Control method, system and computer readable storage medium of surgical robot

Abstract

This application provides a control method, system, and computer-readable storage medium for a surgical robot. The method includes: acquiring first state parameters of the drive device when the end effector is in a reference state, and reference force data when the end effector is in the reference state; acquiring second state parameters of the drive device when the end effector is in a clamping state; determining operating force data of the end effector in the clamping state based on the first state parameters, the reference force data, and the second state parameters; and controlling the operating unit to output force feedback based on the operating force data. The technical solution provided by this application does not require the integration or installation of any force detection components on the surgical instrument. It only relies on the parameter changes of the drive device caused by external force and then uses a constructed detection model between the external force and the parameter change to ultimately realize the clamping operating force detection of the end effector of the surgical instrument.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, specifically to a control method, system, and computer-readable medium for a surgical robot. Background Technology

[0002] Minimally invasive surgical robot systems typically employ a master-slave control method. The surgeon's hand movements at the master console are mapped to slave robotic arms on the patient's surgical platform based on a kinematic model. Surgical instruments mounted at the end of these slave robotic arms then perform the specific surgical procedures. Because the surgical instruments come into direct contact with human tissue, the magnitude of the interaction force between them affects the range and force of the surgeon's hand movements at the master console.

[0003] Considering the limited structural dimensions of the actuator end of surgical instruments, force sensors cannot be directly installed and integrated. Furthermore, considering that the application environment and performance stability of force detection components can be negatively affected by the sterilization and disinfection of surgical instruments and the liquid working environment, the method of integrating force detection components or force sensors at the end of surgical instruments for operational force detection has low feasibility in practical applications.

[0004] Therefore, in order to enable doctors to know the interaction force between the end effector of surgical instruments and human tissue, a new technical solution is needed to detect the operating force of the end effector of surgical instruments. Summary of the Invention

[0005] In view of this, this application provides a method, system, electronic device, and computer-readable storage medium for detecting the operating force of surgical instruments, in order to solve the problem that the operating force of the end effector of surgical instruments cannot be detected because the end effector cannot integrate a force detection element.

[0006] According to a first aspect of this application, a method for controlling a surgical robot is provided. The surgical robot includes an operating unit, a manipulator, and surgical instruments. The manipulator is equipped with a drive device for driving the movement of the surgical instruments. The surgical instruments are coupled to the drive device and have an end effector disposed at their distal end. The method includes:

[0007] The drive device acquires a first state parameter when the end effector is in the reference state, and reference force data when the end effector is in the reference state.

[0008] Obtain the second state parameters of the drive device when the end effector is in the clamping state;

[0009] Based on the first state parameter, the reference force data, and the second state parameter, the operating force data when the end effector is in the clamping state is determined;

[0010] Based on the operating force data, the operating unit is controlled to output force feedback.

[0011] According to another aspect of this application, a surgical robot system is also provided, the surgical robot system including an operating unit, a manipulator and surgical instruments, the manipulator being configured with a drive device for driving the movement of the surgical instruments, the surgical instruments being coupled to the drive device and having an end effector disposed at their distal end, the system further including a controller coupled to the operating unit and the manipulator, the controller being configured to perform the steps in the control method of the surgical robot as described above.

[0012] According to another aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the control method of the surgical robot as described above.

[0013] The technical solution provided in this application does not require the integration or installation of any force detection components on the surgical instrument. It relies solely on the change in parameters of the driving device caused by the action of the operating force, and then uses the parameters of the driving device in a reference state and the reference force data of the end effector to ultimately detect the operating force of the surgical instrument's end effector. This force detection method is simple to implement and avoids the problems of sterilization, disinfection, and liquid infiltration involved in integrating force detection components or force sensors.

[0014] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a schematic diagram of the structure of the operating device according to one embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of a robotic arm according to one embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the structure of a surgical instrument according to one embodiment of this application;

[0019] Figure 4 This is a schematic diagram showing the force decomposition of the end effector of a surgical instrument according to one embodiment of this application;

[0020] Figure 5This is a schematic diagram of the control flow of a surgical robot according to one embodiment of this application;

[0021] Figure 6 This is a schematic diagram of a detection system for a detection model according to one embodiment of this application;

[0022] Figure 7 This is a schematic diagram of a data acquisition system for a pressure sensor according to one embodiment of this application;

[0023] Figure 8 This is a schematic diagram of the structure of the instrument locking device according to one embodiment of this application;

[0024] Figure 9 This is a schematic diagram of the upper roller mounting mechanism in an instrument locking device according to one embodiment of the present application;

[0025] Figure 10 for Figure 9 The diagram shows the upper roller mounting mechanism from another angle.

[0026] Figure 11 This is a schematic diagram of the sensor loading device according to one embodiment of the present application. Detailed Implementation

[0027] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments of the present disclosure. It should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0028] The surgical robot includes an operating unit, a manipulator, and surgical instruments. The manipulator is equipped with a drive unit for moving the surgical instruments. The surgical instruments are coupled to the drive unit and have an end effector at their distal end. The operating unit sends control commands to the manipulator based on the surgeon's instructions to control parts of the manipulator. The manipulator can respond to the control commands from the operating unit and perform corresponding operations.

[0029] Figure 1A manipulator 100 is shown in one embodiment. The manipulator 100 includes a robotic arm 110 (which may include multiple robotic arms). Each robotic arm 110 includes multiple motion joints and a holding arm 130. The multiple motion joints are linked to achieve multiple degrees of freedom of movement of the holding arm 130. The holding arm 130 can be fitted with surgical instruments 120 for performing surgical procedures. The surgical instruments 120 pass through a cannula 140 fixed to the distal end of the holding arm 130 and enter the human body. The robotic arm 110 is used to manipulate the movement of the surgical instruments 120 to perform surgical actions. The surgical instruments 120 are detachably mounted on the holding arm 130, so that different types of surgical instruments 120 can be replaced at any time or the surgical instruments 120 can be removed for rinsing or sterilization.

[0030] Figure 2 The structure of a robotic arm 110 in one embodiment is shown. The robotic arm 130 includes a robotic arm body 131 and an instrument mounting box 132. The instrument mounting box 132 is used to mount surgical instruments 120. The instrument mounting box 132 can slide on the robotic arm body 131, thereby driving the surgical instruments 120 to move forward or backward along the longitudinal axis of the robotic arm body 131.

[0031] like Figure 3 The structure of a surgical instrument 120 in one embodiment is shown. The surgical instrument 120 includes a drive 121 located at the proximal end of the surgical instrument 120 and an end effector 123 located at the distal end, as well as a long shaft 122 located between the drive 121 and the end effector 123. The drive 121 is used to connect to an instrument mounting box 132 of a holding arm 130. The instrument mounting box 132 has a drive device (not shown) for driving the movement of the surgical instrument. After the surgical instrument 120 is mounted on the holding arm 130, the drive 121 is coupled to the drive device in the instrument mounting box 132 to transmit the driving force of the drive device to the drive 121. The long shaft 122 is used to connect the transmission device 121 and the end effector 123. The long shaft 122 is a hollow tubular structure. The cable that drives the joint movement of the end effector 123 passes through the inside of the long shaft 122 and is connected and fixed to the corresponding rope wheel inside the transmission device 121. The transmission device 121 controls the displacement movement of the drive cable and then manipulates the joint movement of the surgical instrument 120 so that the end effector 123 can perform related surgical operations, including pitch, yaw and opening and closing.

[0032] The above Figures 1-3 The structures shown are all exemplary structures, and are merely exemplary descriptions for the purpose of facilitating understanding of the technical solutions. They are not limited to these structures.

[0033] When a surgeon performs a surgical procedure using the surgical instrument 120, the end effector 123 generates an interaction force with the human tissue. This interaction force is not limited in form; for example, compression, traction, separation, or suturing of the human tissue by the end effector 123 can all generate an interaction force between the end effector and the human tissue. This interaction force reflects the magnitude of the force exerted by the surgeon on the human tissue through the instrument. To enable the surgeon to know the force exerted by the surgical instrument 120 on the human tissue, this application provides a method for detecting the surgical instrument's operating force, used to detect the interaction force between the surgical instrument and the human tissue.

[0034] This application provides a control method for a surgical robot. The surgical robot includes an operating unit, a manipulator, and surgical instruments. The manipulator is equipped with a drive device for driving the movement of the surgical instruments. The surgical instruments are coupled to the drive device and have an end effector at their distal end. Figure 5 As shown, the method includes:

[0035] S1. Obtain the first state parameters of the drive device when the end effector is in the reference state and the reference force data when the end effector is in the reference state;

[0036] There are two ways to obtain the first state parameter and reference force data corresponding to the reference state: temporarily retrieving data from a pre-stored database as the first state parameter and reference force data, or setting the first state parameter and reference force data to preset values ​​respectively. The preset values ​​can be constant values, which are related to the surgical instrument, such as the transmission method of the surgical instrument.

[0037] To obtain the first state parameters and reference force data from the database for retrieval, or to obtain preset values ​​for the first state parameters and reference force data, a testing process for the surgical instruments can be performed in advance.

[0038] In this detection process, the control drive device causes the end effector to execute a predetermined motion trajectory or predetermined action, such as a clamping action, pitching or swinging action in an unloaded state, or a pitching or swinging action in a clamping state. The reference state is a state of the end effector when the surgical instrument is being detected. When the end effector is in this state, the first state parameter corresponding to this state of the drive device driving the surgical instrument, and the operating force parameter of the end effector in this state are acquired. The operating force parameter can be acquired by a sensor during the detection process. In this embodiment, the operating force parameter of the end effector in the reference state is referred to as the reference operating force. In this embodiment, the reference state is used as a benchmark state to determine the operating force data when the end effector is in the clamping state. The reference state includes an unloaded state and a benchmark clamping state.

[0039] Specifically, in one embodiment, the first state parameters and operating force parameters of the drive device acquired in various states of the end effector during the surgical instrument testing process can be stored in a database. This allows the surgical robot to control the surgical instruments during surgery, selecting a specific state of the end effector during the testing process as a reference state based on the specific operation, and thus selecting the first state parameters and operating force parameters in real time—that is, temporarily retrieving data from the pre-stored database as the first state parameters and reference force data. For example, to obtain the operating force value when the end effector accelerates its gripping motion, the same acceleration state during the testing process can be used as the reference state, and the corresponding first state parameters and operating force data can be retrieved from the database. Alternatively, to detect the operating force value of the end effector during a certain action, the state corresponding to that action can be selected as the reference state, and the pre-stored first state parameters and operating force parameters corresponding to that action in the database can be retrieved. In one embodiment, the reference state can be set to an idle state, where the parameters of the drive device detected in the idle state are the first state parameters, and the reference force data is the force data of the end effector when it is in the idle state. Typically, when the end effector is in an unloaded state, the parameters of the drive device will fluctuate slightly. The larger value of the drive device parameters detected in this unloaded state can be used as the first state parameter, and the reference force data can be set to zero. That is, the larger value of the drive device parameters is used as the preset value of the first state parameter, and the preset value of the reference force data is zero. Furthermore, multiple detections can be performed based on the same or different motion trajectories during the detection process. Optionally, the larger value of the drive device parameters obtained from each detection can be determined first, and then the first state parameter can be determined based on each larger value. For example, the average value of each larger value can be taken as the preset value of the first state parameter.

[0040] In another embodiment, a clamping state of the end effector can be used as a reference state. In this embodiment, the clamping state used as the reference state is called the benchmark clamping state. The parameters of the driving device detected in the benchmark clamping state are used as preset values ​​of the first state parameters, and the value of the operating force detected by the sensor is used as a preset value of the reference force data. Similarly, multiple detections can be performed based on the same or different motion trajectories during the detection process. Then, the first state parameters and the reference force are determined based on the results of the multiple detections. For example, the preset values ​​of the first state parameters and the reference force data can be determined by averaging the results of the multiple detections.

[0041] The drive unit includes the drive unit configured in the manipulator of the surgical robot, and optionally includes a drive unit whose state parameters change due to the presence of operating force. The number of drive units varies depending on the specific design of the transmission method of the surgical instruments.

[0042] S2. Obtain the second state parameter of the drive device when the end effector is in the clamping state;

[0043] The second state parameter is a parameter corresponding to the first state parameter. For example, if the first state parameter is voltage, then the second state parameter is voltage; if the first state parameter is current, then the second state parameter is also current. The second state parameter can also be obtained by a sensor in the drive device. For example, the sensor can be installed in the motor driver, in which case the motor driver directly obtains the state parameter. Alternatively, the sensor can be installed in the motor encoder, in which case the encoder obtains the state parameter. Optionally, the state parameter can be uniformly obtained by the driver regardless of where the sensor is installed; this embodiment of the application does not impose specific limitations on this.

[0044] The driving device may include a motor for driving the end effector, and the first state parameter and the second state parameter may be the motor's current or voltage. These first and second state parameters can be directly obtained from the motor driver. The motor may be replaced with other power devices.

[0045] S3. Based on the first state parameter, the reference force data, and the second state parameter, determine the operating force data when the end effector is in the clamping state;

[0046] During surgical instrument operation, the operating force value of the end effector in each state can be obtained in real time based on the first state parameter, the second state parameter, and the reference force data. Specifically, the real-time operating force of the end effector can be determined by comparing the real-time obtained second state parameter with the first state parameter and by referring to the reference force data.

[0047] However, during surgery, doctors need to know the operational force data of the surgical instruments in the clamping state during operation, so as to know the magnitude of the operational force of the end effector when clamping human tissue. Therefore, it is not necessary to pay attention to the situation when the end effector does not have clamping force, and it is only necessary to obtain the operational force data when the end effector is in the clamping state.

[0048] S4. Based on the operating force data, control the operating unit to output force feedback.

[0049] After acquiring the operational force data, this data can be transmitted to the operating unit to control its output force feedback. For example, force feedback can be provided through the handle of the operating unit, allowing the doctor to feel the force; or through a wearable device connected to the operating unit; or the operational force data can be displayed on the operating unit's screen, allowing the doctor to judge the operation based on the data. When the operational force data exceeds a preset value, the doctor can send a control command to the manipulator to adjust or stop the operation. Alternatively, the operating unit can automatically control the manipulator based on the operational force data. For instance, when the operational force data exceeds a preset value, the operating unit automatically sends a command to the manipulator to adjust or stop the operation.

[0050] The surgical instrument operating force detection method provided in this application does not require the integration or installation of any force detection components on the surgical instrument. It can determine the operating force data when the end effector is in a clamping state based solely on the first state parameter, the reference force data, and the second state parameter. This method of obtaining the operating force is simple, eliminating the need to integrate force detection elements or force sensors onto the surgical instrument, thereby avoiding problems such as sterilization and liquid infiltration associated with integrating force detection elements or force sensors.

[0051] In one embodiment, determining the operating force data of the end effector when it is in a clamping state based on the first state parameter, the second state parameter, and the reference force data includes:

[0052] Based on the first state parameter, the reference force data, and the second state parameter, the operating force data of the end effector when it is in the clamping state is determined using a detection model, wherein the detection model is a relationship model between the first state parameter, the second state parameter, and the reference force data.

[0053] In one embodiment, determining the operating force data of the end effector when it is in a clamping state using a detection model based on a first state parameter, the reference force data, and a second state parameter includes:

[0054] Configure the reference force data for the detection model;

[0055] Based on the first state parameter and the second state parameter, determine the parameter change amount;

[0056] The parameter change is input into the detection model, and the operating force data when the end effector is in the clamping state is determined based on the parameter change and the reference force data.

[0057] In other words, in this embodiment, the parameter change is used as a variable in the detection model, and the operational force data can be obtained by inputting the parameter change into the detection model.

[0058] In another embodiment, determining the operating force data of the end effector when it is in a clamping state using a detection model based on the first state parameter, the reference force data, and the second state parameter includes:

[0059] Configure the detection model with first state parameters and the reference force data;

[0060] The second state parameter is input into the detection model, and the parameter change is determined based on the first and second state parameters.

[0061] The operating force data when the end effector is in a clamping state is determined based on the parameter changes and the reference force data.

[0062] In other words, in this embodiment, the second state parameter is used as a variable in the detection model, and the operating force data can be obtained by inputting the second state parameter into the detection model.

[0063] Configuring the first state parameters and the reference force data for the detection model can include: configuring the model before using it. Specifically, this can be done by pre-configuring the model when it is built, allowing the operational force data to be determined directly using the model during use; or by configuring the model based on the actual situation before using it, and then using the model to determine the operational force data. For example, when a surgical robot is equipped with multiple surgical instruments, the first state parameters and reference force data corresponding to each instrument may be different. Therefore, it is necessary to first obtain the type of surgical instrument to determine which instrument it is, and then configure the first state parameters and reference force data corresponding to that instrument.

[0064] Corresponding to step S1, if the data temporarily obtained from the pre-stored database in step S1 is used as the first state parameter and reference force data, then the first state parameter and reference force data obtained from the database are used to configure the detection model. If step S1 sets the first state parameter and reference force data to preset values ​​respectively, for example, the first state parameter is set to a first preset value and the reference force data is set to a second preset value, then the first state parameter is configured to the first preset value and the reference force data is configured to the second preset value. For example, the first state parameter can be the maximum parameter value of the drive device in the unloaded state of the end effector, and the reference force data is set to zero. The first state parameter can also be the parameter value of the drive device detected by the end effector in the clamping state, and the reference force data is the value detected by the sensor in that state; or it can be the value determined during the function fitting process.

[0065] The detection model indicates the correspondence between the first state parameter, the reference force, the second state parameter, and the operating force data. Optionally, the detection model corresponds to a function or algorithm, which can be used to calculate the operating force data; or, the detection model corresponds to a list or database, which can be used to query the operating force data corresponding to each input.

[0066] The detection model can be dependent solely on the parameter changes. When the detection model is dependent solely on the parameter changes, and the parameter changes are current changes, the detection model can be F = f(ΔI). m )+F0, where F represents the operating force of the end effector; ΔI m f(ΔI) represents the change in current of the drive device in the clamping state of the end effector compared to the reference state. m ) represents the current change ΔI of the driving device. m The fitting function is given by F0, which represents the reference force data when the end effector is in the reference state. For example, F = k(I - I0) + F0, where k is a coefficient, I is the state parameter of the clamping state, and I0 is the state parameter of the reference state. Optionally, at least one of k, I0, and F0 is determined during the function fitting process. Depending on the actual situation, only a portion of k, I0, and F0 may be determined through the fitting process; for example, when corresponding to the no-load state, only k may be determined through the fitting process.

[0067] Optionally, the detection model is configured with first state parameters and reference force data. For example, the first state parameters are configured to a first preset value, and the reference force data are configured to a second preset value. Alternatively, the first state parameters can be configured to I0 determined by fitting, and the reference force data can be configured to F0 determined by fitting. Existing software, such as Matlab, can be used for fitting; this application does not impose specific limitations.

[0068] When the detection model is only related to the parameter change, and the parameter change is the voltage change, the detection model can be F = f(ΔU). m )+F0, where F represents the value of the operating force; ΔU m The voltage change f(ΔU) of the drive device in the clamping state of the end effector compared to the reference state. m ) is the variable ΔU of the driving device. mThe fitting function is given by F0, which is the reference force data when the end effector is in the reference state. For example, F = k′(U―U0) + F′0. Similarly, depending on the actual situation, only a portion of k′, U0, and F0′ can be determined through the fitting process. The detection model is configured with first state parameters and the reference force data. Alternatively, the first state parameter can be configured as the fitted U0, and the reference force data can be configured as the fitted F0′.

[0069] In another embodiment, the control method for the surgical robot provided in this application further includes: acquiring at least one motion parameter of the drive device when the end effector is in a clamping state; wherein the motion parameter of the drive device can characterize the motion parameter of the end effector.

[0070] The step of determining the operating force data of the end effector when it is in a clamping state based on the first state parameter, the reference force data, and the second state parameter includes:

[0071] Based on the at least one motion parameter, the first state parameter, the reference force data, and the second state parameter, the operating force data when the end effector is in the clamping state is determined.

[0072] In other words, in addition to the first state parameter, the reference force data, and the second state parameter, the motion parameters of the drive device (e.g., speed, acceleration, etc.) also affect the operating force when the end effector is in the clamping state.

[0073] Therefore, the detection model for the operating force used is related not only to the change in parameters but also to the motion parameters.

[0074] In one embodiment, the detection model is related to the change in current, velocity, and acceleration. The detection model is: F = f(ΔI) m V c A c )+F0. Where F represents the value of the operating force; ΔI m V represents the change in current of the drive device in the clamping state of the end effector compared to the reference state. c A represents the speed of the drive device. c f(ΔI) is the acceleration of the driving device. m V c A c ) is the variable ΔI of the driving device. m V c and A c The fitting function is F0, which is the reference force data when the end effector is in the reference state.

[0075] In one embodiment, the detection model is related to voltage change, velocity, and acceleration. The detection model is F = f(ΔU). m V c A c )+F0. Where F represents the value of the operating force; ΔU m V represents the voltage change of the drive device in the clamping state of the end effector compared to the reference state. c A represents the speed of the drive device. c f(ΔU) is the acceleration of the driving device. m V c A c ) represents the variables ΔU and V of the driving device. c and A c The fitting function is F0, which is the reference force data when the end effector is in the reference state.

[0076] In some embodiments, there may be multiple drive devices for driving the end effector, each drive device controlling the end effector to perform a corresponding action. For example, at least one first drive device drives the two gripping parts of the end effector to perform a gripping action, and at least one second drive device drives the end effector to perform a pitching action. The first and second drive devices may each be a motor.

[0077] The following analysis, based on a specific embodiment, examines the force exerted on the end effector and the operating status of each drive motor during the operation of surgical instruments.

[0078] like Figure 4 As shown, the end effector 123 of the surgical instrument includes a rotating bracket 1233, a first clamping part 1231 and a second clamping part 1232. The first clamping part 1231 and the second clamping part 1232 are rotatably connected to the rotating bracket 1233 via a first rotating shaft 1234. The rotating bracket 1233 is rotatably connected to the long shaft 122 via a second rotating shaft 1235.

[0079] The drive unit that powers the transmission mechanism 121 of the surgical instrument includes two first drive motors and one second drive motor. One first drive motor powers the cable connected to the first clamping part 1231 via the transmission mechanism 121 to drive the first clamping part 1231 to rotate independently. The other first drive motor powers the cable connected to the second clamping part 1232 via the same transmission mechanism 121 to drive the second clamping part 1232 to rotate independently. Clamping operation is achieved when the two first drive motors drive their respective first and second clamping parts 1231 and 1232 to open and close. The second drive motor powers the cable connected to the rotating support 1233 via the transmission mechanism 121 to drive the rotating support 1233 to pitch around the second rotating axis 1235 independently. Alternatively, the drive unit may include a third drive motor for rotating the long axis 122, etc.

[0080] It is understood that this description of the end effector 123 with this structural form is used to illustrate how to detect the operating force, and the operating force detection method provided in this application is also applicable to end effectors with other structural forms.

[0081] During the operation of using the end effector of a surgical instrument to grasp human tissue, an interaction force is generated between the instrument and the human tissue, such as... Figure 4 As shown, the force exerted by human tissue on the end effector can be decomposed into component forces F along the coordinate system. g F s F t , of which F g F represents the reaction force relative to the clamping force when a surgical instrument clamps human tissue. s F represents the radial tangential force (a force perpendicular to the clamping force and the long axis of the surgical instrument). t This represents the axial tensile force (force along the long axis of the surgical instrument). Since the first clamping part 1231 and the second clamping part 1232 in the end effector 123 can be controlled independently, and both generate interaction forces during contact with human tissue, the component force F can be... g F s F t It is further broken down into the first clamping part 1231 and the second clamping part 1232.

[0082] The first clamping part 1231 includes a clamping surface, which can also be called a toothed surface. Component force F g F s F t The component force decomposed onto the tooth surface of the first clamping part 1231 includes F g ′、F t ′、F s ′, where F g′ In the direction perpendicular to the tooth surface of the first clamping part 1231, F t Along the axial direction of the tooth surface of the first clamping part 1231, F s ′ Perpendicular to the clamping force F g ′ Axial F, direction and perpendicular to the tooth surface t ′ .

[0083] The second clamping part 1232 includes a clamping surface, which can also be called a toothed surface. Component force F g F s F t The component force decomposed onto the tooth surface of the second clamping part 1232 includes F g "、F t ′、′F s ", where F g "Perpendicular to the tooth surface direction of the second clamping part 1232, F" t "Along the axial direction of the tooth surface of the second clamping part 1232, F" s "Perpendicular to the clamping force F" g "Axial F in direction and perpendicular to the tooth surface" t ″.

[0084] Force decomposition relations can be expressed by the following formula:

[0085]

[0086] in, Represents force F t The vector form, similarly to the force vector. and Represents vector force The scalar value of force is analogous to the scalar value of force. and

[0087] During motion control of the end effector 123 in a reference state without clamping any human tissue or other objects, the clamping surfaces of the first clamping part 1231 and the second clamping part 1232 are not subjected to external forces, and the rope driving the end effector 123 is not affected by external forces.

[0088] When the first clamping part 1231 and the second clamping part 1232 perform a clamping action, the clamping surfaces of the first clamping part 1231 and the second clamping part 1232 are subjected to the reaction force of the clamped object, and the clamping surfaces of the first clamping part 1231 and the second clamping part 1232 are subjected to a component force F. g ′ and F gWhen the first clamping part 1231 and the second clamping part 1232 are opened and closed, the rope will be passively stretched and deformed by external force, which will cause a significant change in the parameters (such as current or voltage) of the first drive motor used to drive the first clamping part 1231 and the second clamping part 1232 to perform the clamping operation. Similarly, if the clamping surface is subjected to a component force F s ′ and F s When the cable driving the rotating bracket 1233 is subjected to external force, it will also passively undergo tensile deformation, resulting in a significant change in the parameters of the corresponding second drive motor. If the clamping surface is subjected to a component force F t ′ and F t At this time, because the force component is along the longitudinal axis of the first clamping part 1231 and the second clamping part 1232 and perpendicular to the first rotating shaft 1234, no cable will be passively deformed, that is, the component force F t ′ and F t The presence or absence of "" will not affect the parameters of the drive device that controls the movement of the first clamping part 1231, the second clamping part 1232, and the rotating bracket 1233. One or more first drive motors can be provided, and the first drive motor will be affected by the clamping force F. g ′ or F g The presence of "" causes its state parameters to change. One or more second drive motors can be configured, and the second drive motor will change due to the tangential force F. s ′ or F s The presence of "" causes its state parameters to change.

[0089] Based on the above analysis, it can be seen that the clamping force and tangential force of the end effector can be obtained by detecting the parameters of each drive motor in the drive device.

[0090] Therefore, in one embodiment, the end effector includes a first clamping portion and a second clamping portion, and the method includes:

[0091] The third state parameter data of the drive device is acquired when the end effector is in the reference state; wherein the drive device includes a drive device configured as a manipulator of the surgical robot, and optionally includes a drive device whose state parameters change due to the presence of a first clamping force. The number of drive devices varies depending on the specific design of the transmission method of the surgical instrument.

[0092] Obtain the first reference force data when the end effector is in the reference state;

[0093] Obtain the fifth state parameter of the drive device when the end effector is in the clamping state;

[0094] Based on the third state parameter, the first reference force data, and the fifth state parameter, the first clamping force data when the first clamping part is in the clamping state is determined. When there are multiple drive devices, at least one of them can be selected to determine the first clamping force data when the first clamping part is in the clamping state based on its state parameter and reference force data.

[0095] as well as,

[0096] The fourth state parameter data of the drive device is acquired when the end effector is in the reference state; wherein the drive device includes a drive device configured as a manipulator of the surgical robot, and optionally includes a drive device whose state parameters change due to the presence of a second clamping force. The number of drive devices varies depending on the specific design of the transmission method of the surgical instrument.

[0097] Obtain the second reference force data when the end effector is in the reference state;

[0098] Obtain the sixth state parameter of the drive device when the end effector is in the clamping state;

[0099] Based on the fourth state parameter, the second reference force data, and the sixth state parameter, the second clamping force data when the second clamping part is in the clamping state is determined. When there are multiple drive devices, at least one of them can be selected to determine the second clamping force data when the second clamping part is in the clamping state based on its state parameter and reference force data.

[0100] Specifically, based on the calculation of the first clamping force data and the second clamping force data, the operating force data when the end effector is in the clamping state can be determined. If the first clamping force data and the second clamping force data are the same, only one of the first clamping force data and the second clamping force data needs to be obtained.

[0101] In one embodiment, when the first clamping part and the second clamping part are each driven by a drive motor, the parameters of the drive motors of the first clamping part and the second clamping part can be obtained respectively. For example, the third state parameter and the fifth state parameter can be the parameters of the drive motor driving the first clamping part, and the fourth state parameter and the sixth state parameter can be the parameters of the drive motor driving the second clamping part.

[0102] Specifically, the first clamping force data can be determined based on a first clamping force detection model. Specifically: first reference force data is configured for the first clamping force detection model, and the parameter change is determined based on the fifth state parameter and the third state parameter. The parameter change is input into the first clamping force detection model, and the clamping force data of the first clamping part is determined based on the parameter change and the reference force data. Alternatively, third state parameters and first reference force data are configured for the first clamping force detection model, the fifth state parameter is input into the first clamping force detection model, and the parameter change is determined based on the third state parameter and the fifth state parameter; the first clamping force data is determined based on the parameter change and the first reference force data.

[0103] Similarly, the second clamping force data can be determined based on the second clamping force detection model. The first clamping force model and the second clamping force model can be the same or different.

[0104] In one embodiment, the driving device is at least one first driving device for driving the first clamping part and the second clamping part to perform clamping operations, and the reference force data includes reference clamping force data of the first clamping part and the second clamping part:

[0105] Wherein, acquiring the first state parameters of the driving device when the end effector is in the reference state, and the reference force data of the end effector when the end effector is in the reference state, includes:

[0106] Acquire first state parameters of the first drive device when the end effector is in the reference state, and clamping force reference data when the end effector is in the reference state;

[0107] The step of obtaining the second state parameter of the driving device when the end effector is in the clamping state includes:

[0108] Obtain the second state parameter of the first drive device when the end effector is in a clamping state;

[0109] The step of determining the operating force data of the end effector when it is in a clamping state based on the first state parameter, the reference force data, and the second state parameter includes:

[0110] Based on the first state parameter, the clamping force reference data, and the second state parameter, the clamping force data when the end effector is in the clamping state is determined.

[0111] In the case where the first clamping part and the second clamping part are each driven by a first driving device, the parameters of the first driving devices corresponding to the first clamping part and the second clamping part can be obtained respectively. Then, based on the first state parameters and second state parameters of one of the first driving devices and the reference clamping force, a first clamping force detection model is used to calculate the first clamping force data, and based on the first state parameters and second state parameters of the other first driving device and the reference clamping force, a second clamping force detection model is used to calculate the second clamping force data. How to obtain the clamping force through the detection model can be referred to the above content, and will not be described in detail here.

[0112] Optionally, the first clamping part and the second clamping part can be driven by a common drive motor. It is only necessary to obtain the parameters of the common drive motor, such as the state parameters in the reference state, the state parameters in the clamping state, and the clamping reference force data in the reference state, and then use the detection model to determine the clamping force data of the first or second clamping part, wherein the first clamping force data and the second clamping force data are the same.

[0113] Based on the first clamping force data and the second clamping force data, according to Determine the clamping force data when the end effector is in the clamping state.

[0114] Optionally, if only one clamping part interacts with human tissue, the clamping force data of that clamping part can be obtained according to the aforementioned principle. The specific process will not be elaborated here. The clamping force of the other clamping part is 0. In this case, the clamping force data of the end effector when it is in the clamping state is the clamping force data of the clamping part with interaction force, and there is no need to perform further operations.

[0115] In one embodiment, the method includes:

[0116] The seventh state parameter of the drive device is acquired when the end effector is in the reference state; wherein the drive device includes the drive device configured in the manipulator configuration of the surgical robot, and optionally includes drive devices whose state parameters change due to the presence of tangential force. The number of drive devices varies depending on the specific design of the transmission method of the surgical instruments.

[0117] Acquire the third reference force data when the end effector is in the reference state;

[0118] Obtain the ninth state parameter of the drive unit when the end effector is in the clamping state;

[0119] Based on the seventh state parameter, the third reference force data, and the ninth state parameter, the tangential force data when the end effector is in the clamping state is determined.

[0120] When multiple drive devices are set, at least one can be selected to determine the tangential force data when the end effector is in the clamping state based on its state parameters and reference force data.

[0121] In one embodiment, the driving device is a second driving device for driving the pitch motion of the end effector, and the reference force data includes tangential force reference data;

[0122] Wherein, acquiring the first state parameters of the driving device when the end effector is in the reference state, and the reference force data of the end effector when the end effector is in the reference state, includes:

[0123] Acquire the first state parameters of the second drive device when the end effector is in the reference state, and the tangential force reference data when the end effector is in the reference state;

[0124] The step of obtaining the second state parameter of the driving device when the end effector is in the clamping state includes:

[0125] Obtain the second state parameter of the second drive device when the end effector is in a clamping state;

[0126] The step of determining the operating force data of the end effector when it is in a clamping state based on the first state parameter, the reference force data, and the second state parameter includes:

[0127] Based on the first state parameter, the tangential force reference data, and the second state parameter, the tangential force data when the end effector is in the clamping state is determined.

[0128] Of course, the first clamping force data, the second clamping force data, and the tangential force data can also be obtained through the established first clamping force database, second clamping force database, and tangential force database, respectively. The operating force can be obtained based on the parameter changes and corresponding operating force data in the database.

[0129] In one embodiment, the surgical robot includes a manipulator, a control unit, and surgical instruments. The control unit is equipped with a drive mechanism for driving the movement of the surgical instruments. The surgical instruments are coupled to the drive mechanism and have an end effector disposed at their distal end. The control method of the surgical robot includes:

[0130] Obtain the second state parameter of the drive device when the end effector is in a clamping state;

[0131] Based on the second state parameter, the operating force data when the end effector is in the clamping state is determined using a detection model;

[0132] Based on the operating force data, the operating unit is controlled to output force feedback.

[0133] The detection model is a relationship model between the first state parameter, the second state parameter, and the reference force data. The first state parameter includes the state parameters of the driving device when the end effector is in the reference state, and the reference force data includes the force data of the end effector when it is in the reference state.

[0134] Optionally, the detection model is pre-established, and a first state parameter and the reference force data are configured for the detection model during pre-establishment. The determination of the first state parameter and the reference force data is the same as described above and will not be repeated here. After configuration, when it is necessary to determine the operating force data, the second state parameter can be obtained, and then the configured model can be used to determine the operating force data.

[0135] The embodiments of this application pre-configure a detection model, thereby enabling convenient determination of operational force data using the detection model.

[0136] The following describes in detail a method for controlling a surgical robot when performing surgical procedures using surgical instruments, based on an embodiment.

[0137] The surgical robot includes an operating unit, a manipulator, and surgical instruments. The manipulator is equipped with a drive unit for driving the movement of the surgical instruments, and the surgical instruments are coupled to the drive unit and have an end effector at their distal end.

[0138] When performing surgery using surgical instrument 120, the end effector 123 of the surgical instrument 120, which controls the drive device, grips human tissue. During this process, the parameters of the drive device that drives the end effector 123 to operate can be acquired in real time. In this embodiment, combined with... Figure 4 The drive device includes two first drive motors and one second drive motor. The two first drive motors drive the first clamping part 1231 and the second clamping part 1232 of the end effector to move respectively. The second drive motor drives the end effector to pitch (i.e. drives the rotating bracket 1233 of the end effector to rotate). The parameters of each drive motor can be obtained through the motor driver and transmitted to the controller.

[0139] The controller acquires the first state parameters of the first drive motor corresponding to the first clamping part 1231 when the end effector is in the reference state, and the reference force data when the end effector is in the reference state;

[0140] During the operation of the surgical instruments, the controller acquires the second state parameters of the first drive motor in real time. Based on the first and second state parameters, the parameter changes of the first drive motor can be acquired in real time. The parameter changes are input into the first clamping force detection model, and the first clamping force of the first clamping part when the end effector clamps human tissue can be acquired in real time.

[0141] Similarly, the second clamping force of the second clamping part and the tangential force of the end effector are obtained.

[0142] The magnitudes of the clamping force and tangential force detected by the two clamping parts are fed back to the display screen of the operating unit for real-time display.

[0143] Of course, you can also use only one of the first clamping force and the second clamping force as the clamping force.

[0144] After acquiring the operative force data, this data can be transmitted to the operating unit, which then controls the output force feedback. Specifically, the operative force data can be displayed on the operating unit's screen, allowing doctors to make judgments based on the data.

[0145] To avoid damage to human tissue caused by excessive surgical force, additional system safety measures can be implemented. These measures include preset thresholds within the program, comparing the detected surgical force value with these thresholds. The surgical force includes clamping force and tangential force. The preset thresholds can be set for clamping force and tangential force, respectively, comparing the detected clamping force with these thresholds and the tangential force with these thresholds.

[0146] If the detected operating force is less than or equal to a preset threshold, the surgical procedure can continue until the entire procedure is completed. Conversely, if an accidental touch or other action causes the operating force to exceed the preset threshold, a pre-set safety mechanism is automatically triggered. This mechanism controls the surgical instruments to stop or adjust their movement. For example, the system may immediately terminate the master-slave operation command through measures such as cutting off master-slave data transmission or locking the motors of the main joints on the surgeon's console. Then, it waits for the master-slave operation function to resume. For instance, the master-slave operation automatically resumes when the clamping operating force is less than or equal to the preset threshold for a set time period. Alternatively, after the safety mechanism is triggered, the surgeon may need to adjust the operating force appropriately to effectively prevent accidental touches from negatively impacting the surgical progress and to control the operating force until the procedure is completed. Of course, if the operating force exceeds the preset threshold, other measures can be taken as needed.

[0147] The establishment of a detection model for the operating force of surgical instruments is described below through specific embodiments.

[0148] The steps for establishing the detection model include:

[0149] Acquire the first trajectory parameters when the drive device drives the end effector to move along the first trajectory, and the first operating force data of the end effector;

[0150] Acquire the second trajectory parameters when the drive device drives the end effector to move along the second trajectory in the clamping state, and the second operating force data of the end effector;

[0151] Based on the first trajectory parameters, the first operating force data, the second trajectory parameters, and the second operating force data, a detection model for the operating force data of the end effector is determined.

[0152] The following describes in detail the situation where the end effector is in an unloaded state when moving along the first predetermined trajectory and in a clamping state when moving along the second predetermined trajectory:

[0153] During the testing of surgical instruments, a drive device controls an end effector in an unloaded state to move along a first predetermined trajectory. For example, the two gripping parts may open or close at a predetermined speed, or the end effector may be controlled to perform a pitching or oscillating motion. While the end effector moves along the first predetermined trajectory, the unloaded state parameters of the drive device are continuously acquired. In the unloaded state, the operating force data of the end effector is zero. That is, the unloaded state parameters when the end effector moves along the first predetermined trajectory are the first trajectory parameters, and the first operating force data corresponding to each of the first trajectory parameters is zero.

[0154] Furthermore, to more accurately obtain the no-load state parameters, the end effector can be controlled multiple times by the drive device to move along the same first predetermined trajectory, and the no-load state parameters can be recorded. For multiple detection records, the average value obtained by averaging the parameters under the same movement along the first predetermined trajectory is used as the no-load state parameter during the drive device's movement along the first predetermined trajectory. Alternatively, a larger value can be selected for the no-load state parameter obtained from each detection, and then the no-load state parameter can be determined based on each larger value, for example, by taking the average of the larger values ​​as the no-load state parameter. Optionally, the trajectories corresponding to multiple detections can also be set differently. Optionally, deburring can be performed before selecting a larger value.

[0155] Then, the surgical instrument clamping sensor is controlled by the drive device and moves along a second predetermined trajectory, which may be the same as or different from the first predetermined trajectory. During the movement of the end effector along the second predetermined trajectory, the clamping state parameters of the drive device are continuously acquired, and the value of the operating force detected by the sensor is also acquired. That is, the clamping state parameters acquired when the end effector moves along the second predetermined trajectory are the second trajectory parameters, and the value of the operating force acquired in the clamping state is the second operating force data corresponding one-to-one with the second trajectory parameters.

[0156] Similarly, to more accurately obtain the clamping state parameters and corresponding operating forces during the clamping state, the end effector in the clamping state can be controlled to move along the same second predetermined trajectory multiple times by the drive device, and the values ​​of the clamping state parameters and corresponding operating forces can be recorded. Then, based on the clamping state parameters and corresponding operating force values ​​recorded multiple times, for example by calculating the average value, the clamping state parameters and corresponding operating force values ​​can be determined. For example, taking current as the state parameter, in the first detection, the current is 2A and the stress is 0.6 N; in the second detection, the current is 2.2A and the stress is 0.6 N; in the third detection, the current is 1.8A and the stress is 0.6 N. Finally, the average current value of 2A is used as the clamping state parameter, and the corresponding operating force value is 0.6 N. This process of continuously changing the magnitude of the operating force can obtain multiple relationships between operating forces and current. Alternatively, by calculating the average value of the clamping state parameters and operating forces under the same movement during multiple detection records of the second predetermined trajectory movement, the value of the clamping state parameters and corresponding operating force during the drive device's movement along the second predetermined trajectory can be used as the clamping state parameters and corresponding operating force values. For example, when the end effector performs the same action multiple times, it records the values ​​of current and corresponding operating force, and calculates the average value of the current and corresponding operating force as the current and corresponding operating force for that action. By continuously changing the action in this way, a series of clamping state parameters and corresponding operating forces are obtained by calculating the average value during the second predetermined trajectory action.

[0157] Based on the no-load state parameters, clamping state parameters, and the corresponding operating force, a detection model for the operating force is determined. Optionally, the parameter changes of the drive device in the two states are determined. Based on the correspondence between the parameter changes and the operating force of the end effector, a detection model for the operating force is determined. Here, the no-load state parameters and clamping state parameters can both be motor current or both motor voltage.

[0158] The motion trajectory indicates that the end effector reaches the preset position at a preset time, or further indicates that the end effector reaches the preset position at a preset speed and preset acceleration at a preset time.

[0159] To obtain a more accurate detection model, the first and second predetermined trajectories can be set to be the same. This allows the acquisition of the no-load state parameters of the predetermined action when the end effector is in an unloaded state, the clamping state parameters of the same action when it is in a clamping state, and the corresponding operating force data. By comparing the clamping state parameters and the no-load state parameters under the corresponding action, the parameter changes can be obtained. Based on the parameter changes and the corresponding operating force data, a functional relationship can be fitted, which is the detection model used for operating force detection.

[0160] The detection model in this application uses parameter changes and corresponding operational force data to fit a functional relationship. When using this detection model, the input is the parameter change. Therefore, the parameter change needs to be determined in advance.

[0161] If the first predetermined trajectory and the second predetermined trajectory are different, a first curve can be constructed from the no-load state parameters of the drive device recorded during the movement of the end effector along the first predetermined trajectory when the end effector is in an no-load state, and a second curve can be constructed from the clamping state parameters of the drive device recorded during the movement of the end effector along the second predetermined trajectory when the end effector is in a clamping state. The corresponding values ​​of the two curves are compared to obtain the parameter changes of the drive device. Based on the parameter changes and the corresponding operating force data, a detection model is obtained. Here, "comparing corresponding values" means comparing the maximum value of the second curve with the maximum value of the first curve, comparing the second largest value with the second largest value, and so on, comparing the minimum value with the minimum value.

[0162] The detection model in this application uses parameter changes and corresponding operational force data to fit a functional relationship. When using this detection model, the input is the parameter change. Therefore, the parameter change needs to be determined in advance.

[0163] It is understood that the acquisition of the detection model is not limited to the methods described above. For example, the no-load state parameters of the drive device in the no-load state can be set to preset values. For instance, the average value of a series of no-load state parameters recorded during the drive device's movement along the first predetermined trajectory in the no-load state can be used as the preset value, or the larger value among a series of no-load state parameters can be used as the preset value. Then, the clamping state parameters of the drive device recorded during the movement along the second predetermined trajectory when the end effector is in the clamping state are compared with the preset value of the no-load state parameters to obtain the parameter change of the drive device. Based on the parameter change and the corresponding operating force data, the detection model is obtained. Alternatively, the detection model can be obtained using the no-load state parameters, the clamping state parameters, and the corresponding operating force data. Therefore, when using this model, it is not necessary to input the parameter change; instead, the actual measured state parameters of the drive device when the end effector is in the clamping state can be directly input.

[0164] The end effector is in a clamping state when it moves along both the first predetermined trajectory and the second predetermined trajectory:

[0165] In this case, the principle for obtaining the clamping force detection model is the same as when the end effector is in an unloaded state during the first trajectory movement, including:

[0166] The first trajectory parameters of the end effector, which is in a clamping state, are obtained by the drive device, and the first operating force data of the end effector are obtained.

[0167] Acquire the second trajectory parameters when the drive device drives the end effector to move along a second predetermined trajectory in the clamping state, and the second operating force data of the end effector;

[0168] Then, based on the first trajectory parameters, the first operating force data, the second trajectory parameters, and the second operating force data, a detection model for the operating force data of the end effector is determined.

[0169] Similarly, the first and second predetermined trajectories can be the same or different. Then, the parameters and operational force data can be determined based on the results of multiple tests, or based on the parameters and operational force data corresponding to the predetermined action, or based on the corresponding values ​​of the two curves. The specific process is as described above and will not be repeated here.

[0170] Furthermore, it should be noted that since the parameters of the driving device and the corresponding operating force data can be obtained during the establishment of the detection model, the predetermined state of the end effector during the establishment of the detection model can be used as the reference state of the end effector described above. The parameters of the driving device obtained during the establishment of the detection model in the predetermined state are used as the first state parameter, and the corresponding operating force data is used as the reference force data.

[0171] For example, the average or largest value among a series of no-load state parameters of the drive device recorded during the movement of the end effector along the first predetermined trajectory can be used as the preset value of the first state parameter, with the reference force data being zero. Alternatively, the clamping state parameters under a predetermined action during the movement of the actuator along the second predetermined trajectory in the clamping state can be used as the preset value of the first state parameter of the drive device, with the corresponding operating force data serving as the reference force data. Alternatively, a series of clamping state parameters and their corresponding operating force data recorded during the movement of the actuator along the second predetermined trajectory in the clamping state can be stored in a database, allowing for the real-time selection of the first state parameter and operating force parameter for a specific state during actual operation of the surgical instrument. For example, during actual operation, the clamping state parameter corresponding to the same action as the second predetermined trajectory movement can be selected as the first state parameter, with the corresponding operating force data serving as the reference force data.

[0172] The following description uses an example of how to obtain a clamping force detection model.

[0173] In this embodiment, the detection model is only related to the amount of parameter change. Specifically:

[0174] When the end effector is in an unloaded state: control the end effector to open the first clamping part 1231 and the second clamping part 1232 at a constant first angular velocity, and continuously acquire the current parameters of the first drive motor driving the first clamping part 1231 in the drive device during the continuous opening of the first clamping part 1231 and the second clamping part 1232.

[0175] When the end effector is in the clamping state: the end effector is controlled to open the first clamping part 1231 and the second clamping part 1232 at a constant second angular velocity. During the continuous opening of the first clamping part 1231 and the second clamping part 1232, the current parameters of the first drive motor in the drive device are continuously acquired. Among them, when the second angular velocity is equal to the first angular velocity, the accuracy of acquiring the current change can be improved.

[0176] Simultaneously, as the clamping part continuously opens and closes in the clamping state, the clamping force is continuously acquired. Optionally, a sensor is used to measure the clamping force.

[0177] Optionally, the clamping force can be continuously changed as the clamping part is opened and closed in the clamping state. By changing the magnitude of the clamping force, more current-clamping force corresponding data can be obtained.

[0178] The change in current of the first drive motor is determined based on the current parameters under no-load and clamping conditions. For example, the current difference between the current parameters under clamping and no-load conditions is used as the change in current.

[0179] Based on the correspondence between the change in current and the clamping force, a clamping force detection model is determined.

[0180] In this embodiment, the first clamping force detection model is determined by controlling the end effector to move at a constant speed and based on the relationship between the change in current and the clamping force.

[0181] Based on the same principle, the relationship between the parameter changes of the second drive motor driving the second clamping part 1232 and the corresponding clamping force can be obtained, and the second clamping force detection model can be determined.

[0182] Similarly, the end effector can be controlled to rotate at a constant speed by the third drive motor. Based on the relationship between the current change of the third drive motor and the tangential force detected by the sensor, the tangential force detection model can be determined.

[0183] Optionally, when determining the clamping force / tangential force detection model based solely on the relationship between current change and clamping force / tangential force, the end effector can also be a variable speed motion. Of course, in this case, the accuracy of the determined detection model will decrease.

[0184] Similarly, a clamping force / tangential force detection model can be established based solely on the relationship between voltage change and clamping force / tangential force. The implementation principle is the same as that of the clamping force / tangential force detection model based solely on the relationship between current change and clamping force / tangential force, and will not be elaborated here.

[0185] In one embodiment, the detection model is related to parameter changes and acceleration. Specifically:

[0186] When the end effector is in an unloaded state: the end effector is controlled to open the first clamping part 1231 and the second clamping part 1232 along a first motion trajectory. During the continuous opening of the first clamping part 1231 and the second clamping part 1232, the voltage parameters of the first drive motor in the drive device and the acceleration of the first drive motor are continuously acquired. The acceleration of the first drive motor can characterize the acceleration of the end effector.

[0187] When the end effector is in the clamping state: control the end effector to open the first clamping part 1231 and the second clamping part 1232 with the second motion trajectory. During the process of continuously opening the first clamping part 1231 and the second clamping part 1232, continuously acquire the voltage parameters of the first drive motor, acquire the acceleration of the first drive motor, and acquire the corresponding clamping force.

[0188] Optionally, the first motion trajectory and the second motion trajectory are the same. When the first motion trajectory and the second motion trajectory are the same, the accuracy of the detection model can be improved. By setting the first motion trajectory and the second motion trajectory to be the same, the voltage change caused by the clamping force can be measured under the same conditions, thus improving the accuracy of the detection model based on the voltage change. It is understood that the optional first motion trajectory and second motion trajectory can be different.

[0189] Optionally, the clamping force can be continuously changed as the clamping part is opened and closed in the clamping state. By changing the magnitude of the clamping force, more voltage-clamping force corresponding data can be obtained.

[0190] The voltage change of the first drive motor is determined based on the current parameters under no-load conditions and the voltage parameters under clamping conditions.

[0191] Based on the correspondence between voltage change, acceleration, and clamping force, a clamping force detection model is determined.

[0192] Similarly, the clamping force / tangential force detection model can be determined based on the relationship between current change, acceleration, and clamping force / tangential force, or the relationship between current change, acceleration, velocity, and clamping force / tangential force, or the relationship between voltage change, acceleration, velocity, and clamping force / tangential force. The implementation principle is the same as described above, and will not be repeated here.

[0193] This application embodiment controls the end effector to move along a predetermined trajectory. Based on the correspondence between the current and / or voltage changes acquired during the movement, and at least one of the motion parameters such as acceleration and velocity, and the clamping force, a clamping force detection model is determined. Similarly, a tangential force detection model can be determined. By establishing a detection model based on multiple parameters, the compatibility and accuracy of the detection model are improved.

[0194] It should also be noted that the above description establishes a functional relationship between parameter changes and corresponding clamping forces (which may also include velocity, acceleration, etc.) as a detection model, and uses this model to obtain the operating force of the surgical instrument. It is understandable that a database or list of parameter changes and corresponding clamping forces (which may also include velocity, acceleration, etc.) can be created. By obtaining the parameter changes during the surgical procedure, the corresponding operating force of the surgical instrument can be obtained by searching the database or list.

[0195] This application also provides a detection system for surgical instruments, and a detection model for the operating force of surgical instruments can be constructed based on this detection system. For example... Figure 6 As shown, the construction system includes:

[0196] The detection system 200 includes:

[0197] The surgical instrument mounting device includes a drive box 210 with a drive device, and the drive connection end 121 of the surgical instrument 120 is connected to the drive device, and the drive device drives the surgical instrument 120 to move.

[0198] The parameter acquisition device 260 is used to acquire the status parameters of the driving device;

[0199] The sensor loading device 230 is used to install the sensor 301 and detect the operating force data when the end effector 123 of the surgical instrument 120 clamps the sensor 301 through the sensor 301;

[0200] The host 280 receives the status parameters of the drive device output by the parameter acquisition device 260 and the operating force data detected by the sensor that corresponds one-to-one with the status parameters.

[0201] Based on the received state parameters of the drive device and the operating force data, the aforementioned detection model for detecting the operating force of surgical instruments can be constructed. The establishment of the detection model will be explained in detail later. Analysis of the received state parameters of the drive device and the operating force data can also reveal the performance of the surgical instruments, such as their motion performance, clamping force performance, operational stability, and service life.

[0202] The detection system provided in this application embodiment has a simple structure and is easy to use. It can meet the detection requirements of surgical instruments and accurately grasp the various performance indicators of surgical instruments.

[0203] In one embodiment, the detection system 200 further includes a system controller 250, which is connected to the parameter acquisition device 260 and the host 280, and the system controller 250 transmits the parameters of the driving device acquired from the parameter acquisition device 260 to the host 280.

[0204] Optionally, the driving device can be a drive motor, and the parameter acquisition device 260 can be a motor encoder or a motor driver equipped with sensors.

[0205] In one embodiment, the detection system 200 further includes a signal acquisition module 240, which is connected to a sensor mounted on the sensor loading device 230. The signal acquisition module 240 acquires the operating force data detected by the sensor, converts the operating force data into an output signal, and then transmits the converted operating force data to the host 280. The data transmitted to the host 280 can be displayed in real time on the host 280's screen.

[0206] The detection system 200 also includes a power module 270, which is connected to the system controller 250 and provides power to the system controller 250. The power supply for the signal acquisition module 240 and the parameter acquisition device 260 can be provided by the system controller 250 after internal voltage conversion, or directly by the power module 270.

[0207] Since the surgical instrument 120 includes a long shaft 122 located at the drive connection end 121 and the end effector 123, in one embodiment, the surgical instrument mounting device further includes an instrument locking device 220 for supporting and locking the long shaft 122.

[0208] In one embodiment, the instrument locking device 220 includes a lower support module and an upper pressing module located above the lower support module. The upper pressing module is configured to elastically press the long shaft 122 extending between the lower support module and the upper pressing module.

[0209] Specifically, such as Figure 7 As shown, the lower support module includes a lower bracket 221 and two lower rollers 224 mounted on the lower bracket 221;

[0210] The upper pressing module includes an upper bracket 222 and an upper roller 2251 elastically mounted on the upper bracket 222. The upper roller 2251 is used to elastically press the long shaft 122 onto two lower rollers 224. The rotation axis of the upper roller 2251 and the lower rollers 224 is consistent with the length direction of the pressed long shaft 122.

[0211] To facilitate the installation of the lower roller 224, such as Figure 7 As shown, a front baffle 223 is fixed to the lower bracket 221 by bolts. The two ends of the rotating shafts of the two lower rollers 224 are supported on the lower bracket 221 and the front baffle 223 by bearings, respectively, so that the lower rollers 224 can rotate freely relative to the lower bracket 221.

[0212] Figure 8 and Figure 9 An upper roller mounting module 225 with an upper roller 2251 is shown. The upper roller mounting module 225 includes a mounting block 2252. The upper roller 2251 is rotatably mounted on the mounting block 2252 via a pivot. The mounting block 2252 is elastically mounted on an upper bracket 222. Specifically, the mounting block 2252 is mounted on the upper bracket 222 via a mounting pin 2253. A spring 2254 is provided between the mounting pin 2253 and the upper bracket 222. The mounting pin 2253 can move up and down along an elongated hole 2255 provided on the mounting block 2252, thereby allowing the mounting block 2252 and the upper roller 2251 mounted thereon to move elastically up and down relative to the upper bracket 222.

[0213] Optionally, the upper bracket 222 is rotatably connected to the lower bracket 221, wherein one side of the upper bracket 222 is connected to the lower bracket 221 via a pivot 226, and the other side is releasably locked to the lower bracket 221 via a locking mechanism.

[0214] The locking mechanism includes a locking bolt 228 and a locking nut 229 threadedly engaged with the locking bolt 228. The locking bolt 228 is rotatably connected to one of the lower bracket 221 and the upper bracket 222. The other of the lower bracket 221 and the upper bracket 222 is provided with a locking groove 2221, which has an outward-facing opening. The locking bolt 228 can rotate to enter the locking groove 2221 from the opening and can rotate in the opposite direction to disengage from the locking groove 2221. The locking nut 229 is located at the end of the locking bolt 228 and locks the locking bolt 228 in the locking groove 2221 after it enters the groove. This locks the upper bracket 222 to the lower bracket 221. When the locking nut 229 loosens the locking bolt 228, the locking bolt 228 can rotate to disengage from the opening and lock out of the locking groove 2221, thereby unlocking the upper support 222 from the lower support 221. The upper support 222 can also be flipped upwards around the pivot 226, facilitating the removal of the long shaft 122 from the instrument locking device 220 or placing the long shaft 122 on the instrument locking device 220. After the surgical instrument is placed on the lower support 221, when the upper support 222 is flipped downwards to engage with the lower support 221, the locking bolt 229 rotates in the opposite direction to enter the locking groove 2221. When the locking nut 229 is rotated to tighten the locking bolt 229, the roller 2251 and the two lower rollers 224 can cooperate to press the long shaft 122 of the surgical instrument. By adjusting the locking nut 229, the clamping force applied to the upper shaft 122 by the upper roller 2251 can be adjusted.

[0215] In one implementation, such as Figure 10 As shown, the sensor loading device 230 includes a base 231 and a clamping component disposed on the base 231 for clamping the sensor 301. The clamping component is configured to slide relative to the base 231 in the length direction of the long axis 122 of the surgical instrument.

[0216] Optionally, the clamping components include an upper stop 233 and a lower stop 234. The upper stop 233 is connected to the lower stop 234 via an adjusting bolt 232. The sensor 301 is placed between the upper stop 233 and the lower stop 234. Depending on the size of the sensor 301, the adjusting bolt 232 facilitates the installation and removal of the sensor. A slide rail 236 is provided on the base 231, and a slider 235 slides in cooperation with the slide rail 236. The lower stop 234 can be mounted on the slider 235. Thus, the upper stop 233 and the lower stop 234 can clamp the sensor 301 and move it along the slide rail 236, allowing adjustment of the sensor 301's position. Furthermore, the height of the sensor 301 needs to be set to be consistent with the horizontal centerline of the end effector 123, so that the end effector 123 of the surgical instrument 120 can clamp the sensor 301.

[0217] The drive box 210 connected to the drive connection end 121 of the surgical instrument 120, the instrument locking device 220 locking the long shaft 122, and the sensor loading device 230 can all be fixed on the same support platform, so that the surgical instrument 120 can be kept horizontal and at the same horizontal height as the sensor.

[0218] It is understood that the instrument locking device 220 for pressing the long axis of the surgical instrument and the sensor loading device 230 for clamping the sensor 301 are not limited to the structures described above, and other structures that can achieve the same function are also acceptable.

[0219] Optionally, the drive device for driving the surgical instrument 100 may include multiple devices. For example, it may include at least one first drive device that controls the two clamping parts of the end effector 123 to perform clamping actions, and at least one second drive device that controls the pitching action of the end effector 123.

[0220] The parameters of each drive device and the corresponding operating force generated when the drive device operates can be obtained, allowing for separate analysis of each drive device and its corresponding operating force. For example, the parameters of the first drive device and the clamping force generated when the first drive device drives the two clamping parts to clamp can be obtained, and the parameters and clamping force of the first drive device can be analyzed. Alternatively, the parameters of the second drive device and the tangential force generated when the second drive device drives the end effector to pitch can be obtained, and the parameters and tangential force of the second drive device can be analyzed.

[0221] In one embodiment, the host 280 may include a detection module, which compares the actual parameters of the drive device acquired when the end effector moves along a predetermined trajectory with standard parameters. If the difference between the actual parameters and the standard parameters is greater than a preset value, the surgical instrument is determined to be unqualified or have a problem. The actual parameters of the drive device acquired when moving along the predetermined trajectory are a series of parameters continuously acquired during the movement, and may be in the form of a curve. The standard parameters are data pre-stored in the system and represent the standard parameters of the drive device under ideal conditions when the end effector moves along the predetermined trajectory. Therefore, comparing the actual parameters with the standard parameters is a comparison of the two under the same movement.

[0222] The standard parameters are obtained as follows: A qualified surgical instrument can be driven to move along a predetermined trajectory, and the parameters of that qualified surgical instrument can be used as the standard parameters. To obtain more accurate standard parameters, multiple qualified surgical instruments can be driven to move along predetermined trajectories respectively, and the parameters of multiple qualified surgical instruments can be obtained. Then, the average value of the parameters of the multiple surgical instruments is calculated, and this average value is used as the standard parameters. Alternatively, the same qualified surgical instrument can be tested multiple times, and the average value of the parameters from the multiple tests can be used as the standard parameters.

[0223] When there are multiple drive devices, it is necessary to compare the actual parameters of each drive device with the corresponding standard parameters. For example, the first actual parameter of the first drive device is compared with the first standard parameter, and the second actual parameter of the second drive device is compared with the second standard parameter.

[0224] In one embodiment, the host 280 may further include: an operating force calibration module, which, based on the reference state parameters of the drive device when the end effector 103 is in a reference state, the clamping state parameters of the drive device when the end effector 103 is clamping the sensor, and the operating force data detected by the sensor, obtains the relationship between the reference state parameters, the clamping state parameters, and the operating force data, or obtains the relationship between the parameter changes of the drive device and the operating force data. Through the operating force calibration module, a detection model for detecting the operating force of surgical instruments can be constructed.

[0225] The following is based on Figure 6 The detection system shown describes the modeling process of the detection model.

[0226] refer to Figure 6 The drive connection end 121 of the surgical instrument 120 is connected to the drive box 210. The drive connection end 121 of the surgical instrument has a transmission device. After the drive box 210 is connected to the drive connection end 121, the motor in the drive box 210 can drive the transmission device, thereby providing driving force for the various degrees of freedom of the surgical instrument 120.

[0227] The long shaft 122 of the surgical instrument 120 is locked by the instrument locking device 220. In order to minimize the impact of external friction on the rotational movement of the long shaft 122 around the central axis during motion control, the locking force of the instrument locking device 220 on the long shaft 122 needs to be manually adjusted according to the assembly of the equipment on site.

[0228] Before starting the build system 200, check the communication connections between the modules of the build system 200 to ensure that the system's communication connections are correct and can work properly.

[0229] Establishment of the clamping force detection model:

[0230] Return each joint of the surgical instrument 120 to its zero position. The connection between the drive connection end 121 of the surgical instrument and the drive box 210 can be achieved through a motion adapter plate. When the drive connection end 121 and the drive box 210 are connected through the motion adapter plate, each joint of the surgical instrument 120 returns to its zero position. This is something that those skilled in the art can achieve, and will not be described in detail here.

[0231] The host 280 controls the drive device according to the predetermined motion trajectory command set by the host 280, thereby controlling the end effector 123, which is in an unloaded state, to move according to the first predetermined motion trajectory. The parameter acquisition device 260 collects the parameters of the first drive device during the movement according to the first predetermined motion trajectory and uploads the collected parameters to the host 280. The parameters include status parameters and / or motion parameters. For example, status parameters include voltage and current, and motion parameters include speed and acceleration.

[0232] Return each joint of the surgical instrument 120 to its zero position, and install the sensor 301 (which is a pressure sensor) on the sensor loading device 230.

[0233] The host 280 controls the drive device according to the second predetermined motion trajectory command set by the host 280, thereby controlling the end effector 123 to repeatedly clamp and release the sensor (which is a pressure sensor) according to the second predetermined motion trajectory. The parameter acquisition device 260 collects the parameters of the first drive device (including state parameters and / or motion parameters, which may include voltage, current, speed and / or acceleration, for example), and uploads the collected parameters to the host 280. The signal acquisition module 240 collects the pressure detected by the sensor.

[0234] Based on the parameters of the first drive device in both unloaded and clamping states, and the pressure values ​​detected by the pressure sensor, a mathematical relationship is determined to obtain the clamping force calibration model. The specific process is the same as the aforementioned principle and will not be repeated here.

[0235] Establishment of the tangential force detection model:

[0236] Return each joint of the surgical instrument 120 to its zero position.

[0237] The second drive unit controls the drive unit according to the first predetermined motion trajectory command set by the host 280, thereby controlling the end effector in the reference state to move according to the first predetermined motion trajectory.

[0238] During the movement along the first predetermined motion trajectory, the parameter acquisition device 260 collects the parameters of the second driving device (including state parameters and / or motion parameters, which may include voltage, current, speed and / or acceleration, for example), and uploads the collected parameters to the host 280 for data storage, so as to facilitate offline data analysis and model calibration after the test is completed.

[0239] Return each joint of the surgical instrument 120 to its zero position.

[0240] According to the second predetermined motion trajectory command set by the host 280, the first and second drive devices in the drive box 210 are controlled so that the first drive device controls the end effector of the surgical instrument 120 to clamp the sensor 301 (which is a tension sensor), and the second drive device is controlled according to the predetermined motion trajectory to cause the end effector 123 in the clamping state to pitch and pull the sensor. During this process, the parameter acquisition device 260 collects the parameters of the second drive device (including state parameters and / or motion parameters, which may include voltage, current, speed and / or acceleration, for example), and uploads the collected parameters to the host 280 for data storage. In addition, the signal acquisition module 240 collects the tension detected by the tension sensor and uploads it to the host 280 for data storage for subsequent data analysis and model calibration.

[0241] Based on the parameters of the second drive device in both unloaded and clamped states, and the numerical value of the tension detected by the tension sensor, a mathematical relationship is determined to obtain the tangential force calibration model. The specific process is the same as the aforementioned principle and will not be repeated here.

[0242] This application provides a detection system for surgical instruments, which can perform the aforementioned pre-detection process of surgical instruments and the aforementioned process of establishing a force detection model for surgical instruments. This enables the detection of the force of the surgical instrument's end effector, avoiding the problems of sterilization and liquid infiltration associated with integrated force detection components or force sensors. Optionally, the aforementioned pre-detection process of surgical instruments and the aforementioned process of establishing a force detection model for surgical instruments are not limited to the detection system provided in this application and can be implemented on a surgical robot.

[0243] In the process of building the detection model, before using the sensor to detect external force, it is necessary to calibrate the sensor to ensure that the external force data measured by the sensor is accurate and effective.

[0244] Figure 11A sensor data acquisition system is shown in one embodiment. The system includes a sensor 301, a signal acquisition module 302, a power supply module 303, and a host 304. Measurement data from the sensor 301 is directly output to the signal acquisition module 302 for preliminary signal processing. The converted signal is then transmitted to the host 304 for direct data display or further data processing. The output voltage of the power supply module 303 can be directly matched to the voltage requirement of the signal acquisition module 302.

[0245] The data acquisition system can utilize modules from the detection system 200 described above (i.e., signal acquisition module 302 can be...). Figure 6 The detection system 200 includes a signal acquisition module 240, a power supply module 303 (which is the aforementioned power supply module 270), and a host 304 (which can be the aforementioned host 280), or alternatively, a different host. This data acquisition system can be used to calibrate the pressure sensor 301's own measurement model.

[0246] The process of detecting the motion control performance of surgical instrument 120 using detection system 200 is described below. During this process, sensor loading device 230 does not operate (no sensor needs to be set).

[0247] First, ensure that the surgical instrument 120 is securely mounted on the detection system 200. Then, check and confirm that the wiring connections of each module in the system are correct and that normal communication is possible. At this time, the sensor loading device 230 is not operational (no sensor setup is required).

[0248] Return each joint of surgical instrument 120 to its zero position.

[0249] The end effector 123 is controlled to move along a preset motion trajectory. While performing joint motion control, the parameter acquisition device 260 collects the parameter information of the drive device, such as current, voltage, position and speed, and outputs the collected data to the host 280 for storage.

[0250] The collected parameter information is compared one by one with the standard parameters stored in the program, and the surgical instruments are determined based on the comparison results to determine whether they meet the usage requirements.

[0251] In addition, the detection system 200 of this application can also be used to detect the lifespan of surgical instruments. For example, by continuously controlling the operation of the surgical instruments and acquiring the parameters of the drive device, if the transmission component (e.g., the cable that drives the clamping part to move) within the surgical instruments breaks, the parameters of the drive device will be abnormal compared with the standard parameters, thereby determining the lifespan of the surgical instruments.

[0252] In another aspect, this application also provides a surgical robot system, the surgical robot system including an operating unit, a manipulator and surgical instruments, the manipulator being configured with a drive device for driving the movement of the surgical instruments, the surgical instruments being coupled to the drive device and having an end effector disposed at their distal end, the system further including a controller, the controller being coupled to the operating unit and the manipulator, the controller being configured to perform the steps in the surgical robot control method described above.

[0253] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the surgical instrument operating force detection method described above.

[0254] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0255] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details described above are for illustrative and facilitative purposes only, and are not limitations. These details do not restrict the application from being implemented using the specific details described above.

[0256] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0257] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0258] The above description of the claimed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not limited to the aspects shown herein, but is to be applied within the widest scope consistent with the principles and novel features of this application.

[0259] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A surgical robot system, comprising an operating unit, a manipulator, surgical instruments, and a controller, wherein the manipulator is equipped with a drive device for driving the movement of the surgical instruments, the surgical instruments are coupled to the drive device and have an end effector disposed at their distal end, and the controller is coupled to the operating unit and the manipulator, characterized in that, The controller is configured to: The drive device acquires a first state parameter when the end effector is in the reference state, and reference force data when the end effector is in the reference state. Obtain the second state parameters of the drive device when the end effector is in the clamping state; Based on the first state parameter, the reference force data, and the second state parameter, the operating force data of the end effector when it is in the clamping state is determined using a detection model, wherein the detection model is a relationship model between the first state parameter, the second state parameter, and the reference force data; Based on the operating force data, the operating unit is controlled to output force feedback; The surgical robot system further includes a detection system for constructing the detection model, the detection system comprising: A surgical instrument mounting device includes a drive box with a first drive device, wherein the surgical instrument is connected to the first drive device of the drive box and the first drive device of the drive box drives the surgical instrument to move. A parameter acquisition device is used to acquire the state model parameters of the first driving device of the driving box. A sensor loading device is used to install a sensor and detect the operational force model data when the end effector clamps the sensor through the sensor. The host is used to receive the state model parameters output by the parameter acquisition device and the operating force model data detected by the sensor that correspond one-to-one with the state model parameters, and to construct the above detection model based on the received state model parameters and the operating force model data.

2. The surgical robot system according to claim 1, characterized in that, The step of determining the operating force data of the end effector when it is in a clamping state using a detection model based on the first state parameter, the reference force data, and the second state parameter includes: Configure the reference force data for the detection model; Based on the first state parameter and the second state parameter, determine the parameter change amount; The parameter change is input into the detection model, and the operating force data when the end effector is in the clamping state is determined based on the parameter change and the reference force data. or, Configure the detection model with first state parameters and the reference force data; The second state parameter is input into the detection model, and the parameter change is determined based on the first and second state parameters. The operating force data when the end effector is in a clamping state is determined based on the parameter changes and the reference force data.

3. The surgical robot system according to claim 2, characterized in that, The step of configuring the first state parameters and the reference force data for the detection model includes: Configure the first state parameter to the first preset value; Configure the reference force data to a second preset value.

4. The surgical robot system according to claim 1, characterized in that, The controller is also configured to: Acquire at least one motion parameter of the drive device when the end effector is in a clamping state; The step of determining the operating force data of the end effector when it is in a clamping state using the detection model based on the first state parameter, the reference force data, and the second state parameter includes: Based on the at least one motion parameter, the first state parameter, the reference force data, and the second state parameter, the operating force data when the end effector is in the clamping state is determined.

5. The surgical robot system according to claim 1, characterized in that, The first state parameter includes a first current state parameter and / or a first voltage state parameter, and the second state parameter includes a second voltage state parameter and / or a second voltage state parameter.

6. The surgical robot system according to claim 1, characterized in that, The end effector includes a first clamping part and a second clamping part, and the controller is further configured to: Obtain the third state parameter data of the drive device when the end effector is in the reference state; Obtain the first reference force data when the end effector is in the reference state; Obtain the fifth state parameter of the drive device when the end effector is in the clamping state; Based on the third state parameter, the first reference force data, and the fifth state parameter, the first clamping force data when the end effector is in the clamping state is determined; And, acquire the fourth state parameter data of the drive device when the end effector is in the reference state; Obtain the second reference force data when the end effector is in the reference state; Obtain the sixth state parameter of the drive device when the end effector is in the clamping state; Based on the fourth state parameter, the second reference force data and the sixth state parameter, the second clamping force data when the second clamping part is in the clamping state is determined; Based on the first clamping force data and the second clamping force data, the operating force data when the end effector is in the clamping state is determined.

7. The surgical robot system according to claim 1, characterized in that, The controller is also configured to: Obtain the seventh state parameter of the drive device when the end effector is in the reference state; Obtain the third reference force data when the end effector is in the reference state; Obtain the ninth state parameter of the drive device when the end effector is in a clamping state; Based on the seventh state parameter, the third reference force data, and the ninth state parameter, the tangential force data when the end effector is in the clamping state is determined.

8. The surgical robot system according to claim 1, characterized in that, The reference state includes an unloaded state, and the reference force data is the force data when the end effector is in an unloaded state.

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