A control method, device, equipment and medium of a surgical robot

Abstract

The application discloses a surgical robot control method, device, equipment and medium, and is applied to the field of medical instruments. The surgical robot control method provided by the application first acquires handle control posture corresponding values at each preset time, wherein the preset times are a plurality of continuous collection times close to the current time, calculates the difference between the handle control posture corresponding values at each two adjacent times, adds up the weighted each difference value to obtain a reference value, and then determines whether to lock the surgical robot according to the relationship between the reference value and a preset value. A method capable of detecting whether a human hand leaves a surgical robot is provided, which can determine whether the human hand leaves by judging the relationship between the reference value and the preset value, so that the human hand is prevented from leaving the control handle of the surgical robot, but the surgical robot does not detect the leaving of the human hand, thereby causing a medical accident.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a control method, apparatus, equipment and medium for a surgical robot. Background Technology

[0002] With the advancement and development of science and technology, surgical robots integrate multiple modern high-tech methods and have extensive applications in clinical surgery. Unlike the traditional concept of surgery, surgeons can operate the machine to perform surgery away from the operating table. The emergence of surgical robots has brought great progress to the medical industry and is undoubtedly a revolutionary surgical tool in the field of minimally invasive surgery worldwide.

[0003] Surgical robots are controlled by surgeons using handles to perform surgery. To prevent medical accidents, the robot needs to be locked when the surgeon's hand separates from the handle. Current technologies include hardware-based hand detection, such as CN211761586U, which uses an infrared sensor mounted on the handle to detect whether the hand is separated. However, existing technologies lack a control method to determine when a hand leaves the surgical robot's handle.

[0004] In view of the above-mentioned technologies, finding a control method, device, equipment and medium for surgical robots is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device, equipment, and medium for a surgical robot, which determines whether a person's hand has left the control handle of the surgical robot. If the control handle of the surgical robot is detected to have left the hand, the surgical robot is locked to prevent medical accidents from occurring.

[0006] To address the aforementioned technical problems, this application provides a control method for a surgical robot, comprising:

[0007] Obtain the corresponding values ​​of the handle control posture at each preset time; where each preset time is a number of consecutive acquisition times close to the current time;

[0008] Determine the difference between the corresponding values ​​of the handle control posture at any two adjacent moments;

[0009] The reference value is obtained by weighting and summing the differences.

[0010] Whether to lock the surgical robot is determined based on the relationship between the reference value and the preset value.

[0011] Preferably, the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at two adjacent times are different;

[0012] The moment that is closest to the current moment in any two adjacent moments is the first adjacent moment;

[0013] The corresponding weighting coefficient for each difference is negatively correlated with the collection order of the first adjacent time step corresponding to that difference.

[0014] Preferably, the reference value is obtained by weighting and summing each difference.

[0015] The weighting coefficient corresponding to each difference is determined based on the collection order;

[0016] The sum of the products of each difference and its corresponding weighting coefficient is used as a reference value.

[0017] Preferably, the weighting coefficient is a preset coefficient divided by the square of the collection order;

[0018] The acquisition order is the acquisition order of the first adjacent time.

[0019] Preferably, determining whether to lock the surgical robot based on the relationship between the reference value and the preset value includes:

[0020] Determine if the reference value is less than the preset value;

[0021] If so, then lock the surgical robot;

[0022] If not, return to the step of obtaining the corresponding values ​​of the handle control posture at each preset time.

[0023] Preferably, before obtaining the corresponding values ​​of the handle control posture at each preset time, the method further includes:

[0024] Determine whether an presence signal from the infrared receiver on the control handle has been received;

[0025] If not, proceed to the step of obtaining the corresponding values ​​of the handle control posture at each preset time.

[0026] If so, the signal output by the infrared receiver will determine whether the human hand has left the surgical robot;

[0027] If the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal, then the decision to lock the surgical robot is made based on the relationship between the time when the infrared receiver received the infrared signal and the current time.

[0028] If the signal output by the infrared receiver indicates that the infrared receiver has not received an infrared signal, then return to the step of determining whether the hand has left the surgical robot based on whether the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal.

[0029] Preferably, determining whether to lock the surgical robot based on the relationship between the time the infrared receiver receives the infrared signal and the real-time time includes:

[0030] Determine whether the difference between the time the infrared receiver receives the infrared signal and the current time is greater than a preset time value;

[0031] If so, then lock the surgical robot;

[0032] If not, the control handle decelerates, obtains the corresponding values ​​of the handle control posture at each preset time, determines the difference between the corresponding values ​​of the handle control posture at each two adjacent times, and uses the sum of the products of each difference and the corresponding weighting coefficient as a reference value to determine whether the reference value is less than the preset value.

[0033] If the reference value is less than the preset value, return to the step of determining whether the difference between the time when the infrared receiver receives the infrared signal and the current time is greater than the preset time value;

[0034] If the reference value is not less than the preset value, then reset the time for the infrared receiver to receive the infrared signal, and return to the step of determining whether the difference between the time the infrared receiver receives the infrared signal and the current time is greater than the preset time value.

[0035] To address the aforementioned technical problems, this application also provides a control device for a surgical robot, comprising:

[0036] The acquisition module is used to acquire the corresponding values ​​of the handle control posture at each preset time; wherein each preset time is a number of consecutive acquisition times close to the current time.

[0037] The first determining module is used to determine the difference between the corresponding values ​​of the handle control posture at every two adjacent moments;

[0038] The weighted module sums up the weighted differences to obtain a reference value.

[0039] The second determining module is used to determine whether to lock the surgical robot based on the relationship between the reference value and the preset value.

[0040] To address the aforementioned technical problems, this application also provides a control device for a surgical robot, including a memory for storing computer programs;

[0041] A processor is used to execute computer programs to implement the steps of the hand detection method described above.

[0042] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned hand detection method.

[0043] This application provides a surgical robot control method. First, it acquires the corresponding values ​​of the handle control posture at each preset time. Each preset time consists of several consecutive acquisition times close to the current time. The difference between the corresponding values ​​of the handle control posture at every two adjacent times is calculated. Each difference is weighted and summed to obtain a reference value. Then, the relationship between the reference value and the preset value is used to determine whether to lock the surgical robot. This method can detect whether a human hand has left the surgical robot. It can determine whether the human hand has left by judging the relationship between the reference value and the preset value, preventing the human hand from leaving the control handle of the surgical robot. However, the surgical robot may not detect the human hand leaving, leading to a medical accident.

[0044] This application also provides a surgical robot control device, equipment, and medium, which corresponds to the surgical robot control method and therefore has the same beneficial effects as the surgical robot control method. Attached Figure Description

[0045] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart of a surgical robot control method provided in an embodiment of this application;

[0047] Figure 2 A flowchart illustrating the locking surgical robot provided in this application embodiment;

[0048] Figure 3 A flowchart of a surgical robot control method provided in another embodiment of this application;

[0049] Figure 4 This is a structural diagram of a surgical robot control device provided in another embodiment of this application;

[0050] Figure 5 This is a structural diagram of the control device for a surgical robot provided in another embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0052] Currently, the detection of whether a surgeon's hand has left the control handle of the surgical robot is mainly achieved through hardware. For example, CN211761586U has an infrared transmitter and an infrared receiver at the top and bottom of the handle, respectively. When the surgeon's hand is on the handle, the infrared receiver cannot receive an infrared signal, indicating that the surgeon's hand has not left the control handle. However, there is currently no control method to determine whether a surgeon's hand has left the control handle of the surgical robot.

[0053] The core of this application is to provide a control method, device, equipment and medium for a surgical robot. It proposes a method that can detect whether a human hand has left the control handle of the surgical robot, and can lock the surgical robot and control the surgical robot when the human hand is detected to have left the surgical robot.

[0054] It should be noted that the control method for the surgical robot provided in this application can be implemented by a micro control unit (MCU) in the surgical robot, or by other types of controllers.

[0055] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] This application provides a control method for a surgical robot. Figure 1 A flowchart of the surgical robot control method provided in the embodiments of this application; as follows: Figure 1 As shown, the method includes the following steps:

[0057] S10: Obtain the corresponding values ​​of the handle control posture at each preset time; wherein, each preset time is a number of consecutive acquisition times close to the current time.

[0058] In this embodiment, the MCU or other type of controller acquires the corresponding values ​​of the handle control posture at each preset time. Each preset time is a series of consecutive acquisition times close to the current time, i.e., the most recent series of consecutive acquisition times. The corresponding values ​​of the handle control posture mentioned in this embodiment are the control parameters input to the control system after the doctor operates the handle. In this step, the MCU or other type of controller acquires the handle control posture at the most recent times in real time, and records the acquired corresponding values ​​of the handle control posture as T. i T i-1 T i-2 T i-3 ...T i-197 T i-198 T i-nWhere i represents the total number of moments collected by the MCU or other type of controller. Taking the collection of 200 moments of corresponding handheld control posture values ​​as an example, the collected handheld control posture values ​​are denoted as T. i T i-1 T i-2 T i-3 ...T i-197 T i-198 T i-199 It is understood that the corresponding values ​​of the handle control posture at each preset time in this embodiment are collected in real time, that is, after the MCU or other type of controller collects the corresponding values ​​of the handle control posture at a certain time, it uploads them in real time.

[0059] The corresponding value of the handle control posture mentioned in this embodiment refers to the expression value corresponding to the control posture of the handle, which represents the control posture of the handle. If the corresponding values ​​of the handle control posture at two acquisition times are different, it means that the control posture of the handle at the two acquisition times is not completely the same.

[0060] It should be noted that the several consecutive acquisition moments mentioned in this embodiment can be the acquisition of the most recent 200 moments, or other numbers, and there is no limitation on this. The real-time acquisition of the corresponding values ​​of the handle control posture of the most recent 200 moments by the MCU or other types of controller is only a preferred embodiment.

[0061] S11: Determine the difference between the corresponding values ​​of the handle control attitude at any two adjacent moments.

[0062] This step requires calculating the difference between the corresponding values ​​of the handle control posture acquired at any two adjacent moments, denoted as A. For example, if the MCU or other type of controller acquires the corresponding values ​​of the handle control posture from the most recent 200 moments in real time in step S10, then it is necessary to calculate the difference between the corresponding values ​​of the handle control posture acquired at any two adjacent moments, where A... i = T i -T i-1 A i-1 = T i-1 -T i-2 A i-3 = T i-2 -T i-3 ...A i-196 = T i-196 -T i-197 A i-197 = T i-197 -T i-198 A i-198 =T i-198 -T i-199 .

[0063] S12: Weight each difference and sum them up to obtain the reference value.

[0064] Step S11 calculates the difference between the corresponding values ​​of the collected handle control posture at each two adjacent time points. After obtaining the difference, this embodiment proposes to assign different weights to the difference between the corresponding values ​​of the handle control posture at each two adjacent time points, and to sum up the weighted differences to obtain a reference value, which is denoted as P.

[0065] Understandably, there are several ways to assign weights to the differences between the corresponding values ​​of the controller control posture at any two adjacent moments. For example, one is to assign the same weight to the differences between any 10 or more corresponding values ​​of the controller control posture, and another is to assign different weights to the differences between the corresponding values ​​of the controller control posture.

[0066] S13: Determine whether to lock the surgical robot based on the relationship between the reference value and the preset value.

[0067] The preset value proposed in this embodiment is a pre-set value, denoted as Q. This embodiment determines whether to lock the surgical robot by comparing a reference value P and a preset value Q. There are several ways to compare them. One is to compare the size of the reference value P and the preset value Q. If the reference value P is less than the preset value Q, the surgical robot is locked. Another is to determine the size of the difference between the reference value P and the preset value Q. If the difference is outside the acceptable range, it is determined that the human hand has left the surgical robot, and the surgical robot needs to be locked.

[0068] This application provides a surgical robot control method. First, it acquires the corresponding values ​​of the handle control posture at each preset time. Each preset time consists of several consecutive acquisition times close to the current time. The difference between the corresponding values ​​of the handle control posture at every two adjacent times is calculated. Each difference is weighted and summed to obtain a reference value. Then, the relationship between the reference value and the preset value is used to determine whether to lock the surgical robot. This method can detect whether a human hand has left the surgical robot. It can determine whether the human hand has left by judging the relationship between the reference value and the preset value, preventing the human hand from leaving the control handle of the surgical robot. However, the surgical robot may not detect the human hand leaving, leading to a medical accident.

[0069] The above embodiments provide a detailed description of the control method for the surgical robot. Based on the above embodiments, as a preferred embodiment, different weights are assigned to the difference between the corresponding values ​​of the handle control posture at two adjacent moments.

[0070] In specific implementation, the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at two different adjacent moments are different; the moment closer to the current moment in each pair of adjacent moments is designated as the first adjacent moment; the weighting coefficient corresponding to each difference is negatively correlated with the acquisition order of the first adjacent moment corresponding to that difference. In this embodiment, different weights are assigned to the weighting coefficients corresponding to each difference, that is, the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at two different adjacent moments are different. The moment closer to the current moment in each pair of adjacent moments is set as the first adjacent moment because it is considered that the utility of the corresponding value of the handle control posture closer to the current acquisition moment is the greatest. Therefore, the weighting coefficient corresponding to each difference is negatively correlated with the acquisition order of the first adjacent moment corresponding to that difference. For example, the differences between each pair of adjacent moments are: A i = T i -T i-1 A i-1 = T i-1 -T i-2 A i-3 = T i-2 -T i-3 ...A i-196 = T i-196 -T i-197 A i-197 = T i-197 -T i-198 A i-198 = T i-198 -T i-199 Then, a corresponding weighting coefficient K is assigned to each difference. i Since the control posture of the handle is more effective closer to the current acquisition time, the difference closer to the current acquisition time is multiplied by a larger weighting coefficient.

[0071] In a preferred embodiment, the weighting coefficient is a preset coefficient divided by the square of the acquisition order; wherein the acquisition order is the acquisition order of the first adjacent time.

[0072] Selecting the moment closer to the current moment from two adjacent moments as the first adjacent moment is to assign greater weight to the handle control attitude values ​​that are closer to the current acquisition moment. In practical applications, the weighting coefficients can be calculated by dividing the preset value by the square of the acquisition order, where the acquisition order is the acquisition order of the first adjacent moment. The preset value can be set to 1, i.e., each weighting coefficient K... i =1 / i 2 .

[0073] Figure 2 A flowchart of the locking surgical robot provided in the embodiments of this application; such as Figure 2As shown, after acquiring the handle control attitude of the most recent 200 moments in step S20 and calculating the difference between every two adjacent moments in step S21, each difference is weighted and summed to obtain a reference value. As shown in step S22, each difference is multiplied by a weighting coefficient and summed to obtain the reference value P, i.e., P=K. i A i + K i-1 A i-1 + K i-2 A i-2 ...K i-197 A i-197 + K i-198 A i-198 Among them, K i =1 / i 2 , where i represents the total number of moments collected by the MCU or other types of controller.

[0074] In this embodiment, the weighting coefficient corresponding to each difference is determined according to the acquisition order, and the sum of the products of each difference and its corresponding weighting coefficient is used as a reference value P. Furthermore, considering that the control posture of the handle closest to the current acquisition time has the greatest utility, the difference closest to the current acquisition time is multiplied by a larger weighting coefficient, thus the final result is more meaningful.

[0075] The above embodiments provide a detailed description of the weighting coefficients. Based on these embodiments, a preferred embodiment is as follows: Figure 2 As shown in steps S23 and S24, the determination of whether to lock the surgical robot is based on the relationship between the reference value P and the preset value Q. It is determined whether the reference value P is less than the preset value Q; if yes, the surgical robot is locked; if no, the process returns to the step of collecting the handle control posture of the most recent 200 moments.

[0076] In specific implementation, it is determined whether the calculated reference value P is less than the preset value Q, where Q is an empirical value. In a preferred embodiment, Q is set to 0.00001.

[0077] This embodiment uses the most recent 200 hand controller postures and calculates a reference value P and a preset value Q. By judging whether the reference value P is less than the preset value Q, it is determined whether the hand has left, which reduces the software processing time and enables faster locking of the robot.

[0078] The above embodiments provide a detailed description of the control method for the surgical robot. Based on these embodiments, as a preferred embodiment, a solution for human hand detection can be implemented via hardware using an existing control handle. Figure 3 A flowchart of a surgical robot control method provided in another embodiment of this application; as shown Figure 3As shown, before obtaining the corresponding values ​​of the handle control posture at each preset time, the process also includes:

[0079] S30: Determine whether there is an infrared receiver on the control handle of the current surgical robot. If yes, proceed to step S31; otherwise, proceed to step S20.

[0080] S31: Determine whether the infrared receiver has received an infrared signal. If an infrared signal is received, determine that the person's hand has left. If the infrared receiver receives an infrared signal, proceed to step S32. If the infrared receiver does not receive an infrared signal, return to step S31 and repeat the determination.

[0081] S32: Record the time t0 when the infrared receiver receives the infrared signal, and determine whether the difference between the current time ti and t0 exceeds 0.3 seconds. If the difference between the current time ti and t0 exceeds 0.3 seconds, proceed to step S33. If the difference between the current time ti and t0 does not exceed 0.3 seconds, proceed to step S34.

[0082] S33: Lock the robot.

[0083] S34: Control the handle to decelerate; and calculate the handle control posture of the most recent 200 moments collected in real time, and calculate the difference between every two adjacent moments.

[0084] S35: Multiply each difference by a weighting factor and sum them up to obtain a reference value.

[0085] S36: Determine whether the reference value is less than the preset value. If the reference value is less than the preset value, return to step S32. If the reference value is not less than the preset value, proceed to step S37.

[0086] S37: Reset t0.

[0087] In practice, the system first checks if the surgical robot's control handle has an infrared receiver. If it does, the system uses this information for judgment. If not, it calculates the difference between adjacent cycles to determine if the robot is locked. This involves checking if the infrared receiver receives an infrared signal. If so, the time t0 when the receiver receives the signal is recorded. The difference between the current time ti and t0 is then compared to a set value of 0.3 seconds. If the difference is not greater than the set value, the system calculates the difference between adjacent cycles to determine if the robot is locked. This requires the control handle to decelerate and calculates the control posture of the handle over the most recent 200 moments. The difference between each pair of adjacent moments is calculated, and each difference is multiplied by a weighting factor and summed to obtain a reference value P. If the reference value P is less than a preset value Q, the system returns to the previous judgment, comparing the time t0 when the infrared receiver receives the signal with the current time t0. i The step involves checking if the difference between the reference value P and the current time t0 is greater than the preset time value of 0.3 seconds. If the reference value P is not less than the preset value Q, the time t0 for the infrared receiver to receive the infrared signal is reset, and the process returns to the step of determining whether the time t0 for the infrared receiver to receive the infrared signal and the current time t0 are greater than the preset time t0. i The step is to check whether the difference is greater than the preset time value.

[0088] This embodiment takes into account the existing solution of detecting human hands through hardware in the control handle. It combines the method of determining whether to lock the surgical robot by calculating the difference between adjacent cycles with the solution of detecting human hands through hardware, so as to more accurately determine whether the human hand has left the surgical robot and lock the surgical robot.

[0089] In the above embodiments, the control method for the surgical robot has been described in detail. This application also provides embodiments corresponding to the control device for the surgical robot. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0090] From the perspective of functional modules, this application provides a control device for a surgical robot. Figure 4 This is a structural diagram of a surgical robot control device provided in another embodiment of this application; as shown. Figure 4 As shown, the device includes:

[0091] The acquisition module 10 is used to acquire the corresponding values ​​of the handle control posture at each preset time; wherein, each preset time is a number of consecutive acquisition times close to the current time.

[0092] The first determining module 11 is used to determine the difference between the corresponding values ​​of the handle control posture at every two adjacent moments;

[0093] Weighting module 12 weights each difference and then sums them to obtain a reference value;

[0094] The second determining module 13 is used to determine whether to lock the surgical robot based on the relationship between the reference value and the preset value.

[0095] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0096] This application provides a surgical robot control device. First, an acquisition module 10 acquires the corresponding values ​​of the handle control posture at preset times. Each preset time is a series of consecutive acquisition times close to the current time. A first determination module 11 calculates the difference between the corresponding values ​​of the handle control posture at every two adjacent times. A weighting module 12 weights each difference and sums them to obtain a reference value. Then, a second determination module 13 determines whether to lock the surgical robot based on the relationship between the reference value and the preset value. This provides a device capable of detecting whether a human hand has left the surgical robot. It can determine whether the human hand has left by judging the relationship between the reference value and the preset value, preventing the human hand from leaving the control handle of the surgical robot. However, the surgical robot may not detect the human hand leaving, leading to a medical accident.

[0097] Based on the above embodiments, in the weighting module 12, the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at two different adjacent times are different; the time closest to the current time in each pair of adjacent times is the first adjacent time; the corresponding weighting coefficient for each difference is negatively correlated with the collection order of the first adjacent time corresponding to that difference.

[0098] The weighting module 12 is specifically used to determine the weighting coefficient corresponding to each difference based on the collection order; and to use the sum of the products of each difference and its corresponding weighting coefficient as a reference value.

[0099] The weighting coefficient in the weighting module 12 is the preset coefficient divided by the square of the acquisition order; where the acquisition order is the acquisition order of the first adjacent time.

[0100] The second determining module 13 is specifically used to determine whether the reference value is less than the preset value; if so, the locking module is triggered; if not, the acquisition module 10 is triggered.

[0101] Locking module, used to lock the surgical robot.

[0102] The surgical robot control device also includes: a first judgment module, used to determine whether an in-situ signal of the infrared receiver on the control handle is received before acquiring the corresponding values ​​of the handle control posture at each preset time; if not, the acquisition module 10 is triggered; if so, the second judgment module is triggered.

[0103] The second judgment module is used to determine whether the human hand has left the surgical robot based on the signal output by the infrared receiver. If the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal, the third judgment module is triggered. If the signal output by the infrared receiver indicates that the infrared receiver has not received an infrared signal, the human hand is determined again based on whether the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal.

[0104] The third judgment module is used to determine whether to lock the surgical robot based on the relationship between the time when the infrared receiver receives the infrared signal and the current time.

[0105] The third judgment module is specifically used to determine whether the difference between the time when the infrared receiver receives the infrared signal and the current time is greater than a preset time value; if yes, the locking module is triggered; if no, the control module is triggered.

[0106] Locking module for locking the surgical robot;

[0107] The control module is used to control the deceleration of the handle, obtain the corresponding values ​​of the handle control posture at each preset time, determine the difference between the corresponding values ​​of the handle control posture at each two adjacent times, use the sum of the products of each difference and the corresponding weighting coefficient as a reference value, and determine whether the reference value is less than the preset value. If it is, the third judgment module is triggered; if not, the reset module is triggered and the third judgment module is triggered.

[0108] The reset module is used to reset the time when the infrared receiver receives infrared signals.

[0109] Figure 5 This is a structural diagram of the control device for a surgical robot provided in another embodiment of this application; as shown below. Figure 5 As shown, the control device of the surgical robot includes: a memory 20 for storing computer programs;

[0110] The processor 21 is used to execute computer programs to implement the steps of the control method for the surgical robot as described in the above embodiments.

[0111] The control device for the surgical robot provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0112] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0113] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the surgical robot control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, data related to the surgical robot control method.

[0114] In some embodiments, the control device of the surgical robot may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0115] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the control device of the surgical robot and may include more or fewer components than shown.

[0116] The control device for the surgical robot provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following methods:

[0117] First, the corresponding values ​​of the handle control posture at each preset time point are obtained. Each preset time point consists of several consecutive acquisition times close to the current time. The difference between the corresponding values ​​of the handle control posture at every two adjacent times point is calculated. Each difference is weighted and summed to obtain a reference value. Then, the relationship between the reference value and the preset value is used to determine whether to lock the surgical robot. This provides a method to detect whether a human hand has left the surgical robot. It can determine whether the human hand has left by judging the relationship between the reference value and the preset value, preventing the human hand from leaving the control handle of the surgical robot. However, the surgical robot may not detect the human hand leaving, leading to a medical accident.

[0118] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0119] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] The control method, apparatus, device, and medium for a surgical robot provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0121] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method of a surgical robot, characterized by, include: Obtain the corresponding values ​​of the handle control posture at each preset time; wherein, each preset time is a number of consecutive acquisition times close to the current time; The difference between the corresponding values ​​of the handle control posture at each two adjacent time points is determined; the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at different two adjacent time points are different; the time closest to the current time among each two adjacent time points is the first adjacent time point; the corresponding weighting coefficient for each difference is negatively correlated with the collection order of the first adjacent time point corresponding to that difference; The reference value is obtained by weighting and summing the differences. Whether to lock the surgical robot is determined based on the relationship between the reference value and the preset value; The step of determining whether to lock the surgical robot based on the relationship between the reference value and the preset value includes: Determine whether the reference value is less than the preset value; If so, then lock the surgical robot; If not, return to the step of obtaining the corresponding values ​​of the handle control posture at each preset time.

2. The control method for the surgical robot according to claim 1, characterized in that, The step of weighting and summing each difference to obtain a reference value includes: The weighting coefficient corresponding to each difference is determined according to the collection order; The sum of the products of each difference and its corresponding weighting coefficient is used as a reference value.

3. The control method for the surgical robot according to claim 2, characterized in that, The weighting coefficient is a preset coefficient divided by the square of the collection order; The acquisition order is the acquisition order of the first adjacent time moments.

4. The control method for the surgical robot according to any one of claims 1 to 3, characterized in that, Before obtaining the corresponding values ​​of the handle control posture at each preset time, the method further includes: Determine whether an presence signal from the infrared receiver on the control handle has been received; If not, proceed to the step of obtaining the corresponding values ​​of the handle control posture at each preset time. If so, the signal output by the infrared receiver will determine whether the human hand has left the surgical robot; If the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal, then it is determined whether to lock the surgical robot based on the relationship between the time when the infrared receiver received the infrared signal and the current time. If the signal output by the infrared receiver indicates that the infrared receiver has not received an infrared signal, then return to the step of determining whether the hand has left the surgical robot based on whether the signal output by the infrared receiver indicates that the infrared receiver has received an infrared signal.

5. The control method for the surgical robot according to claim 4, characterized in that, The step of determining whether to lock the surgical robot based on the relationship between the time when the infrared signal is received by the infrared receiver and real-time includes: Determine whether the difference between the time when the infrared receiver receives the infrared signal and the current time is greater than a preset time value; If so, then lock the surgical robot; If not, control the handle to decelerate, obtain the corresponding values ​​of the handle control posture at each preset time, determine the difference between the corresponding values ​​of the handle control posture at each two adjacent times, take the sum of the products of each difference and the corresponding weighting coefficient as a reference value, and determine whether the reference value is less than the preset value. If the reference value is less than the preset value, then return to the step of determining whether the difference between the time when the infrared receiver receives the infrared signal and the current time is greater than the preset time value; If the reference value is not less than the preset value, then the time for the infrared receiver to receive the infrared signal is reset, and the step of determining whether the difference between the time for the infrared receiver to receive the infrared signal and the current time is greater than the preset time value is returned.

6. A control device for a surgical robot, characterized in that, include: The acquisition module is used to acquire the corresponding values ​​of the handle control posture at each preset time; wherein, each preset time is a number of consecutive acquisition times close to the current time; The first determining module is used to determine the difference between the corresponding values ​​of the handle control posture at each two adjacent time points; the weighting coefficients corresponding to the differences between the corresponding values ​​of the handle control posture at different two adjacent time points are different; the time closest to the current time among each two adjacent time points is the first adjacent time point; the corresponding weighting coefficient for each difference is negatively correlated with the collection order of the first adjacent time point corresponding to the difference. The weighting module weights each difference and then sums them to obtain a reference value; The second determining module is used to determine whether to lock the surgical robot based on the relationship between the reference value and the preset value; The second determining module is specifically used to determine whether the reference value is less than the preset value; if so, the surgical robot is locked; if not, the step of obtaining the corresponding values ​​of the handle control posture at each preset time is returned.

7. A control device for a surgical robot, characterized in that, Includes memory used to store computer programs; A processor for executing the computer program to implement the steps of the control method for the surgical robot as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the surgical robot as described in any one of claims 1 to 5.

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