrument joint; wherein the critical points include the contact point between the target instrument and the inner wall of the puncture device, the contact point between the target instrument and the cannula outlet of the puncture device, and the mechanical limit position point of the instrument joint; Determining the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions; Wherein, determining the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction includes: Based on the joint torque change information corresponding to each of the set directions, determine the torque command relationship curve corresponding to each of the set directions, wherein the horizontal axis of the torque command relationship curve is the joint position command and the vertical axis is the joint torque; Determine a target joint position command based on the torque command relationship curve, and determine critical point information corresponding to a set direction of the instrument joint based on a motor reference position corresponding to the target joint position command; Wherein, determining the target joint position command based on the torque command relationship curve includes: The torque command relationship curve is determined, and the joint position command corresponding to the moment when the joint torque in the torque command relationship curve increases from zero is determined as the target joint position command.

2. The method according to claim 1, characterized in that: The controlling the target motor to drive the device joint of the target device to move in at least two set directions respectively includes: The target motor is controlled to drive the instrument joint of the target instrument to move in a first pitch direction, a second pitch direction, a first yaw direction and a second yaw direction respectively, wherein the first pitch direction is opposite to the second pitch direction, and the first yaw direction is opposite to the second yaw direction.

3. The method according to claim 2, characterized in that The determining of the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions includes: Determining a first position corresponding to a mechanical zero position of a pitch angle of the target device based on critical point information corresponding to the first pitch direction and critical point information corresponding to the second pitch direction; Determining a second position corresponding to a mechanical zero position of a yaw angle of the target device based on critical point information corresponding to the first yaw direction and critical point information corresponding to the second yaw direction; A motor position corresponding to a mechanical zero position of the target device is determined based on the first position and the second position.

4. The method according to claim 1 or 2, characterized in that: The controlling the target motor to drive the device joint of the target device to move in at least two set directions respectively includes: Controlling the target motor to drive the opening angle of the instrument joint of the target instrument to move to a first opening angle; Controlling the target motor to drive the opening angle of the instrument joint of the target instrument to move from the first opening angle to a second opening angle; Wherein, the first opening angle is greater than the second opening angle.

5. The method according to claim 1, characterized in that The method further comprises: determining a joint torque of the instrument joint during movement of the set direction; Determining the joint torque of the instrument joint during the movement of the set direction includes: The joint torque of the instrument joint during the movement in the set direction is determined based on the instrument force mapping matrix of the target instrument, the tension of the drive rope of the target instrument, and the friction of the drive rope of the target instrument.

6. The method according to claim 1, characterized in that The method further comprises: If it is detected that the end of the target instrument is located inside the sleeve of the puncture device, or, it is detected that the pitch axis of the target instrument is located at the sleeve opening of the puncture device, or, it is detected that the end of the target instrument is located outside the sleeve of the puncture device, an operation of controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively is executed.

7. The method according to claim 6, characterized in that Before controlling the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, the method further includes: The tension of the driving rope component of the target instrument is driven based on the preset rope constraint condition.

8. A mechanical zero calibration device, characterized in that: The device comprises: A torque change determination module, used to control the target motor to drive the instrument joint of the target instrument to move in at least two set directions respectively, and determine the joint torque change information corresponding to each of the set directions; A critical point determination module, for determining the critical point information corresponding to each set direction of the instrument joint based on the joint torque change information corresponding to each set direction; wherein the critical point includes the contact point between the target instrument and the inner wall of the puncture device, the contact point between the target instrument and the cannula outlet of the puncture device, and the mechanical limit position point of the instrument joint; A position determination module, used to determine the motor position corresponding to the mechanical zero position of the target device based on the critical point information corresponding to each of the set directions; The critical point determination module is specifically used to determine the torque command relationship curve corresponding to each of the set directions based on the joint torque change information corresponding to each of the set directions, wherein the horizontal axis of the torque command relationship curve is the joint position command and the vertical axis is the joint torque; determine the target joint position command based on the torque command relationship curve, and determine the critical point information corresponding to the set direction of the instrument joint based on the motor reference position corresponding to the target joint position command; Wherein, the critical point determination module is further used to determine the torque command relationship curve, and determine the joint position command corresponding to the moment when the joint torque in the torque command relationship curve increases from zero as the target joint position command.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the mechanical zero calibration method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the mechanical zero position calibration method as described in any one of claims 1 to 7 is implemented.

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