Instrument clamping angle control method and device and storage medium

Abstract

The application relates to the technical field of medical equipment, in particular to an instrument clamping angle control method, device and storage medium. The instrument clamping angle control method comprises the following steps: acquiring instrument angle information of an instrument clamp, master hand angle information of a master hand clamp and a master hand clamping angle; according to the instrument angle information and the master hand angle information, a closing slope and a closing angle deviation are obtained through a closing relationship; according to the instrument angle information and the master hand angle information, an interference slope and an interference angle deviation are obtained through an interference relationship; and according to the closing slope, the closing angle deviation, the interference slope, the interference angle deviation and the master hand clamping angle, an instrument clamping angle of the instrument clamp is obtained through a clamping angle relationship. The technical scheme can improve the instrument clamping angle control precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a device clamping angle control method, device and storage medium. BACKGROUND

[0002] In recent years, the emergence of surgical robots has attracted attention in the medical field. With the continuous progress and development of technology, surgical robots have become an indispensable part of modern medical practice.

[0003] As one of them, the laparoscopic surgical robot has been widely used in clinical practice. The laparoscopic surgical robot is usually controlled by experienced operators. The operator controls the instrument on the mechanical arm through the master hand clamp of the robot console to perform the corresponding operation. However, due to factors such as machine assembly, when the instrument is controlled by the master hand clamp, the instrument clamping angle cannot be consistent with the angle of the master hand clamp, and the actual instrument clamping angle deviates from the ideal clamping angle of the operator. Therefore, the operator cannot control the instrument clamp to achieve the ideal opening and closing angle through the master hand clamp. SUMMARY

[0004] The problem solved by the present application is how to improve the control precision of the instrument clamping angle.

[0005] To solve the above problems, the present application provides an instrument clamping angle control method, device and storage medium.

[0006] In a first aspect, the present application provides an instrument clamping angle control method applied to a surgical robot system, wherein the surgical robot system comprises a master hand clamp and an instrument clamp, and the master hand clamp and the instrument clamp are connected through communication.

[0007] The instrument clamping angle control method comprises:

[0008] obtaining instrument angle information of the instrument clamp, master hand angle information of the master hand clamp and master hand clamping angle;

[0009] According to the instrument angle information and the master hand angle information, the closure slope and the closure angle deviation are obtained through the closure relationship, and according to the instrument angle information and the master hand angle information, the interference slope and the interference angle deviation are obtained through the interference relationship;

[0010] According to the closure slope, the closure angle deviation, the interference slope, the interference angle deviation and the master hand clamping angle, the instrument clamping angle of the instrument clamp is obtained through the clamping angle relationship.

[0011] Optionally, the instrument angle information comprises an instrument maximum opening angle and an instrument closing angle; the master angle information comprises a master maximum opening angle and a master closing angle; the closing relationship comprises a closing slope relationship and a closing angle deviation relationship; and the obtaining, according to the instrument angle information and the master angle information, of a closing slope and a closing angle deviation through the closing relationship comprises:

[0012] the closing slope is obtained according to the instrument maximum opening angle, the instrument closing angle, the master maximum opening angle and the master closing angle through the closing slope relationship;

[0013] the closing deviation is obtained according to the instrument maximum opening angle, the instrument closing angle, the master maximum opening angle and the master closing angle through the closing angle deviation relationship.

[0014] Optionally, the closing slope relationship satisfies:

[0015]

[0016] the closing angle deviation relationship satisfies:

[0017]

[0018] wherein K1 is the closing slope, B1 is the closing angle deviation, O i is the instrument maximum opening angle, C i is the instrument closing angle, O h is the master maximum opening angle, C h is the master closing angle.

[0019] Optionally, the instrument angle information comprises an instrument closing angle and an instrument interference amount; the master angle information comprises a master closing angle and a master interference amount; the interference relationship comprises an interference slope relationship and an interference angle deviation relationship; and the obtaining, according to the instrument angle information and the master angle information, of an interference slope and an interference angle deviation through the interference relationship comprises:

[0020] the interference slope is obtained according to the instrument closing angle, the instrument interference amount and the master closing angle through the interference slope relationship;

[0021] the interference angle deviation is obtained according to the master interference amount through the interference angle deviation relationship.

[0022] Optionally, the interference slope relationship satisfies:

[0023]

[0024] the interference angle deviation relationship satisfies:

[0025] B2 = -E h ;

[0026] wherein K2 is the interference slope, B2 is the interference angle deviation, C i is the instrument closure angle, C h is the master closure angle, E i is the instrument interference amount, E h is the master interference amount.

[0027] Optionally, the master angle information comprises a master closure angle; and the instrument grip angle is obtained from a grip angle relationship according to the closure slope, the closure angle deviation, the interference slope and the interference angle deviation, comprising:

[0028] the instrument grip angle is obtained from a grip angle relationship according to the master closure angle, the master grip angle, the closure slope, the closure angle deviation, the interference slope and the interference angle deviation;

[0029] the grip angle relationship satisfies:

[0030]

[0031] wherein J i is the instrument grip angle, J h is the master grip angle, K1 is the closure slope, B1 is the closure angle deviation, K2 is the interference slope, B2 is the interference angle deviation, C h is the master closure angle.

[0032] Optionally, the method for obtaining the master grip angle comprises:

[0033] obtaining a period master grip angle of each filtering period;

[0034] obtaining the master grip angle according to all the period master grip angles and an average grip angle relationship;

[0035] the average grip angle relationship satisfies:

[0036]

[0037] wherein J h is the master grip angle, J n is the nth period master grip angle, and m is the number of the filtering periods.

[0038] In a second aspect, an instrument grip angle control device comprises:

[0039] An acquisition module is configured to acquire instrument angle information of an instrument clamp, master hand angle information of a master hand clamp, and a master hand clamping angle.

[0040] An operation module is configured to obtain a closure slope and a closure angle deviation through a closure relationship according to the instrument angle information and the master hand angle information, and obtain an interference slope and an interference angle deviation through an interference relationship according to the instrument angle information and the master hand angle information.

[0041] A processing module is configured to obtain an instrument clamping angle of the instrument clamp through a clamping angle relationship according to the closure slope, the closure angle deviation, the interference slope, and the interference angle deviation.

[0042] In a third aspect, an electronic device includes a memory and a processor.

[0043] The memory is configured to store a computer program.

[0044] The processor is configured to implement the instrument clamping angle control method of the first aspect when executing the computer program.

[0045] In a fourth aspect, a computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the instrument clamping angle control method of the first aspect is implemented.

[0046] The device clamping angle control method, device and storage medium have the following advantages: when the master hand clamp is closed from the open state and the interference amount is also zero, the closing slope and closing angle deviation are obtained according to the obtained device angle information and master hand angle information through the closing relationship. Due to the device installation error and other reasons, the master hand clamp and the device clamp cannot be completely synchronized, so the closing slope and closing angle deviation are obtained, the angle change relationship and angle error of the master hand clamp and the device clamp when the master hand clamp controls the device clamp to change from opening to closing and the interference amount is zero are accurately obtained, the accurate device clamping angle can be obtained according to the master hand clamping angle of the master hand clamp, the accuracy of the master hand clamp controlling the device clamping angle is improved, the control precision of the device clamping angle is improved, and the same is true when the master hand clamp is in the closed state with zero interference amount and changes to the tightening state with the maximum interference amount. According to the device angle information and master hand angle information, the interference slope and interference angle deviation are obtained through the interference relationship. The angle change relationship and angle error of the master hand clamp and the device clamp when the master hand clamp controls the device clamp to change from the closed state with zero interference amount to the state with the maximum interference amount are accurately obtained through the interference slope and interference angle deviation, so as to improve the accuracy of the master hand clamp controlling the device clamp. Finally, according to the master hand clamping angle controlled by the operator, the corresponding device clamping angle can be obtained through the closing slope, closing angle deviation, interference slope, interference angle deviation and clamping angle relationship, that is, the angle of the device clamp corresponding to the master hand clamp under the control of the operator can be obtained according to the master hand clamping angle. The ideal device clamping angle can be obtained according to the master hand clamping angle, so as to improve the precision of the master hand clamp controlling the device clamping angle, accurately obtain the device clamping angle through the master hand clamping angle, and enable the operator to complete the operation with higher precision through the master hand clamp controlling the device clamp, improve the operation experience and operation efficiency, and avoid the safety hidden danger caused by the angle deviation of the device clamp, and improve the safety and stability of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 A device clamping angle control method according to an embodiment of the present application;

[0048] Figure 2 A device clamping angle control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments described herein, on the contrary, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for illustrative purposes, and are not intended to limit the scope of protection of the present application.

[0050] It should be understood that each step described in the method embodiments of the present application can be performed in different order and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0051] The term "comprising" and variations thereof as used herein are open-ended, and mean "including but not limited to". The term "based on" means "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optional" means "optional in at least some embodiments". Related definitions are given throughout the description. It is noted that the concepts of "first", "second", etc. mentioned in the present application are only used to distinguish different apparatuses, modules or units, and do not limit the order or interdependence of the functions performed by these apparatuses, modules or units.

[0052] It should be noted that the modification of "one", "multiple" mentioned in the present application is illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0053] As shown in Figure 1 To solve the above technical problems, the instrument clamping angle control method provided by the embodiments of the present application is applied to a surgical robot system, and the surgical robot system includes a master hand clamp and an instrument clamp, and the master hand clamp and the instrument clamp are connected through communication.

[0054] The instrument clamping angle control method includes:

[0055] Step S1, obtaining instrument clamp angle information of the instrument clamp, master hand clamp angle information of the master hand clamp of the console, and master hand clamping angle;

[0056] Specifically, the operator controls the instrument clamp through the master hand clamp on the robot surgery system console, and the surgery robot system accurately and timely transmits the corresponding control signal to the instrument clamp, and the instrument clamp synchronously executes the relevant operation of the master hand clamp according to the control signal, so as to realize that the operator controls the instrument clamp through the master hand clamp on the console. First, the instrument angle information of the instrument clamp is obtained, that is, the maximum opening and closing angle, the closing angle and the interference amount of the instrument clamp are obtained. The interference amount refers to that the instrument clamp cannot be completely closed due to the influence of the machine assembly error factor in the closed state. After the instrument clamp is closed, there is still an external force to pinch the clamp. Although the clamp angle cannot be further reduced, there is a force to the inner angle of the clamp angle, which is a physical quantity. The master hand angle information of the master hand clamp on the surgery robot console is further obtained, that is, the maximum opening and closing angle of the master hand, the closing angle of the master hand and the interference amount of the master hand. The different opening and closing states of the master hand clamp can be reflected through the master hand angle information, and the master hand clamping angle of the master hand clamp is also obtained in real time. The master hand clamping angle of the master hand clamp is the opening and closing angle of the master hand clamp controlled by the operator. Since the master hand clamp and the instrument clamp are synchronous motion, the instrument clamping angle of the instrument clamp can be obtained by obtaining the master hand clamping angle of the master hand clamp at the current time, that is, the operator controls the instrument clamp by controlling the master hand clamping angle. The opening and closing angle of the master hand clamp controlled by the operator is the opening and closing angle of the instrument clamp that the operator wants to control. For example, the operator wants to open the instrument clamp to an angle of 30°. In the ideal case of complete synchronization between the master hand clamp and the instrument clamp, the master hand clamp only needs to be controlled to open the master hand clamping angle to 30°. However, due to the existence of objective factors such as instrument installation error, the master hand clamp and the instrument clamp cannot be completely synchronized, so there is a deviation between the opening and closing angle of the master hand clamp and the opening and closing angle of the instrument clamp.

[0057] In step S2, the closing slope and the closing angle deviation are obtained through the closing relationship according to the instrument angle information and the master hand angle information, and the interference slope and the interference angle deviation are obtained through the interference relationship according to the instrument angle information and the master hand angle information.

[0058] Specifically, when the console master hand clamp changes from the opening state of the maximum clamping angle to the closed state of the clamping angle of zero and the interference amount of zero, the closing slope and the closing angle deviation of the closing state are obtained through the closing relationship according to the instrument angle information and the master hand angle information. When the master hand clamp changes from the closed state of the clamping angle of zero and the interference amount of zero to the state of the maximum interference amount, the interference slope and the interference angle deviation can also be obtained through the interference relationship according to the instrument angle information and the master hand angle information.

[0059] In step 3, the instrument clamping angle of the instrument clamp and the master hand clamping angle are obtained through the clamping angle relationship according to the closing slope, the closing angle deviation, the interference slope, the interference angle deviation and the master hand clamping angle. The instrument clamping angle of the instrument clamp is obtained through the clamping angle relationship.

[0060] Specifically, according to the closing slope obtained by the master hand clamping angle, the instrument angle information and the master hand angle information, the closing angle deviation, the interference slope, the interference angle deviation and the clamping angle relationship, the instrument clamping angle is obtained, that is, according to the master hand clamping angle of the master hand clamp, the accurate instrument clamping angle corresponding to the instrument clamp can be obtained, so as to realize accurate control of the instrument clamping angle by controlling the master hand clamping angle, and improve the control accuracy of the instrument clamping angle.

[0061] In the embodiment, when the master hand clamp is closed from the open state and the interference amount is also zero, according to the obtained instrument angle information and master hand angle information, the closing slope and closing angle deviation are obtained through the closing relationship. Due to the instrument installation error and other reasons, the master hand clamp and the instrument clamp cannot be completely synchronized, so the closing slope and closing angle deviation are obtained to accurately obtain the angle change relationship and angle error of the master hand clamp and the instrument clamp when the master hand clamp controls the instrument clamp to change from opening to closing and the interference amount is zero. The accurate instrument clamping angle can be obtained according to the master hand clamping angle of the master hand clamp, so as to improve the accuracy of the master hand clamp controlling the instrument clamping angle, and improve the control accuracy of the instrument clamping angle. Similarly, when the master hand clamp is closed from the state of zero and the interference amount is also zero to the state of maximum interference, according to the instrument angle information and master hand angle information, the interference slope and interference angle deviation can be obtained through the interference relationship. The interference slope and interference angle deviation are used to accurately obtain the angle change relationship and angle error of the master hand clamp and the instrument clamp when the master hand clamp controls the instrument clamp to change from closing with zero interference amount to maximum interference amount, so as to improve the accuracy of the master hand clamp controlling the instrument clamp. Finally, through the closing slope, closing angle deviation, interference slope, interference angle deviation and clamping angle relationship, the corresponding instrument clamping angle can be obtained according to the master hand clamping angle controlled by the operator, that is, the angle of the instrument clamp corresponding to the master hand clamp under the control of the operator. The ideal instrument clamping angle can be obtained according to the master hand clamping angle, so as to improve the accuracy of the instrument clamping angle controlled by the master hand clamp, so that the operator can control the instrument clamp through the master hand clamp to complete higher precision operation, improve the operation experience and operation efficiency, and at the same time avoid the safety hidden danger caused by the angle deviation of the instrument clamp, and improve the safety and stability of the operation.

[0062] In an optional embodiment, the instrument angle information includes an instrument maximum opening and closing angle and an instrument closing angle; the master hand angle information includes a master hand maximum opening and closing angle and a master hand closing angle; the closing relationship includes a closing slope relationship and a closing angle deviation relationship; and the closing slope and the closing angle deviation are obtained according to the instrument angle information and the master hand angle information through the closing relationship, including:

[0063] The closure slope is obtained from the closure slope relationship according to the instrument maximum opening angle, the instrument closure angle, the master maximum opening angle and the master closure angle.

[0064] The closure angle deviation is obtained from the closure angle deviation relationship according to the instrument maximum opening angle, the instrument closure angle, the master maximum opening angle and the master closure angle.

[0065] In an optional embodiment, the closure slope relationship satisfies:

[0066]

[0067] The closure angle deviation relationship satisfies:

[0068]

[0069] Wherein, K1 is the closure slope, B1 is the closure angle deviation, O i is the instrument maximum opening angle, C i is the instrument closure angle, O h is the master maximum opening angle, C h is the master closure angle.

[0070] Specifically, the instrument angle information includes an instrument maximum opening angle and an instrument closure angle, the instrument maximum opening angle is the maximum angle that the instrument clamp can be opened, and the instrument closure angle is the angle when the instrument clamp is closed. The instrument closure angle refers to the angle when the actual instrument clamp becomes closed, which is a value close to 0. Due to objective factors such as machine assembly, the closure angle will actually be a little larger than 0. The master angle information includes a master maximum opening angle and a master closure angle, the master maximum opening angle is the maximum angle that the master clamp can be opened, and the master closure angle is the angle when the master clamp is closed. The master closure angle is also close to 0, and there is a small angle value.

[0071] Further, the status signal of the master clamp is transmitted to the instrument clamp through the surgical robot system, and the instrument clamp synchronously performs the operation of the master clamp, that is, the opening and closing angles of the surgical instrument clamp and the master clamp are kept the same. Therefore, when the master clamp changes from the maximum clamping angle opening state to the state where the clamping angle is zero and the interference amount is zero, the instrument angle also changes from the maximum clamping angle opening state to the state where the clamping angle is zero and the interference amount is zero. However, due to errors and other reasons existing in the installation process, there is a deviation between the actual instrument clamping angle of the instrument clamp and the master clamping angle of the master clamp.

[0072] Specifically, when the master hand jaw angle of the master hand jaw changes from opening to the state that the jaw angle is zero and the interference amount is zero, according to the existing data, it is known that the angle change of the master hand jaw and the angle change of the instrument jaw present a linear relationship, so according to the instrument maximum opening angle and the instrument closing angle of the instrument jaw and the master hand maximum opening angle and the master hand closing angle of the master hand jaw, the corresponding closing slope is obtained through the closing slope relationship, the closing slope is the ratio of the angle change of the master hand jaw from the maximum opening angle to the closing angle to the angle change of the instrument jaw from the maximum opening angle to the closing angle, and further according to the instrument maximum opening angle, the instrument closing angle, the master hand maximum opening angle and the master hand closing angle, the closing angle deviation is obtained through the closing angle deviation relationship, the closing angle deviation is the difference between the master hand jaw angle and the instrument holding angle deviation of the instrument jaw.

[0073] In the embodiment, when the master hand jaw of the operation table changes from the state that the maximum jaw angle is opened to the state that the jaw angle is zero and the interference amount is zero, the closing slope and the closing angle deviation are obtained according to the angle change of the master hand jaw and the corresponding angle change of the instrument jaw, and through the closing slope and the closing angle deviation, the relationship between the instrument jaw holding angle and the master hand jaw holding angle and the angle difference of the instrument jaw in the process that the opening state changes to the closing state and the interference amount is zero can be accurately judged, so that the operator can control the opening angle of the master hand jaw to obtain the accurate opening angle of the instrument jaw, thereby improving the control accuracy of the operator in controlling the instrument jaw through the master hand jaw.

[0074] In an optional embodiment, the instrument angle information includes an instrument closing angle and an instrument interference amount; the master hand angle information includes a master hand closing angle and a master hand interference amount; the interference relationship includes an interference slope relationship and an interference angle deviation relationship; and the interference slope and the interference angle deviation are obtained through the interference relationship according to the instrument angle information and the master hand angle information, including:

[0075] The interference slope is obtained through the interference slope relationship according to the instrument closing angle, the instrument interference amount and the master hand closing angle;

[0076] The interference angle deviation is obtained through the interference angle deviation relationship according to the master hand interference amount.

[0077] In an optional embodiment, the interference slope relationship satisfies:

[0078]

[0079] The interference angle deviation relationship satisfies:

[0080] B2=-E h ;

[0081] Wherein, K2 is the interference slope, B2 is the interference angle deviation, C i is the instrument closing angle, C h is the master hand closing angle, E i is the instrument interference amount, E h is the master hand interference amount.

[0082] Specifically, according to the instrument angle information, the instrument closing angle and the instrument interference amount are obtained, the instrument closing angle refers to the angle when the actual instrument clamp becomes the closed state, which is a value close to 0, and due to objective factors such as machine assembly, the closing angle will actually be a little larger than 0, and the instrument interference amount refers to the external force to pinch the clamp after the instrument clamp is closed, although the clamp angle will not be reduced, but there will be a force to the inside angle of the clamp angle, the interference amount is 0 when the closing angle is close to 0 without external force pinching, but with external force pinching after the instrument clamp is closed, the interference amount will continue to increase until the instrument wire breaks, so the maximum interference amount parameter of each instrument is known, and similarly, according to the master hand angle information, the master hand closing angle and the master hand interference amount are obtained.

[0083] Further, when the master hand clamp changes from the closed state with zero master hand clamping angle and zero interference amount to the clamped state with maximum interference amount, the instrument clamping angle of the surgical instrument clamp also changes accordingly, the instrument clamping angle changes from the closed state with zero instrument clamping angle and zero interference amount to the clamped state with maximum interference amount, according to the obtained instrument closing angle, instrument interference amount and master hand closing angle, the interference slope corresponding to the state is obtained through the interference slope relationship, and the interference angle deviation corresponding to the state is obtained through the master hand interference amount through the interference angle deviation relationship, wherein the interference slope represents the ratio of the movement angle of the instrument clamp from the closed state to the clamped state to the closing angle of the master hand clamp, since the master hand interference amount of the console is a positive value, and the movement direction is opposite to the interference amount direction when the master hand changes from the closed state to the clamped state, therefore the interference angle deviation of the state is actually the negative value of the master hand interference amount.

[0084] In this embodiment, when the master hand clamp changes from the closed state with zero master hand clamping angle and zero interference amount to the clamped state with maximum interference amount, according to the angle change of the master hand clamp and the angle change of the instrument clamp and the interference amount corresponding to the state, the interference slope and the interference angle deviation in the state are obtained, through the interference slope and the interference angle deviation, the difference value of the change angle of the instrument clamping angle of the instrument clamp with the change relationship of the master hand clamping angle of the master hand during the process of changing from the closed state with zero interference amount to the clamped state with maximum interference amount, can make the operator obtain the accurate angle change value of the instrument clamp through the angle change of the master hand clamp during the process of changing from the closed state with zero interference amount to the clamped state with maximum interference amount, thereby improving the accuracy of the operator controlling the opening and closing of the instrument clamp through the master hand clamp.

[0085] In an optional embodiment, the master hand angle information comprises a master hand closing angle; and the instrument grip angle is obtained according to the closing slope, the closing angle deviation, the interference slope and the interference angle deviation through a grip angle relationship, comprising:

[0086] the instrument grip angle is obtained according to the master hand closing angle, the master hand grip angle, the closing slope, the closing angle deviation, the interference slope and the interference angle deviation through a grip angle relationship;

[0087] the grip angle relationship satisfies:

[0088]

[0089] wherein, J i is the instrument grip angle, J h is the master hand grip angle, K1 is the closing slope, B1 is the closing angle deviation, K2 is the interference slope, B2 is the interference angle deviation, C h is the master hand closing angle.

[0090] According to the grip angle relationship, i.e. the corresponding relationship between the instrument grip angle and the master hand grip angle of the surgeon console, the corresponding instrument grip angle can be accurately obtained according to the master hand grip angle of the master hand grip,

[0091] Specifically, the instrument grip angle is the angle of the instrument grip, and the master hand grip angle is the angle of the master hand grip of the console. The operator controls the master hand grip angle of the master hand grip to realize the control of the instrument grip angle of the instrument grip. When the operator controls the master hand grip angle, the corresponding instrument grip angle is obtained according to the angle of the master hand grip angle through the grip angle relationship, the closing slope, the closing angle deviation, the interference slope and the interference angle deviation. When the master hand grip angle is greater than or equal to the master hand closing angle, the corresponding instrument grip angle is obtained through the grip angle relationship, the closing slope and the closing angle deviation. When the master hand grip angle is less than the master hand closing angle, the corresponding instrument grip angle is obtained through the grip angle relationship, the interference slope and the interference angle deviation.

[0092] In the embodiment, the change relationship between the master hand clamping angle and the instrument clamping angle, i.e., the clamping angle relationship, is obtained by calculating the motion change process between the console master hand and the surgical instrument clamping angle, and the accurate clamping angle of the instrument clamp synchronized with the clamping angle of the master hand clamp controlled by the operator can be obtained through the change relationship. Although the master hand clamp and the instrument clamp cannot be completely synchronized due to the influence of the device error factor, the accurate angle value of the instrument clamp can be obtained through the angle change value of the master hand clamp, so that the operator can realize the precise control of the instrument clamping angle according to the specific instrument clamping angle value obtained, and the operation accuracy of the operator is improved.

[0093] In an optional embodiment, the master hand clamping angle acquisition method comprises:

[0094] acquiring a cycle master hand clamping angle of each filtering cycle;

[0095] obtaining the master hand clamping angle according to all the cycle master hand clamping angles and the average clamping angle relationship;

[0096] the average clamping angle relationship satisfies:

[0097]

[0098] wherein, J h is the master hand clamping angle, J n is the nth cycle master hand clamping angle, and m is the number of the filtering cycle.

[0099] Specifically, in the process of gradually reducing the opening and closing angle of the master hand clamp of the console from the maximum value to 0, the pinch rate of the operator to the master hand clamp may be large, so that the angle of the master hand clamp jumps, thereby affecting the synchronization of the angle jump of the instrument clamp angle, causing the instrument pinch process to be not smooth, so the master hand clamp angle of the console master hand clamp needs to be pre-set for a number of cycles of mean value filtering, that is, the average value of the master hand clamp angle in the pre-set number of cycles is obtained, and the average value is determined as the final obtained master hand clamp angle, so as to avoid the angle jump of the master hand clamp, thereby solving the above condition. Since the pre-set number of cycles is too large, the master-slave response time is increased, the difference between the instrument clamp angle displayed on the console master screen and the actual instrument clamp angle is too large, and the operation experience is directly and seriously affected. Through repeated tests, it is found that under the condition that each cycle is 1ms, 20 cycles are set as the best, so the master hand clamp angle of each cycle of 20 cycles is obtained, the average value of the master hand clamp angle of 20 cycles is calculated through the average clamp angle relationship, and the average value is determined as the master hand clamp angle. The average value processing process can increase the smoothness of the master hand clamp angle. Although the filtering process will cause a lag of 20 cycles, it will not seriously affect the operation experience. On the contrary, after the console master hand is filtered by the average value, the clamp angle of the surgical instrument becomes smoother, thereby improving the operation experience of the laparoscopic surgical robot and the precision of the instrument clamp angle control.

[0100] As shown in Figure 2 , the device for controlling the instrument clamp angle provided by the embodiment of the application comprises:

[0101] An acquisition module is configured to acquire instrument angle information of an instrument clamp, master hand angle information of a master hand clamp, and a master hand clamp angle.

[0102] An operation module is configured to obtain a closure slope and a closure angle deviation through a closure relationship according to the instrument angle information and the master hand angle information, and obtain an interference slope and an interference angle deviation through an interference relationship according to the instrument angle information and the master hand angle information.

[0103] A processing module is configured to obtain an instrument clamp angle of the instrument clamp through a clamp angle relationship according to the closure slope, the closure angle deviation, the interference slope, and the interference angle deviation.

[0104] The device for controlling the instrument clamp angle in the embodiment of the application has similar technical effects to the method for controlling the instrument clamp angle, and thus will not be described here.

[0105] The electronic device provided by the embodiment of the application comprises a memory and a processor.

[0106] The memory is configured to store a computer program.

[0107] The processor is configured to implement the instrument holding angle control method as described above when executing the computer program.

[0108] An electronic device in an embodiment of the present application has similar technical effects to the instrument holding angle control method described above, and thus repeated description is omitted.

[0109] The computer readable storage medium provided in the embodiment of the present application has similar technical effects to the instrument holding angle control method described above, and thus repeated description is omitted.

[0110] The computer readable storage medium provided in the embodiment of the present application has similar technical effects to the instrument holding angle control method described above, and thus repeated description is omitted.

[0111] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like. In the present application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0112] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. A person of ordinary skill in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. An apparatus clamp angle control method characterized by, The application is applied to a surgical robot system, the surgical robot system includes a master hand clamp and an instrument clamp, the master hand clamp and the instrument clamp are communicatively connected; The instrument clamp holding angle control method includes: Obtaining instrument angle information of the instrument clamp, master hand angle information of the master hand clamp and master hand clamp holding angle; According to the instrument angle information and the master hand angle information, the closure slope and the closure angle deviation are obtained through the closure relationship, and according to the instrument angle information and the master hand angle information, the interference slope and the interference angle deviation are obtained through the interference relationship; According to the closure slope, the closure angle deviation, the interference slope, the interference angle deviation and the master hand clamp holding angle, the instrument clamp holding angle of the instrument clamp is obtained through the clamp holding angle relationship; The instrument angle information includes instrument maximum opening and closing angle, instrument closure angle and instrument interference amount; The master hand angle information includes master hand maximum opening and closing angle, master hand closure angle and master hand interference amount; The closure relationship includes closure slope relationship and closure angle deviation relationship; According to the instrument angle information and the master hand angle information, the closure slope and the closure angle deviation are obtained through the closure relationship, including: According to the instrument maximum opening and closing angle, the instrument closure angle, the master hand maximum opening and closing angle and the master hand closure angle, the closure slope is obtained through the closure slope relationship; According to the instrument maximum opening and closing angle, the instrument closure angle, the master hand maximum opening and closing angle and the master hand closure angle, the closure angle deviation is obtained through the closure angle deviation relationship; The interference relationship includes interference slope relationship and interference angle deviation relationship; According to the instrument angle information and the master hand angle information, the interference slope and the interference angle deviation are obtained through the interference relationship, including: According to the instrument closure angle, the instrument interference amount and the master hand closure angle, the interference slope is obtained through the interference slope relationship; According to the master hand interference amount, the interference angle deviation is obtained through the interference angle deviation relationship.

2. The instrument clamp angle control method according to claim 1, characterized by, The closure slope relationship satisfies: ； The closure angle deviation relationship satisfies: ； where K1 is the closure slope, B1 is the closure angle bias, Q i is the maximum opening angle of the slave device, C i is the closure angle of the slave device, O h is the maximum opening angle of the master device, C h is the closure angle of the master device.

3. The instrument clamp angle control method according to claim 2, characterized by, The interference slope relationship satisfies: ； The interference angle deviation relationship satisfies: ； where K2 is the interference slope, B2 is the interference angle bias, C i is the instrument closure angle, C h is the master hand closure angle, E i is the instrument interference amount, E h is the master hand interference amount.

4. The instrument clamp angle control method according to claim 3, characterized by, The master hand angle information includes master hand closure angle; According to the closure slope, the closure angle deviation, the interference slope and the interference angle deviation, the instrument clamp holding angle of the instrument clamp is obtained through the clamp holding angle relationship, including: According to the master hand closure angle, the master hand clamp holding angle, the closure slope, the closure angle deviation, the interference slope and the interference angle deviation, the instrument clamp holding angle is obtained through the clamp holding angle relationship; The clamp holding angle relationship satisfies: ； where J i is the instrument grip angle, J h is the master grip angle, K1 is the closure slope, B1 is the closure angle deviation, K2 is the interference slope, B2 is the interference angle deviation, C h is the master closure angle.

5. The instrument clamp angle control method according to claim 4, wherein The master hand clamp holding angle acquisition method includes: Obtaining the period master hand clamp holding angle of each filtering period; According to all the period master hand clamp holding angle and the average clamp holding angle relationship, the master hand clamp holding angle is obtained; The average clamp holding angle relationship satisfies: ； wherein J h is the master hand grip angle, J n is the nth periodic master hand grip angle, and m is the number of filtering periods.

6. An instrument clamp angle control device, comprising: Including: The obtaining module is used for obtaining instrument angle information of the instrument clamp, master hand angle information of the master hand clamp and master hand clamp holding angle; The operation module is configured to obtain a closure slope and a closure angle deviation through a closure relationship according to the instrument angle information and the master angle information, and obtain an interference slope and an interference angle deviation through an interference relationship according to the instrument angle information and the master angle information. The instrument angle information includes an instrument maximum opening angle, an instrument closure angle, and an instrument interference amount; and the master angle information includes a master maximum opening angle, a master closure angle, and a master interference amount. The closure relationship includes a closure slope relationship and a closure angle deviation relationship; and the operation module is configured to obtain the closure slope and the closure angle deviation through the closure relationship according to the instrument angle information and the master angle information, including: obtaining the closure slope through the closure slope relationship according to the instrument maximum opening angle, the instrument closure angle, the master maximum opening angle, and the master closure angle; obtaining the closure angle deviation through the closure angle deviation relationship according to the instrument maximum opening angle, the instrument closure angle, the master maximum opening angle, and the master closure angle; The interference relationship includes an interference slope relationship and an interference angle deviation relationship; and the operation module is configured to obtain the interference slope and the interference angle deviation through the interference relationship according to the instrument angle information and the master angle information, including: obtaining the interference slope through the interference slope relationship according to the instrument closure angle, the instrument interference amount, and the master closure angle; obtaining the interference angle deviation through the interference angle deviation relationship according to the master interference amount; The processing module is configured to obtain an instrument clamping angle of the instrument clamp through a clamping angle relationship according to the closure slope, the closure angle deviation, the interference slope, and the interference angle deviation.

7. An electronic device, comprising: The apparatus includes a memory and a processor. The memory is configured to store a computer program. The processor is configured to implement the instrument clamping angle control method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The storage medium has the computer program stored thereon, and the computer program, when executed by a processor, implements the instrument clamping angle control method according to any one of claims 1 to 5.

Images