Tactile feedback method, device and system suitable for narrow cavity surgery scenes

Abstract

The application provides a kind of touch feedback method, device and system suitable for narrow cavity surgical scene, method includes: in the end of doctor hand-held touch grip lever control surgical instrument, the operation of pathological tissue in narrow cavity is carried out, and when time-varying electromagnetic field is generated in the inside of cavity in touch sensing and generation array, based on signal acquisition equipment, the first signal collected by detection coil in touch grip lever is acquired;Extract the positioning signal in the first signal;According to the amplitude of the time-domain positioning signal corresponding to the positioning signal, the distance between detection coil and electromagnetic coil in touch sensing and generation array is determined;According to distance, the pose of touch grip lever is determined.The application designs a kind of touch sensing and generation array suitable for surgical scene, electromagnetic coil is arranged in symmetrical redundant form, forms touch cavity, for simulating the real-time touch feeling of surgical instrument in narrow cavity, can realize the touch positioning of surgical instrument operation in narrow cavity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of human-computer interaction, and particularly relates to a haptic feedback method, device and system suitable for a narrow cavity operation scene. BACKGROUND

[0002] Whether it is through a narrow natural cavity or an interventional type operation, the visual information obtained by the surgeon is currently the only reliable operation live data, and most surgical instruments rely on the stability of the machine to achieve the accuracy of control. With the advancement of the automation degree of surgical robots and the flexible change of the operation mode of surgeons, the fusion of visual information and haptic information to provide multi-dimensional operation perception for doctors has become a research hotspot in the next stage of human-computer interaction of surgical robots.

[0003] In a specific haptic feedback implementation, devices that use mechanical structures to generate haptics, such as various force feedback operation master hands of ForceDimension Company, the Touch series of 3D Systems Company, and the multi-degree-of-freedom force feedback operating rod of Haption Company, have achieved wide application in many industries, but due to mechanical friction and the characteristics of their own structure, such devices have not fully gained the trust of surgeons to be safely used in minimally invasive surgery.

[0004] There are also many current researches focusing on this field, including: array type electromagnetic coil tumor ablation technology using high temperature superconductor material; array type devices and methods for converting electromagnetic energy into mechanical energy for tactile display; micro electromagnetic coil array for haptics; remote tactile feedback device using neural network method to determine parameter adjustment; using combined electromagnets to provide fingertip haptic feedback for users; adding software and hardware functions of haptic feedback on the basis of the basic configuration of the mouse; electromagnetic coil focusing array for eye surgery, and optimization design of electromagnetic coils and array arrangement from the perspective of working space, etc.

[0005] The prior art has the following disadvantages or deficiencies:

[0006] (1) : Commercially, for example, the U.S. company https: / / www.geeplus.com / provides various types of closed drive devices mainly using solenoids, but the haptic applications that can be provided are greatly limited by the structure. For example, the haptic driver developed by Cirrus Logic is a driver for LRA or VCM based on the company's audio research D-class amplifier. For example, the linear motor developed by Nidec provides single-axis mobile touch. For example, the series of haptic exploration kits designed by Boreas. For example, the thin sheet-shaped haptic actuator developed by TDK. For example, the driver for various touch elements developed by Texas Instruments. The above-mentioned haptic drivers can be widely used in the consumer electronics field, but in the medical field, the open-loop characteristics of the above-mentioned products themselves make it impossible for patients and doctors to rely on such haptic feedback devices or components in critical scenarios that affect patient safety.

[0007] (2) : Existing haptic generation devices based on solenoid form are relatively large in size, require customized driving capable of providing high power consumption, and are relatively expensive. For example, in the article "Rendering of Virtual Volumetric Shapes Using an Electromagnetic-Based Haptic Interface", the volume of the electromagnetic coil array is not coordinated with the effective range of action. If such a mechanism is considered for application in actual minimally invasive surgery, it first needs to occupy valuable operating room space, and the large operation device will make it inconvenient for the doctor to operate multiple tasks. In addition, if the operation involves nuclear magnetic resonance MRI, the shape and effective range of the haptic feedback device need to be designed more carefully to prevent interference with existing surgical instruments.

[0008] (3) : There is no device invention and software and hardware method that can be adapted to natural orifice and vascular intervention at the same time in the current haptic feedback patents, and this part of the invention is still in a relatively blank state.

[0009] (4) : There is no fine device that can simultaneously realize haptic positioning and feedback functions at present, and various existing haptic feedback devices are not well combined with haptic sensors, resulting in that although the current loop is introduced inside the algorithm, the feeling ultimately fed back to the human hand still cannot be effectively measured, especially in the scene application of minimally invasive surgery, there is a probability of causing unpredictable fatal consequences.

[0010] (5) : In the fingertip tactile part, other applications have not considered the combination with muscle touch. In the existing operation mode of minimally invasive surgery, the doctor is not only lack of fingertip tactile feedback in operation, but also the muscle feedback of palm, wrist and elbow part is not effectively utilized. SUMMARY

[0011] The application provides a tactile feedback method, device and system suitable for a narrow cavity operation scene, which is used to solve at least one of the above problems in the prior art.

[0012] The application provides a tactile feedback method suitable for a narrow cavity operation scene, which comprises the following steps.

[0013] In the case that a doctor holds a tactile gripping rod at one end of a tactile sensing and generating array to control a surgical instrument and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripping rod is acquired based on a signal acquisition device in the tactile sensing and generating array, the other end of the tactile gripping rod is inserted into a region where the time-varying electromagnetic field is generated, the cavity comprises a plurality of electromagnetic coils arranged in a symmetric redundant manner, and the cavity is used to generate the time-varying electromagnetic field in the case that each electromagnetic coil inputs a tactile driving sequence signal.

[0014] The positioning signal in the first signal is extracted.

[0015] The distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array is determined according to the amplitude of the time-domain positioning signal corresponding to the positioning signal.

[0016] The pose of the tactile gripping rod is determined according to the distance.

[0017] According to the tactile feedback method suitable for the narrow cavity operation scene provided by the application,

[0018] The determination of the pose of the tactile gripping rod according to the distance comprises the following steps.

[0019] The first position and pose of the tactile gripping rod are determined according to the attitude angle, the phase and the frequency of the time-domain positioning signal, and the attitude angle is determined according to the angle signal collected by an inertial measurement unit in the tactile gripping rod.

[0020] According to a comparison result of a first magnetic field intensity of the time-varying electromagnetic field calculated and a second magnetic field intensity of the time-varying electromagnetic field measured, the first position and the pose are corrected, the first magnetic field intensity is determined according to a second position of the haptic handle and a driving current of the haptic handle, the second position is determined according to the distance, and the second magnetic field intensity is measured according to a Hall sensor in the haptic handle;

[0021] According to the corrected first position and pose, the pose of the haptic handle is determined.

[0022] According to the haptic feedback method provided by the application, after the pose of the haptic handle is determined according to the corrected first position and pose, the method further comprises:

[0023] According to the driving current of the haptic handle and the number of the electromagnetic coils, a current matrix is determined.

[0024] According to the corrected first position and the number of the electromagnetic coils, a position matrix is determined.

[0025] According to the corrected pose and the number of the electromagnetic coils, a pose matrix is determined.

[0026] According to the current matrix, the position matrix and the pose matrix, a first matrix is determined.

[0027] According to force feedback data of the haptic handle collected by a force sensor in the haptic handle and force feedback data expected to be reached by the haptic handle, the driving current of the haptic handle and the first matrix are calibrated, and a calibrated driving current and first matrix are obtained.

[0028] According to target haptic signals collected by a haptic sensor in the haptic handle and expected measured haptic signals, the calibrated driving current and first matrix are calibrated, and a second matrix is obtained.

[0029] The target haptic signals and the expected measured haptic signals are taken as input variables of a negative feedback controller, and target driving current is determined according to the second matrix, and the target driving current is taken as a haptic feedback signal of the haptic handle.

[0030] According to the haptic feedback method provided by the application, the extraction of the positioning signal in the first signal comprises:

[0031] The first signal is subjected to Fourier transform to obtain haptic signals and positioning signals under different frequency bands.

[0032] Filter the haptic signal based on a band-pass filter to obtain the positioning signal.

[0033] According to the haptic feedback method suitable for the narrow cavity operation scene provided by the application, the acquisition mode of the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal comprises:

[0034] The Hilbert transform is performed on the positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal.

[0035] The application further provides a haptic feedback device suitable for a narrow cavity operation scene, comprising the haptic sensing and generating array in the haptic feedback method suitable for the narrow cavity operation scene.

[0036] According to the haptic feedback device suitable for the narrow cavity operation scene provided by the application, the haptic feedback device further comprises:

[0037] The degree of freedom platform comprises a first component and a second component arranged on the end effector of the degree of freedom platform, the first component is used for placing the wrist of the doctor, and the second component is used for measuring the haptic perceived by the wrist when the outer sheath connected with the surgical instrument travels in the narrow cavity under the condition that the doctor holds one end of the haptic handlebar to control the surgical instrument to perform the operation on the lesion tissue in the narrow cavity.

[0038] The application further provides a haptic feedback system suitable for a narrow cavity operation scene, comprising:

[0039] The first acquisition module is configured to acquire a first signal collected by a detection coil in the haptic handlebar based on a signal collection device in the haptic sensing and generating array under the condition that the doctor holds one end of the haptic handlebar in the haptic sensing and generating array to control the surgical instrument to perform the operation on the lesion tissue in the narrow cavity and a time-varying electromagnetic field is generated inside a cavity in the haptic sensing and generating array, the other end of the haptic handlebar extends into a region where the time-varying electromagnetic field is generated, and the cavity comprises a plurality of electromagnetic coils arranged in a symmetric redundancy mode, and the cavity is configured to generate the time-varying electromagnetic field under the condition that each electromagnetic coil inputs a haptic driving sequence signal.

[0040] The second acquisition module is configured to extract a positioning signal from the first signal.

[0041] The third acquisition module is configured to determine the distance between the detection coil and the electromagnetic coil in the haptic sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal.

[0042] a haptic positioning module configured to determine a pose of the haptic handle based on the distance.

[0043] The application also provides an electronic device comprising a processor and a memory storing a computer program, wherein the processor implements the haptic feedback method for surgical scenarios in narrow cavities according to any one of the above embodiments when executing the program.

[0044] The application also provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the haptic feedback method for surgical scenarios in narrow cavities according to any one of the above embodiments.

[0045] The application also provides a computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the haptic feedback method for surgical scenarios in narrow cavities according to any one of the above embodiments.

[0046] The application provides a haptic feedback method, device and system for surgical scenarios in narrow cavities, which designs a haptic sensing and generating array for surgical scenarios, arranges electromagnetic coils in a symmetrical redundant form to form a haptic cavity, and simulates real-time haptics of surgical instruments in narrow cavities, so as to realize haptic positioning of surgical instruments in narrow cavities. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 is a flowchart of the haptic feedback method for surgical scenarios in narrow cavities provided by the application;

[0049] Figure 2 is a structural schematic diagram of the haptic feedback device for surgical scenarios in narrow cavities provided by the application;

[0050] Figure 3 is one of the operation schematic diagrams of the haptic sensing and generating array provided by the application;

[0051] Figure 4 is another operation schematic diagram of the haptic sensing and generating array provided by the application;

[0052] Figure 5 is a contrast relationship diagram of the combined haptic device and actual flexible surgical robot and instrument end provided by the application;

[0053] Figure 6 is a schematic diagram of the hand of a surgeon or user holding a tactile grip provided by the present invention;

[0054] Figure 7 This is a schematic diagram of the force exerted on the fingertips of a surgeon holding a tactile grip provided by the present invention;

[0055] Figure 8 This is a schematic diagram of the tactile feedback force on the surgeon's wrist provided by the present invention;

[0056] Figure 9 It is the structural design logic diagram provided by the present invention;

[0057] Figure 10 It is a schematic diagram of the overall structure of the tactile sensing and generating array provided by the present invention;

[0058] Figure 11 is a schematic diagram of the cavity portion of the tactile sensing and generating array provided by the present invention;

[0059] Figure 12 is a cross-sectional schematic diagram of the pen-shaped touch rod provided by the present invention;

[0060] Figure 13 Schematic diagram of the frame structure of the tactile driving sequence signal provided by the present invention;

[0061] Figure 14 It is a logical diagram of the algorithm design provided by the present invention;

[0062] Figure 15 This is a schematic diagram of the envelope of the tactile-driven high-frequency electromagnetic positioning algorithm provided by the present invention;

[0063] Figure 16 This is a schematic diagram of the circuit design logic corresponding to the tactile feedback device provided by the present invention, which is applicable to narrow cavity surgery scenarios;

[0064] Figure 17 This is a schematic structural diagram of the electronic circuit portion of the tactile feedback array cavity provided by the present invention;

[0065] Figure 18 This is a schematic structural diagram of the electronic circuit portion of the pen-shaped touch rod provided by the present invention;

[0066] Figure 19 This is a cross-sectional view of the structural design of the electromagnetic coil provided by the present invention;

[0067] Figure 20 is a schematic diagram of the testing method provided by the present invention;

[0068] Figure 21 Schematic diagram of the structure of the tactile feedback system provided by the present invention, which is applicable to narrow cavity surgery scenarios;

[0069] Figure 22 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0070] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0071] The present invention provides a tactile feedback method suitable for narrow cavity surgery scenarios. (1) A tactile sensing and actuation array suitable for surgical scenarios is designed. Electromagnetic coils are arranged in a symmetrical and redundant manner to form a tactile cavity, which is used to simulate real-time tactile sensations in the cavity. This method can achieve tactile positioning and tactile generation for surgical instrument manipulation within a narrow cavity. The array design and arrangement follow the redundancy scheme set forth in this patent, and the use of tactile coils adapted to the working range of the human hand can produce the most efficient tactile generation space.

[0072] (2) The tactile sensing and generation array (or magneto-tactile array) and the multi-degree-of-freedom platform work together to provide surgeons with wrist muscle tactile feedback. The surgeon operates the pen-shaped stylus to adapt to the instruments used in actual surgical operations. At the same time, the multi-degree-of-freedom platform provides surgeons with muscle tactile feedback of surgical instruments, such as the outer sheath of a soft robot or other moving parts of the robot, in the form of a lift or wristband. Specific application scenarios include, for example, the pen-shaped stylus providing subtle tactile sensations of shearing, twisting, and collision of surgical instruments, while the multi-degree-of-freedom platform provides overall tactile sensations such as friction, blockage, and resistance during entry into natural cavities or interventional procedures.

[0073] (3) In the driving part, a fractional-order proportional differential controller PID is used to complete the closed-loop excitation of the time-varying electromagnetic field, making up for the deficiency of the traditional superposition principle in mutual inductance calculation. In the positioning part, a multi-layer envelope extraction electromagnetic high-frequency positioning algorithm using Hilbert transform is proposed, which can make full use of the frequency band resources to achieve accurate positioning. The specific implementation is as follows:

[0074] Figure 1 FIG. 1 is a flow chart of a tactile feedback method for narrow cavity surgery provided by the present invention. Figure 1 As shown, the method includes:

[0075] Step 110, in the medical handheld tactile sensing and generating array, a tactile handle controls a surgical instrument, a lesion in a narrow cavity is operated, and in the case that a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile handle is acquired based on a signal collection device in the tactile sensing and generating array, another end of the tactile handle extends into a region where the time-varying electromagnetic field is generated, the cavity includes a plurality of electromagnetic coils arranged in a symmetric redundant manner, and in the case that each electromagnetic coil inputs a tactile driving sequence signal, the cavity is used to generate the time-varying electromagnetic field;

[0076] Step 120, a positioning signal in the first signal is extracted;

[0077] Step 130, a distance between the detection coil and an electromagnetic coil in the tactile sensing and generating array is determined according to an amplitude of a time-domain positioning signal corresponding to the positioning signal;

[0078] Step 140, a pose of the tactile handle is determined according to the distance.

[0079] It should be noted that the execution subject of the above method can be a computer device.

[0080] Optionally, the application uses the basic principle of magnetic force driving and positioning of a magnet placed in an electromagnetic field, and the difficulty lies in the accuracy of using magnetic force for tactile feedback and the positioning problem of moving magnets in a time-varying electromagnetic field. In order to solve the above two basic problems, the following solutions are proposed in principle.

[0081] Firstly, the overall model of the tactile sensing and generating array is constructed, and the Biot-Savart law and the Gauss law are followed in the magnetic field generation, wherein is the magnetic induction intensity, is the displacement current vector, r' is the displacement vector, is the unit vector, and μ0 represents the vacuum magnetic permeability constant.

[0082]

[0083]

[0084] wherein V represents the integral of the current vector in a certain volume to obtain the magnetic induction intensity in the volume space, represents the vector of the magnetic field intensity, represents the magnetic vector potential.

[0085] For a static magnetic field, the linear superposition principle of the magnetic field is followed, that is, the magnetic field induction intensity at a point in space The magnetic field strength can be regarded as the vector superposition of multiple magnetic field strengths.

[0086]

[0087] For time-varying electromagnetic field, the linear superposition principle is no longer applicable, and the alternating magnetic field will excite a new magnetic field to change the magnetic force result, and within a certain approximation, a proportional-integral-derivative controller (PID) can be used to converge the calculation result between the target magnetic induction intensity and the input excitation current to a preset value, as follows.

[0088]

[0089] Where H(s) represents the PID system function, Y(s) represents the PID system output, X(s) represents the PID system input, Kp represents the proportional control parameter, KI represents the integral control parameter, Kd represents the derivative control parameter, s represents the Laplace domain variable, and lambda and mu represent the number of integral and differential operation layers. p D

[0090] The force of the magnet in the magnetic field can be represented by the following formula. Since there is no magnetic monopole, the force of the electromagnet approximated as a magnetic dipole in the magnetic field is expressed by the magnetic torque, where tau is the magnetic torque, m is the magnetic dipole moment, and H is the magnetic field strength.

[0091]

[0092] Using the forward calculation method of the magnetic field, the analytical solution of the magnetic field can be obtained, but the calculation complexity and the requirement for the update frequency determine that the forward calculation is suitable for the calibration and feedback verification of the key mode of the electromagnetic field in the haptic feedback application. The inverse calculation adopts the system identification of the magnetic haptic array model, which can quickly complete the monitoring of the magnetic field state. Through the real-time corresponding relationship between the input variables and the output variables, the current state of the magnetic field is calculated, including the excitation and positioning.

[0093] The basic principles used in the application also include the method of mixed frequency envelope extraction, digital-to-analog converter (DAC) and analog-to-digital converter (ADC), generation of sinusoidal pulse width modulation (SPWM) signal, etc. The mixed frequency envelope extraction adopts the form of Hilbert transform, which can quickly calculate the envelope (i.e. amplitude), phase and instantaneous frequency, where Z(t) is a complex signal, envo(t) is the envelope of the extracted signal, and f(t) is the phase and instantaneous frequency of the signal.

[0094] ​​​

[0095] Among them, Z r represents the real component, Z i represents the imaginary component, and j represents the imaginary unit.

[0096] The implementation of the DAC depends on the quantization of the input sequence bytes on the hardware resistor network, as shown below, where I o is the output current, K is the resistor network proportional factor, I REF is the reference current value, B i and N represent the number of bytes and bits respectively.

[0097]

[0098] The implementation of ADC is equivalent to the inverse process of DAC, and the final analog quantity quantization result is obtained by synthesizing the multi-point voltage values ​​of the sampling resistor network.

[0099] The generation of SPWM signal follows the following formula, where V o is the output voltage, V ref is the reference voltage, sinωt is the modulated sine wave, V dc is the DC reference voltage, q i is the linear modulation scale factor.

[0100]

[0101] Optionally, Figure 2 This is a schematic diagram of the structure of the tactile feedback device provided by the present invention for narrow cavity surgery scenes, with reference to Figure 2 The tactile sensing and generation array includes a tactile grip, a cavity, and a signal acquisition device, such as a signal acquisition box. The user, such as a surgeon, holds the tactile grip and places one end (such as the front end) of the tactile grip in the effective working area inside the cavity (i.e., the area where the time-varying electromagnetic field generated inside the cavity is located) to complete fine operations with tactile feedback constraints. The tactile grip contains detection coils, Hall sensor arrays, inertial measurement units, tactile sensors, and various buttons (used to implement defined surgical operation functions). The cavity is an array composed of multiple electromagnetic coils arranged in a symmetrical and redundant manner, surrounding the workspace in a hemispherical shape. The input to each electromagnet is completed through a tactile drive sequence, and a time-varying electromagnetic field is finally obtained. A signal processing board is placed inside the signal acquisition box to complete high-speed acquisition of various analog signals and digital signals. The outer shell of the signal acquisition box is made of shielding material to keep the signal pure in the operating environment. For a detailed operation diagram of the tactile sensing and generation array, please refer to Figure 3 , Figure 4 .

[0102] like Figure 2As shown, the fingertip tactile sensation is provided by cavity ①. At the same time, the user can complete muscle tactile feedback by wearing a first component such as a ring or wristband located on the end effector of the multi-degree-of-freedom platform ②, and through a second component such as a force sensor or a tactile sensor deployed in the multi-degree-of-freedom platform ②.

[0103] Figure 5 This is a comparison diagram of the combined tactile device provided by the present invention and the actual flexible surgical robot and instrument end. Figure 5 As shown on the left, the two-stage flexible surgical robot consists of an outer sheath ① that serves as a guide and a second-stage curved part ② that is more flexible. The surgical instrument ③ can be specifically a biopsy forceps, an electric knife, a cell brush, etc. The two-stage flexible surgical robot is extended to perform surgical operations on diseased tissues in narrow cavities (such as narrow natural cavities in the human body). Figure 5 The forces sensed by the flexible surgical robot shown in the paper can be divided into two parts: the first part A: the interactive force sensed by the surgical instrument with the diseased tissue when completing various operations, which is manifested as the subtle tactile sensations of shearing, twisting, and collision of the surgical instrument; the second part B: the overall tactile sensation of friction, blockage, and resistance sensed by the outer sheath when moving in a narrow cavity.

[0104] Figure 6 This is a schematic diagram of a surgeon or user holding a tactile grip provided by the present invention, referring to Figure 6 , the surgeon or user holds a tactile grip, where Figure 6 ① represents the tactile grip, and F, T, M, and R correspond to the index finger, thumb, middle finger, and ring finger respectively. Figure 6 The upper left, upper right, lower left and lower right pictures in the figure respectively represent the doctor's side view, top view, front view and rear view of the grasping hand.

[0105] Figure 7 This is a schematic diagram of the tactile feedback force on the fingertips of surgeons holding the tactile grip provided by the present invention, with reference to Figure 7 , is a schematic diagram of the force on the fingertip tactile feedback when the doctor is holding the finger. Figure 7 ① represents the front end of the tactile grip, ② represents the back end of the tactile grip, Fh1 / 2 / 3 represent the forces on the index finger, thumb and base of the thumb respectively. The tactile feedback forces on these parts are generated from Figure 2 Part ① of .

[0106] Figure 8 FIG. 1 is a schematic diagram of the tactile feedback force on the surgeon's wrist provided by the present invention, as shown in FIG. Figure 8 As shown, Fh4 / 5 represent wearing Figure 2 After the first part of the end effector in part ② is touched, the muscle tactile feedback force is generated.

[0107] Figure 9is the structural design logic diagram provided by the application, through the user (surgeon) holding the haptic handle (such as a pen-shaped touch rod) at one end (rear end) to simulate the state of the surgeon holding the surgical instrument, the pen-shaped touch rod can be specifically used to provide an ergonomic handle for the user, with haptic feedback and positioning function, and by extending the other end (front end) of the pen-shaped touch rod into the time-varying electromagnetic field area inside the cavity of the haptic sensing and generating array, the complex stress condition in the narrow cavity of the patient's body is simulated. Figure 10 is the overall structure diagram of the haptic sensing and generating array provided by the application, as shown in Figure 10 , wherein ① represents the haptic handle held by the doctor, which can be used to simulate the surgical instrument, and the front end needs to work in the cavity ② to obtain the haptic handle positioning and haptic feedback effect, ③ is a signal acquisition device, and the shell is a magnetic shielding material.

[0108] Figure 11 is the schematic diagram of the cavity part of the haptic sensing and generating array provided by the application, as shown in Figure 11 , the electromagnetic coils (or solenoids) in the haptic sensing and generating array adopt a symmetrical redundant arrangement mode, which can complete the rapid response to multidirectional haptics with high efficiency. In theory, three orthogonal electromagnetic coils can complete the generation of any magnetic field in the enclosed working space, but the required excitation current at the edge is too large, and it is difficult to obtain a balanced solution, so the redundant array is a suitable design, and the redundant number is determined by the specific cavity size, and can be flexibly changed to adapt to specific surgical operations

[0109] Figure 12 is the cross-sectional schematic diagram of the pen-shaped touch rod provided by the application, as shown in Figure 12 , on the pen-shaped touch rod, ① represents the detection coil and the Hall sensor array; ② places the ADC signal sampling circuit; ③ is the closest part to the user's hand, which is a stable part, and places the inertial measurement unit and the haptic sensor to complete the measurement of the user's operation state and the direct result of haptic feedback.

[0110] The haptic feedback method provided by the application is suitable for narrow cavity surgery scene, and mainly completes three parts in algorithm implementation, the first part is the generation of haptic driving sequence signal, the frame structure is as shown in Figure 13As shown, in addition to containing sequence frame header and sequence check, it also contains magnetic field excitation (power modulation value of the i-th electromagnetic coil in the tactile sensing and generating array) and positioning byte (frequency f and amplitude A of the positioning signal of the i-th electromagnetic coil in the tactile sensing and generating array). The second part is sensor data fusion, which is completed by the detection coil, Hall sensor array, inertial measurement unit and tactile sensor of the tactile handle part to collect signals of the user's handheld part, while acquiring current and voltage signals in the cavity for feedback monitoring. The third part is the model parameter identification of the tactile sensing and generating array. Since the efficiency of forward calculation of the magnetic field is low and the real-time performance is poor, the purpose of real-time magnetic field construction can be achieved quickly through sufficient observation of the model. The main method is to obtain the basic shape of the current excitation state of the magnetic field by observing the dependent variable, such as the magnetic field vector of a single point combined with the current driving parameter, so as to confirm the actual position of the tactile handle and the force it should bear.

[0111] Figure 14 The algorithm design logic diagram provided by the application is shown in Figure 14 As shown, the algorithm is divided into three parts, namely the tactile sensing and generating array part, the sensor data acquisition part and the tactile sensing and generating array model parameter identification part. First, in the tactile sensing and generating array algorithm, the digital form of the tactile driving sequence signal is converted into two parts through DAC, one part is applied to the high-frequency modulation envelope voltage to complete the transmission of the positioning signal, and the other part is the SPWM modulated power current to complete the generation of the tactile signal. The tactile signal is collected by the sensing part, which mainly includes a detection coil, a Hall sensor, a motion sensor, a force sensor, a current sensor and a voltage sensor. The detection coil is used to receive the positioning signal, the Hall sensor is used to measure the strength of the magnetic field to correct the calculation result, the current sensor and the voltage sensor are placed in the driving board to measure the fluctuation of the output signal, and the motion sensor and the force sensor are located in the tactile handle to measure the motion characteristics and force characteristics. The tactile sensing and generating array model parameter identification mainly completes the determination of the calibration matrix of the current to the magnetic field and to the force quality inspector algorithm.

[0112] The tactile feedback and positioning of the tactile handle are realized by voltage and current modulation. By controlling the frequency and amplitude characteristics of the output SPWM wave, a fractional order PID controller is used to complete the closed-loop control of the signal to achieve different magnetic field excitation effects, while a high-frequency positioning signal envelope is superimposed on the overall signal to extract and decouple in the tactile handle part to finally obtain real-time positioning data of the tactile handle, realizing non-contact high-precision positioning.

[0113] For the case that the haptic handle part is in motion and time-varying signal mutual inductance, that is, the doctor holds the haptic sensing and generating array in one end of the haptic handle to control the surgical instrument, performs surgery on the lesion tissue in the narrow lumen, and the time-varying electromagnetic field is generated inside the cavity of the haptic sensing and generating array, the multi-layer envelope extraction algorithm is used to complete the simultaneous extraction of the haptic driving signal, the positioning signal and the upper layer haptic task signal, as shown below:

[0114] Based on the signal acquisition device in the haptic sensing and generating array, the first signal collected by the detection coil in the haptic handle is obtained The signal collected by the detection coil on the haptic handle It can be regarded as the vector sum of the excitation voltage. The input signal is And I Tool (t) (the current value generated by the detection coil by excitation), so as to obtain the resistance R sample of the electromagnetic coil. Wherein,

[0115] The positioning signal in the first signal is extracted.

[0116] Further, in an embodiment, the extracting the positioning signal in the first signal can specifically include:

[0117] Performing Fourier transform on the first signal to obtain haptic signals and positioning signals under different frequency bands;

[0118] Based on the band-pass filter, the haptic signal is filtered out, and the positioning signal is obtained.

[0119] Optionally, the Fourier transform is performed on the signal , and haptic feedback signals and positioning signals under different frequency bands can be obtained. Specifically:

[0120]

[0121] Wherein, represents performing Fourier transform on , f haptic is the frequency of the haptic feedback signal, and f location is the frequency of the positioning signal.

[0122] The band-pass filter H BPF (f) is constructed, which can filter out the haptic signal and extract the positioning signal Specifically:

[0123]

[0124] Wherein, the center frequency f of the bandpass filter is centerBPF It can be calculated by the following formula:

[0125]

[0126] Among them, R is the set constant, f H , f L Respectively by f location The maximum and minimum values ​​are determined.

[0127] Optionally, construct the Hilbert transform To obtain the envelope Envo(I Tool ), i.e., amplitude, which can be used to determine the amplitude information of the tactile driving signal, representing the intensity of the tactile feedback.

[0128]

[0129] Construct a Hilbert transform to obtain the phase of the first signal and instantaneous frequency (i.e. frequency) f(I Tool ), which can be used to determine the frequency of the tactile driving signal and represents the frequency domain characteristics of the tactile sense.

[0130] Furthermore, in one embodiment, the amplitude, phase, and frequency of the time-domain positioning signal corresponding to the positioning signal are acquired by:

[0131] Perform the Hilbert transform on the positioning signal to obtain the amplitude, phase and frequency of a time-domain positioning signal corresponding to the positioning signal.

[0132] Optionally, construct a Hilbert transform to obtain the positioning signal Corresponding time domain positioning signal Amplitude Specifically:

[0133]

[0134]

[0135] Where d is the distance between the transmitting coil (i.e., electromagnetic coil) and the receiving coil (i.e., detection coil).

[0136] Similarly, for the time domain positioning signal Constructing Hilbert transform, the phase of the time domain positioning signal can be obtained and instantaneous frequency (i.e., frequency), represents the frequency domain characteristics of positioning. The moving speed can be further obtained through Doppler. Specifically:

[0137]

[0138] Among them, v r With v t It represents the moving speed of the receiving end and the moving speed of the transmitting end, where the transmitting end is fixed and can be regarded as having a speed of zero, and c is the speed of light.

[0139] Based on the amplitude of the obtained time domain positioning signal, the distance d between the detection coil and each electromagnetic coil in the tactile sensing and generating array is determined. i , based on the phase and frequency of the time domain positioning signal, determine the different frequencies f i Represents the movement speed of the tactile grip.

[0140] Based on this distance, the pose of the tactile grip can be determined.

[0141] Input the amplitude E of the time domain positioning signal and the frequency set L of the time domain positioning signal to plan the tactile positioning task Task(E, L), where E={d i} is regarded as the set of distances between the detection coil and each electromagnetic coil in the tactile sensing and generating array, L = {f i} Treated as different frequencies f i A collection of movement speeds for the represented tactile grip.

[0142] It should be noted that the phase information collected in this algorithm is regarded as a constant in the frequency variable.

[0143] The distance can be determined specifically based on the amplitude of the time domain positioning signal obtained when the tactile grip is at the reference point, the calibration matrix, and the amplitude of the time domain positioning signal extracted when the doctor holds the tactile grip to perform surgery on the diseased tissue in the narrow cavity.

[0144] The calibration matrix can correspond the amplitude of the extracted time domain positioning signal to the distance from the tactile grip to each coil in the tactile sensing and generation array by setting a reference point (the center point of all electromagnetic coils can be set as the reference point) and geometric parameters, thereby calculating the error between the positioning achieved by the collected signal and the reference positioning point using the Gauss-Newton method, and using the pseudo-inverse of the mapping matrix to form the calibration matrix.

[0145] The present invention provides a tactile feedback method suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time tactile sensation of surgical instruments in narrow cavities, and can realize tactile positioning of surgical instrument operations in narrow cavities.

[0146] Furthermore, in one embodiment, determining the position and posture of the tactile grip according to the distance may specifically include:

[0147] determining a first position and posture of the tactile grip according to a posture angle of the tactile grip and a phase and a frequency of the time-domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip;

[0148] Correcting the first position and the posture based on a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined based on the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined based on the distance, and the second magnetic field strength is measured based on a Hall sensor in the tactile gripper;

[0149] The position and posture of the tactile grip are determined according to the corrected first position and posture.

[0150] Optionally, the signal S_Hall collected by the Hall sensor in the tactile grip can be used to verify the accuracy of the tactile grip's positioning, and the error between the calculated and measured values ​​can be obtained in the magnetic field calculation. The inertial measurement unit obtains the movement speed and angle information of the tactile grip, such as azimuth, to expand the positioning data.

[0151] Acquisition coil detection signal The Hilbert transform method is used to achieve preliminary positioning and obtain the second position of the tactile grip.

[0152] The angle signal Data collected by the inertial measurement unit is collected by the signal acquisition device IMU , and according to the angle signal, determine the posture angle of the tactile grip.

[0153] The first position and posture of the tactile grip are determined according to the posture angle of the tactile grip and the phase and frequency of the time domain positioning signal.

[0154] The first position and posture are corrected based on the comparison result of the calculated first magnetic field strength of the time-varying electromagnetic field and the measured second magnetic field strength of the time-varying electromagnetic field. The first magnetic field strength can be specifically determined based on the second position of the tactile grip and the driving current of the tactile grip. The second position can be specifically determined based on the distance between the detection coil in the tactile grip and the electromagnetic coil in the tactile sensing and generating array. The second magnetic field strength can be specifically measured based on the Hall sensor in the tactile grip.

[0155] The position and posture of the tactile grip are determined according to the corrected first position and posture.

[0156] The required data is processed according to the above process Figure 15 As shown, the fusion is completed and fed back to each algorithm step as an input quantity.

[0157] As shown, the overall haptic drive and the time-domain positioning signal are represented. The time-domain positioning signal S1 is modulated on the haptic drive signal S2, ① represents the amplitude of the time-domain positioning signal, ② represents the amplitude of the haptic feedback signal, and ③ the shaded part represents the strength of the overall haptic feedback in the interval. Figure 15

[0158] The haptic feedback method provided by the application is suitable for narrow cavity operation scenes, and the inertial measurement unit and the Hall sensor in the haptic handle can further correct the obtained pose of the haptic handle, thereby improving the positioning accuracy of the haptic handle.

[0159] Further, in one embodiment, after determining the pose of the haptic handle according to the corrected first position and attitude, the method can further include:

[0160] determining a current matrix according to the driving current of the haptic handle and the number of electromagnetic coils;

[0161] determining a position matrix according to the corrected first position and the number of electromagnetic coils;

[0162] determining an attitude matrix according to the corrected attitude and the number of electromagnetic coils;

[0163] determining a first matrix according to the current matrix, the position matrix and the attitude matrix;

[0164] calibrating the driving current of the haptic handle and the first matrix according to the force feedback data of the haptic handle collected by the force sensor in the haptic handle and the force feedback data expected to be reached by the haptic handle, and obtaining the calibrated driving current and the first matrix;

[0165] calibrating the calibrated driving current and the first matrix according to the target haptic signal collected by the haptic sensor in the haptic handle and the expected measured haptic signal, to obtain a second matrix;

[0166] taking the target haptic signal and the expected measured haptic signal as input variables of a negative feedback controller, and determining a target driving current according to the second matrix, the target driving current serving as a haptic feedback signal of the haptic handle.

[0167] ​Optionally, the driving current I of each electromagnetic coil in the tactile sensing and generating array is determined according to the arrangement of the permanent magnets in the force-bearing end of the tactile grip (the end held by the doctor). i , the set of driving currents of all electromagnetic coils ∑ i I i It is called the driving current set.

[0168] The corrected posture obtained above is used as the basic input parameter in tactile feedback, and the position matrix A is determined P , posture matrix B O , and the current matrix C τ , where the position matrix A P The posture matrix B can be determined specifically based on the corrected first position and the number of electromagnetic coils. O The current matrix C can be determined specifically according to the corrected posture and the number of electromagnetic coils. τ It can be specifically determined according to the driving current of the tactile grip and the number of the electromagnetic coils.

[0169] Before building the combined tactile device, a force sensor such as a six-axis force sensor is used to calibrate the above three matrices and the driving current set, where F measure is the force feedback data collected by the six-axis force sensor, F set The force feedback data that you want to achieve.

[0170]

[0171] Among them, A=A P ·B O ·C τ is the first matrix, according to F measure , F set The difference between A and I is continuously calibrated until ΔF takes a minimum value, and the driving current (ie, the calibrated driving current I1) and the first matrix A1 (ie, the calibrated first matrix) when ΔF takes a minimum value are obtained.

[0172] In tactile feedback applications, the tactile signals collected by the tactile sensor are collected in real time for parameter calibration, where H measure is the tactile signal collected by the tactile sensor, H set is the tactile signal expected to be measured.

[0173]

[0174] According to H measure , H set The difference between A1 and I1 is continuously calibrated until ΔH takes a minimum value, and the driving current (ie, the target driving current I2) when ΔH takes a minimum value and the second matrix A2 are obtained.

[0175] The target haptic signal and the expected measured haptic signal are taken as input variables of a negative feedback controller, and a target driving current is determined according to an inverse matrix of the second matrix, the target driving current being taken as a haptic feedback signal of the haptic handle, and the haptic feedback signal is fed back to stabilize the effect, wherein the controller Controller can select a PID and other types of negative feedback controllers.

[0176] I2=A2 -1 ·Controller(H measure -H set ).

[0177] The haptic feedback method provided by the application is suitable for a narrow cavity operation scene, a haptic sensing and actuating array suitable for a surgical operation scene is designed, electromagnetic coils are arranged in a symmetrical redundant form to form a haptic cavity, which is used for simulating real-time haptics in a cavity, and haptic positioning and haptic generation for operation of a surgical tool in a narrow cavity can be realized.

[0178] Figure 2 The application provides a structure diagram of a haptic feedback device suitable for a narrow cavity operation scene, as shown in Figure 2 The haptic sensing and generating array in the haptic feedback method suitable for a narrow cavity operation scene.

[0179] Further, in one embodiment, it can further specifically include:

[0180] A degree of freedom platform including a first component and a second component deployed on an end effector of the degree of freedom platform, the first component being used for placing a wrist of the doctor, and the second component being used for measuring haptics perceived by the wrist when an outer sheath connected with the surgical instrument travels in the narrow cavity under the condition that the doctor holds one end of the haptic handle to control the surgical instrument to perform surgery on a lesion in the narrow cavity.

[0181] Optionally, the degree of freedom platform generally adopts a multi-degree of freedom platform, which can specifically include a first component and a second component deployed on an end effector of the multi-degree of freedom platform, the first component being used for placing a wrist of the doctor, which can be specifically a wrist strap or a ring, and the second component being used for measuring haptics perceived by the wrist when an outer sheath connected with the surgical instrument travels in the narrow cavity under the condition that the doctor holds one end of the haptic handle to control the surgical instrument to perform surgery on a lesion in the narrow cavity, the second component being specifically a force sensor or a haptic sensor.

[0182] It needs to be explained that the delicacy of the haptic feedback device lies in the realization of more accurate conversion between current drive and force effect, and in the present application, two ways are specified to realize the drive of the haptic signal, one is to use integrated H-bridge circuit, and the other is MOSFET H-bridge circuit. In order to improve the output accuracy of pulse width adjustment PWM, current real-time sensing and closed loop are used to complete the direct control of the underlying hardware.

[0183] In addition, other types of signal generator circuits, analog filter circuits and various ADC / DAC signal processing parts are completed by circuit entities.

[0184] Figure 16 The circuit design logic diagram of the haptic feedback device suitable for narrow cavity operation scene provided by the present application is corresponding to the haptic feedback device suitable for narrow cavity operation scene provided by the present application, referring to Figure 16 The circuit result is carried by the code end microcontroller, drives the field effect transistor circuit, drives the haptic coil to generate a changing magnetic field, and at the same time generates a changing magnetic force to the detection coil placed in the magnetic field, so as to form the overall haptic feedback to the haptic handle, and the haptic handle is provided with Hall element (such as Hall sensor), inertial measurement unit and the like to collect real-time magnetic field value and user operation, and finally all data are transmitted back to the microcontroller to complete the collection of overall algorithm data.

[0185] As shown in Figure 17 Taking four electromagnetic coils as an example, the MOSFET field effect transistor drive is started by external power supply and logic power supply, and the direction signal and SPWM signal are configured to complete the control of the current size and direction of the single electromagnetic coil.

[0186] As shown in Figure 18 As shown in the part of the pen-shaped touch rod (haptic handle, user operation rod, simulated surgical instrument), the electronic circuit includes four parts in the figure.

[0187] Figure 19 The structure design section view of the electromagnetic coil provided by the present application is shown in Figure 19 As shown in the figure, ① is a positioning screw hole, ② is an iron core, ③ is a copper wire wound in multiple turns, R1, R2 and R3 respectively represent the inner thread, the outer side of the iron core and the outermost radius of the wound copper wire.

[0188] For the high temperature generated by the solenoid operation, two solutions are proposed: one is to optimize the power supply power and the haptic effect to meet the design conditions that can be used for actual operation; the other is to use superconducting cooling device to realize a larger range of haptic effect in a limited space. Figure 19 The white part on the outside in the middle is the cavity for the flow of cooling liquid, and ④ and ⑤ are the inlet and outlet of the cooling liquid respectively.

[0189] The packaging and testing of the overall design of the present application follow the following Figure 20The purpose of the encapsulation test is to provide calibration and inspection before the formal use of the device.

[0190] The haptic feedback device for narrow cavity surgery scene has the following advantages:

[0191] (1) The authenticity of haptic feedback. Guided by the haptic application scene, combined with the front sensor of the actual instrument of natural cavity or interventional surgery, the haptic feedback in the real operation scene is realized, and the surgeon has an intuitive feeling.

[0192] (2) The accuracy of haptic feedback. Better than the traditional open-loop haptic feedback mechanism, the data fed back by the sensor signal is used for correction, and a fractional order PID controller is used to complete the closed-loop control system.

[0193] (3) The applicability of haptic feedback. The haptic feedback device is not constrained by the outside world, and is better than the traditional mechanical linkage structure. The core part of the electromagnetic array cavity can complete haptic feedback and positioning at the same time.

[0194] (4) The safety of haptic feedback. By designing magnetic shielding and controllable magnetic field, the whole haptic feedback device is safer, and in the non-working state, the array device shows any magnetism to the outside, so it can be conveniently carried without causing continuous influence on the complex environment in the operating room.

[0195] The haptic feedback device for narrow cavity surgery scene provided by the application designs a haptic sensing and generating array suitable for surgical scene, arranges electromagnetic coils in a symmetrical redundant form to form a haptic cavity, which is used for simulating real-time haptic of surgical instruments in narrow cavity, and can realize haptic positioning and tactile generation of surgical instruments in narrow cavity.

[0196] The haptic feedback system for narrow cavity surgery scene provided by the application is described below, and the haptic feedback system for narrow cavity surgery scene described below can be correspondingly referred to the haptic feedback method for narrow cavity surgery scene described above.

[0197] Figure 21 The structure diagram of the haptic feedback system for narrow cavity surgery scene provided by the application is shown in Figure 21 , which comprises:

[0198] The first acquisition module 2110 is configured to control a surgical instrument at one end of a haptic handle in a haptic sensing and generating array, perform surgery on a lesion in a narrow cavity, and acquire a first signal collected by a detection coil in the haptic handle based on a signal collection device in the haptic sensing and generating array in a case where a time-varying electromagnetic field is generated inside a cavity in the haptic sensing and generating array, wherein the other end of the haptic handle extends into a region where the time-varying electromagnetic field is generated inside the cavity, and the cavity comprises a plurality of electromagnetic coils arranged in a symmetric redundant manner, and the cavity is configured to generate the time-varying electromagnetic field in a case where each electromagnetic coil inputs a haptic driving sequence signal.

[0199] The second acquisition module 2111 is configured to extract a positioning signal from the first signal.

[0200] The third acquisition module 2112 is configured to determine a distance between the detection coil and an electromagnetic coil in the haptic sensing and generating array according to an amplitude of a time-domain positioning signal corresponding to the positioning signal.

[0201] The haptic positioning module 2113 is configured to determine a pose of the haptic handle according to the distance.

[0202] The haptic feedback system provided by the application is suitable for a narrow cavity surgery scene, fully considers the difference in braking force of each wheel of a train during braking, finds the problem through the difference between the current speed reference value and the abnormal value after a certain wheel slips, and automatically adjusts the braking force of the wheel that slips back to the optimal state through feedback adjustment, so that the wheel obtains the best adhesion, and effectively prevents the occurrence of train sliding during braking.

[0203] Figure 22 is a schematic diagram of an entity structure of an electronic device provided by the application, as shown in Figure 22 The electronic device can include a processor 2210, a communication interface 2211, a memory 2212 and a bus 2213, wherein the processor 2210, the communication interface 2211 and the memory 2212 can communicate with each other through the bus 2213. The processor 2210 can call the logical instructions in the memory 2212 to execute the following method:

[0204] In the case that a doctor controls a surgical instrument at one end of a haptic handle in a haptic sensing and generating array, performs surgery on a lesion in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the haptic sensing and generating array, based on a signal acquisition device in the haptic sensing and generating array, a first signal collected by a detection coil in the haptic handle is acquired, the other end of the haptic handle extends into a region where the time-varying electromagnetic field is generated inside the cavity, the cavity includes a plurality of electromagnetic coils arranged in a symmetric redundant manner, and in the case that each electromagnetic coil inputs a haptic driving sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0205] Extract a positioning signal in the first signal.

[0206] According to the amplitude of the time domain positioning signal corresponding to the positioning signal, the distance between the detection coil and the electromagnetic coil in the haptic sensing and generating array is determined.

[0207] According to the distance, the pose of the haptic handle is determined.

[0208] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer power supply screen (which can be a personal computer, a server, or a network power supply screen) to execute all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0209] Further, the present application discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the haptic feedback method suitable for a narrow cavity surgery scene provided by the above-mentioned method embodiments, for example, including:

[0210] In the case that a doctor holds a haptic handle at one end of a haptic sensing and generating array to control a surgical instrument to perform surgery on a lesion in a narrow lumen, and a time-varying electromagnetic field is generated inside a cavity in the haptic sensing and generating array, based on a signal acquisition device in the haptic sensing and generating array, a first signal collected by a detection coil in the haptic handle is acquired, the other end of the haptic handle extends into a region where the time-varying electromagnetic field is generated inside the cavity, the cavity includes a plurality of electromagnetic coils arranged in a symmetric redundant manner, and in the case that a haptic driving sequence signal is input to each electromagnetic coil, the cavity is configured to generate the time-varying electromagnetic field.

[0211] A positioning signal in the first signal is extracted.

[0212] According to an amplitude of a time-domain positioning signal corresponding to the positioning signal, a distance between the detection coil and an electromagnetic coil in the haptic sensing and generating array is determined.

[0213] According to the distance, a pose of the haptic handle is determined.

[0214] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a haptic feedback method suitable for a narrow lumen surgery scene provided by each of the above embodiments, for example including:

[0215] In the case that a doctor holds a haptic handle at one end of a haptic sensing and generating array to control a surgical instrument to perform surgery on a lesion in a narrow lumen, and a time-varying electromagnetic field is generated inside a cavity in the haptic sensing and generating array, based on a signal acquisition device in the haptic sensing and generating array, a first signal collected by a detection coil in the haptic handle is acquired, the other end of the haptic handle extends into a region where the time-varying electromagnetic field is generated inside the cavity, the cavity includes a plurality of electromagnetic coils arranged in a symmetric redundant manner, and in the case that a haptic driving sequence signal is input to each electromagnetic coil, the cavity is configured to generate the time-varying electromagnetic field.

[0216] A positioning signal in the first signal is extracted.

[0217] According to an amplitude of a time-domain positioning signal corresponding to the positioning signal, a distance between the detection coil and an electromagnetic coil in the haptic sensing and generating array is determined.

[0218] According to the distance, a pose of the haptic handle is determined.

[0219] The system embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0220] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer power supply screen (which can be a personal computer, a server, or a network power supply screen, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0221] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A tactile feedback method suitable for narrow cavity surgery, characterized in that: include: When a doctor holds one end of a tactile grip in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile grip is obtained based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile grip is extended into the area where the time-varying electromagnetic field generated inside the cavity is located. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that a tactile drive sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field. The tactile drive sequence signal includes two parts, one part is used to high-frequency modulate the envelope voltage to complete the transmission of the positioning signal, and the other part is SPWM modulated power current to complete the generation of the tactile signal. extracting a positioning signal from the first signal; determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; The position and posture of the tactile grip are determined according to the distance.

2. The tactile feedback method for narrow cavity surgery according to claim 1, characterized in that: Determining the position and posture of the tactile grip according to the distance includes: determining a first position and posture of the tactile grip according to a posture angle of the tactile grip and a phase and a frequency of the time-domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip; Correcting the first position and the posture based on a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined based on the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined based on the distance, and the second magnetic field strength is measured based on a Hall sensor in the tactile gripper; The position and posture of the tactile grip are determined according to the corrected first position and posture.

3. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 2, characterized in that: After determining the position and posture of the tactile grip according to the corrected first position and posture, the method further includes: determining a current matrix according to the driving current of the tactile grip and the number of the electromagnetic coils; determining a position matrix according to the corrected first position and the number of the electromagnetic coils; determining a posture matrix according to the corrected posture and the number of the electromagnetic coils; Determining a first matrix according to the current matrix, the position matrix, and the posture matrix; calibrating a driving current of the tactile grip and the first matrix according to force feedback data of the tactile grip collected by a force sensor in the tactile grip and force feedback data expected to be achieved by the tactile grip, and obtaining the calibrated driving current and first matrix; Calibrate the calibrated driving current and the first matrix according to the target tactile signal collected by the tactile sensor in the tactile grip and the expected measured tactile signal to obtain a second matrix; The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix. The target driving current is used as the tactile feedback signal of the tactile grip.

4. The tactile feedback method applicable to narrow cavity surgery according to claim 1, characterized in that: The extracting the positioning signal from the first signal includes: Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands; The tactile signal is filtered out using a bandpass filter to obtain the positioning signal.

5. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 2, wherein the amplitude, phase, and frequency of the time-domain positioning signal corresponding to the positioning signal are obtained by: Performing Hilbert transform on the time domain positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal.

6. A tactile feedback device suitable for narrow cavity surgery, characterized in that: Including the tactile sensing and generating array in the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of claims 1-5.

7. The tactile feedback device suitable for narrow cavity surgery according to claim 6, characterized in that: Also includes: The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform. The first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation perceived by the wrist when the outer sheath connected to the surgical instrument moves in the narrow cavity, when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

8. A tactile feedback system suitable for narrow cavity surgery, characterized in that: include: A first acquisition module is configured to control a surgical instrument when a doctor holds one end of a tactile grip in a tactile sensing and generating array to perform surgery on diseased tissue in a narrow cavity. When a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, the module acquires a first signal collected by a detection coil in the tactile grip based on a signal acquisition device in the tactile sensing and generating array. The other end of the tactile grip extends into an area where the time-varying electromagnetic field generated inside the cavity is located. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that a tactile drive sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field. The tactile drive sequence signal includes two parts, one part is used to high-frequency modulate an envelope voltage to complete the transmission of a positioning signal, and the other part is an SPWM modulated power current to complete the generation of a tactile signal. A second acquisition module, configured to extract a positioning signal from the first signal; a third acquisition module, configured to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; A tactile positioning module is used to determine the position and posture of the tactile grip according to the distance.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of claims 1 to 5 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of claims 1 to 5 is implemented.

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