An apparatus control method, device, computer equipment and storage medium

Abstract

The application relates to the field of medical systems, in particular to an instrument control method applied to an instrument control system, the instrument control system comprising a slave end effector and a master end operator; the instrument control method comprises the following steps: acquiring a rated torsion parameter of an instrument and a transmission coefficient of the slave end effector; determining an output constraint parameter of the slave end effector and / or the master end operator according to the rated torsion parameter and the transmission coefficient; and controlling the slave end effector according to the output constraint parameter to drive the instrument to move in response to a received instrument movement instruction. The application also provides an instrument control device, a computer device and a storage medium. The application effectively improves the use stability and safety of the instrument.

Description

Technical Field

[0001] This application relates to the field of medical system technology, and in particular to a device control method, apparatus, computer equipment, and storage medium. Background Technology

[0002] Currently, interventional surgical robots drive instruments to move by controlling slave actuators. Existing slave actuators use a fixed torque to drive instrument rotation. However, because instruments of different models, sizes, or functions have different material limits and mechanical properties—for example, a 1.6F microcatheter and a 9F angiography catheter—too little torque will prevent the 9F catheter from rotating properly, while excessive torque will cause torsional damage to the 1.6F microcatheter. The fixed torque output by the slave actuator cannot drive stable torsion of different instrument models, affecting the stability of instrument use. Summary of the Invention

[0003] Based on this, this application provides a device control method, apparatus, computer equipment, and storage medium.

[0004] To solve the above-mentioned technical problems, this application provides a device control method, which adopts the following technical solution:

[0005] A device control method is applied to a device control system, the device control system including a slave actuator and a master operator; the device control method includes:

[0006] Obtain the rated torsional parameters of the instrument and the transmission coefficient of the slave actuator;

[0007] The output constraint parameters of the slave actuator and / or the master manipulator are determined based on the rated torsional parameters and the transmission coefficient.

[0008] In response to the received instrument movement command, the slave actuator is controlled according to the output constraint parameters to drive the instrument movement.

[0009] Further, the rated torsional parameter includes the rated torque, and the output constraint parameter includes the constraint torque; determining the output constraint parameters of the slave actuator and / or the master actuator based on the rated torsional parameter and the transmission coefficient includes:

[0010] Obtain the torque safety factor of the slave actuator;

[0011] Based on the rated torque, the transmission coefficient, and the torque safety factor, the slave-end constraint torque of the slave actuator is calculated, and the slave-end constraint torque is determined as the constraint torque.

[0012] Furthermore, the step of driving the movement of the device further includes:

[0013] The cumulative torque that the instrument can withstand and the fatigue safety torque are obtained, wherein the fatigue safety torque is less than the rated torque;

[0014] The cumulative torque is compared with the rated torque and the fatigue safety torque to determine the feedback torque of the main end operator.

[0015] Furthermore, prior to the step of obtaining the cumulative torque and fatigue safety torque of the instrument, the method further includes:

[0016] Obtain the fatigue safety factor of the instrument;

[0017] The fatigue safety torque is determined based on the fatigue safety factor and the rated torque.

[0018] And / or, the step of determining the feedback torque of the master actuator includes:

[0019] If the cumulative torque is less than the fatigue safety torque, then the feedback torque of the master end operator is zero;

[0020] If the cumulative torque is greater than or equal to the fatigue safety torque and less than the rated torque, then a first feedback coefficient is obtained, and the feedback torque of the master end operator is determined based on the first feedback coefficient and the cumulative torque.

[0021] If the cumulative torque is equal to the rated torque, then a second feedback coefficient is obtained, and the feedback torque of the master operator is determined based on the second feedback coefficient and the cumulative torque; wherein the second feedback coefficient is greater than the first feedback coefficient.

[0022] Furthermore, the rated torsion parameter includes the rated torsion angle, and the output constraint parameter includes the constraint torsion angle;

[0023] The step of determining the output constraint parameters of the slave actuator and / or master operator based on the rated torsional parameter and the transmission coefficient includes:

[0024] Based on the rated torsion angle and the transmission coefficient, the driven torsion angle of the driven actuator is calculated, and the driven torsion angle is determined as the constraint torsion angle;

[0025] Alternatively, determining the output torsional parameters of the slave actuator and / or the master actuator based on the rated torsional parameters and the transmission coefficient includes:

[0026] Calculate the driven-end torsion angle of the driven-end actuator based on the rated torsion angle and the transmission coefficient;

[0027] Obtain the mapping coefficient between the slave actuator and the master actuator, and calculate the master actuator's master torsion angle based on the slave torsion angle and the mapping coefficient.

[0028] The main end torsion angle is determined as the constraint torsion angle.

[0029] Furthermore, the step of driving the movement of the device further includes:

[0030] The cumulative torsion angle is determined based on the real-time torsion angle continuously output by the slave actuator or the master operator.

[0031] By comparing the cumulative torsion angle with the constrained torsion angle, the remaining torsion angle is determined;

[0032] The remaining torsion angle is displayed according to the preset display method.

[0033] Furthermore, the step of driving the movement of the device further includes:

[0034] Obtain the real-time output parameters of the slave actuator and / or the master operator;

[0035] If the real-time output parameter is compared with the output constraint parameter, and the real-time output parameter is greater than or equal to the output constraint parameter, then the movement of the device is stopped.

[0036] To address the aforementioned technical problems, this application also provides a medical device control apparatus, which employs the following technical solution:

[0037] An instrument control device is applied to an instrument control system, the instrument control system including a slave actuator and a master operator; the instrument control device includes:

[0038] The acquisition module is used to acquire the rated torsional parameters of the instrument and the transmission coefficient of the slave actuator;

[0039] The determination module is used to determine the output constraint parameters of the slave actuator and / or the master manipulator based on the rated torsional parameters and the transmission coefficient.

[0040] The control module is used to respond to the received instrument movement command and control the slave actuator according to the output constraint parameters to drive the instrument movement.

[0041] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution:

[0042] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the device control method described above.

[0043] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below:

[0044] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the device control method described above.

[0045] Compared with the prior art, the embodiments of this application have the following advantages: for instruments of different types, sizes or functions, the rated torsion parameters are determined and the output of the slave actuator is constrained based on these parameters, thereby achieving stable torsion of the instrument, reducing the damage rate of the instrument, and improving the stability and safety of the instrument in use. Attached Figure Description

[0046] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are one embodiment of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart of one embodiment of the device control method according to this application;

[0048] Figure 2 yes Figure 1 A flowchart of step S12 in one embodiment;

[0049] Figure 3 yes Figure 1 A flowchart of another embodiment of step S12;

[0050] Figure 4 yes Figure 1 A flowchart of another embodiment of step S12;

[0051] Figure 5 yes Figure 1 A flowchart of one embodiment of step S13;

[0052] Figure 6 yes Figure 1 A flowchart of another embodiment of step S13;

[0053] Figure 7 yes Figure 1A flowchart of another embodiment of step S13;

[0054] Figure 8 This is a schematic diagram of the structure of one embodiment of the device control device according to this application;

[0055] Figure 9 yes Figure 8 A schematic diagram of the structure of one embodiment of the fifth determination submodule;

[0056] Figure 10 This is a schematic diagram of the structure of one embodiment of the computer device according to this application. Detailed Implementation

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0058] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0059] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0060] Please see Figure 1 , Figure 1 This is a flowchart of one embodiment of the device control method according to this application. The device control method is applied to the device control system of an interventional machine, which includes a slave actuator and a master operator. Wherein:

[0061] ① The slave actuator is the execution end, used to drive the instrument to move after receiving a control command. In one embodiment, the slave actuator includes a motor and an execution mechanism. The output end of the motor is connected to the execution mechanism for transmission. The execution mechanism is used to clamp the instrument and, driven by the motor, to drive the instrument to perform displacement, rotation, and other movements.

[0062] Furthermore, in one embodiment, the actuator includes a rotating mechanism that is connected to a rotating component on the Y valve, and the tail end of the instrument is mounted on the Y valve; the output end of the motor is connected to the rotating mechanism for driving the Y valve to rotate, thereby causing the instrument mounted on the Y valve to rotate.

[0063] In another embodiment, the actuator includes a clamping mechanism, which includes a support and a first clamping part and a second clamping part, both mounted on the support. The first clamping part and the second clamping part are arranged opposite to each other, and the clamping of the instrument is achieved through the cooperation of the first clamping part and the second clamping part. The output end of the motor is connected to the support for transmission. Under the drive of the motor, the support rotates as a whole, thereby driving the instrument clamped by the first clamping part and the second clamping part to rotate.

[0064] In another embodiment, the actuator includes a rubbing mechanism, which includes a first rubbing part and a second rubbing part disposed opposite to each other. The cooperation between the first rubbing part and the second rubbing part enables the clamping of the instrument. Furthermore, the first rubbing part or the second rubbing part is connected to a motor for transmission, so that under the drive of the motor, the first rubbing part and the second rubbing part move up and down relative to each other, thereby driving the instrument clamped by the first rubbing part and the second rubbing part to rotate.

[0065] ②The master end operator is the operating end, which allows the operator to manually operate the slave end actuator. That is, the operator can generate control commands by operating the master end operator, thereby controlling the slave end actuator to drive the movement of the machine.

[0066] Furthermore, the devices include, but are not limited to, angiography catheters, guiding catheters, and microcatheters.

[0067] Continue to refer to Figure 1 The aforementioned instrument control method includes the following steps:

[0068] Step S11: Obtain the rated torsional parameters of the instrument and the transmission coefficient of the slave actuator.

[0069] In this step, the instrument control method operates on the instrument control system and can acquire the instrument's rated torsional parameters and the transmission coefficient of the slave actuator via wired or wireless connection. The aforementioned wireless connection methods include, but are not limited to, 3G / 4G / 5G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra-wideband) connections, and other currently known or future-developed wireless connection methods.

[0070] In one embodiment, the rated torsion parameter is the maximum torsion parameter of the device, which represents the maximum torsion parameter that the device can withstand, wherein different types and / or sizes of devices correspond to different maximum torsion parameters. In another embodiment, the rated torsion parameter is a preset torsion parameter pre-configured for the device to adapt to different usage requirements, wherein the preset torsion parameter is less than or equal to the maximum torsion parameter.

[0071] In one embodiment, the transmission coefficient is the ratio of the angular velocities of the drive shaft and the driven shaft in the slave actuator. For example, the slave actuator includes a motor and a reducer, wherein the output shaft of the motor is drive-connected to the reducer, and the output shaft of the reducer is drive-connected to the instrument. Accordingly, the output shaft of the motor is the drive shaft, and the output shaft of the reducer is the driven shaft; that is, the transmission coefficient is the ratio of the angular velocities of the output shaft of the motor to the output shaft of the reducer.

[0072] Step S12: Determine the output constraint parameters of the slave actuator and / or the master operator based on the rated torsional parameters and the transmission coefficient.

[0073] In this step, the output constraint parameters of the master actuator or slave actuator can be determined individually using the rated torsional parameters and transmission coefficient, or simultaneously for both the master actuator and the slave actuator. Understandably, the output constraint parameters are used to constrain the torsional parameters of the master actuator / slave actuator during use, preventing excessive continuous output torsional parameters from causing instrument distortion, damage, or even breakage. This reduces the instrument's damage rate and improves its stability and safety during use.

[0074] For ease of understanding, the technical solution for step S12 will be described clearly and completely below.

[0075] ① The rated torsional parameters include the rated torque, and the output constraint parameters include the constraint torque. (See also...) Figure 2 In step S12 above, determining the output constraint parameters of the slave actuator and / or the master operator based on the rated torsional parameter and the transmission coefficient includes:

[0076] Step S1211: Obtain the torque safety factor of the slave actuator.

[0077] In this step, the torque safety factor is used to ensure the safe operation of the slave actuator, so as to avoid overload, overheating and other phenomena in the slave actuator.

[0078] For example, the slave actuator includes a motor; accordingly, in step S1211, the torque safety factor of the motor is obtained.

[0079] Furthermore, the torque safety factor ranges from [0.85, 0.95] to ensure the safety and reliability of the slave actuator operation.

[0080] Optionally, the torque safety factor can be any one or a range of any two of the following: 0.85, 0.86, 0.87, 0.88, 0.89, 0.9, 0.91, 0.92, 0.93, 0.94, and 0.95.

[0081] As a preferred option, the torque safety factor is 0.9.

[0082] Step S1212: Calculate the slave-end constraint torque of the slave actuator based on the rated torque, the transmission coefficient, and the torque safety factor, and determine the slave-end constraint torque as the constraint torque.

[0083] The constraint torque determined in this step not only ensures the safe and stable operation of the slave actuator, but also avoids excessive twisting of the instrument and reduces the damage rate of the instrument. This improves the stability and safety of the instrument without affecting the controllability of the slave actuator in driving the instrument.

[0084] For example, the slave actuator includes a motor; in step S1211, the torque safety factor of the motor is obtained, and correspondingly, in step S1212, the slave constraint torque of the motor is calculated by means of the rated torque, transmission coefficient and torque safety factor.

[0085] Understandably, the torque of a motor is related to the control current used to control the rotation of the motor; in practical applications, the slave-end constraint torque of the motor can be adjusted by adjusting the magnitude of the control current used to control the motor.

[0086] Further, the slave-end constraint torque is calculated according to the first formula. The first formula is:

[0087]

[0088] Among them, T c The torque is the constraint torque at the slave end, K1 is the torque safety factor, and T m is the rated torque, and i is the transmission coefficient.

[0089] Understandably, in the first formula, a torque safety factor K1 is introduced to ensure that the rated torque T passes through the safe torque T. m The calculated slave constraint torque T c It can provide a safe and stable drive for the slave actuator, and through the transmission coefficient i, K1T m This is converted into the torque at the output of the slave actuator, thus obtaining the slave constraint torque T. c .

[0090] ② The rated torsional parameters include the rated torsional angle, and the output constraint parameters include the constraint torsional angle. (See also...) Figure 3 In step S12 above, determining the output constraint parameters of the slave actuator and / or master operator based on the rated torsional parameter and the transmission coefficient includes:

[0091] Step S1221: Calculate the slave-end torsion angle of the slave actuator based on the rated torsion angle and the transmission coefficient, and determine the slave-end torsion angle as the constraint torsion angle.

[0092] In this step, the rated torsion angle of the instrument is converted into the torsion angle at the output end of the slave actuator through the transmission coefficient, which serves as the constraint torsion angle. Thus, under the constraint of the constraint torsion angle, the slave actuator will not cause excessive torsion of the instrument, reducing the damage rate of the instrument and improving the stability and safety of the instrument in use.

[0093] For example, the slave actuator includes a motor; in step S1221, the slave torsion angle is the torsion angle of the motor.

[0094] Furthermore, the torsion angle at the distal end is calculated according to the second formula. The second formula is:

[0095]

[0096] Where, θ c For the torsion angle at the end, θ m denoted as the rated torsional angle, and i as the transmission coefficient.

[0097] ③ The rated torsion parameter includes the rated torsion angle, and the output constraint parameter includes the constraint torsion angle. (See also...) Figure 4 In step S12 above, determining the output torsion parameters of the slave actuator and / or the master operator based on the rated torsion parameters and the transmission coefficient includes:

[0098] Step S1231: Calculate the driven-end torsion angle of the driven-end actuator based on the rated torsion angle and the transmission coefficient.

[0099] In this step, the rated torsion angle is converted into the slave torsion angle at the output end of the slave actuator by the transmission coefficient.

[0100] For example, the slave actuator includes a motor; in step S1231, the slave torsion angle is the torsion angle of the motor.

[0101] Furthermore, the driven end torsion angle of the driven actuator is calculated according to the second formula described above, which will not be elaborated further here.

[0102] Step S1232: Obtain the mapping coefficient between the slave actuator and the master actuator, and calculate the master actuator's master torsion angle based on the slave torsion angle and the mapping coefficient.

[0103] In this step, the mapping coefficient represents the association between the slave actuator and the master operator; understandably, after the master operator generates operation data, the operation data is converted into execution data of the slave actuator based on the mapping coefficient.

[0104] Furthermore, the mapping coefficient between the slave actuator and the master operator is 1:(1~3). Within this range, the intuitiveness of the operator's operation of the slave actuator is ensured.

[0105] Optionally, the mapping coefficient between the slave actuator and the master operator is selected from any one of 1:1, 1:2, 1:3 or a range formed by any two of them.

[0106] Preferably, the mapping coefficient between the slave actuator and the master operator is 1:1. In this case, the operation data of the operator on the master operator is the same as the execution data controlling the slave actuator, so that the operator's operation of the slave actuator is more intuitive and the operator can accurately control the movement of the slave actuator.

[0107] For example, if the operator rotates the master actuator by 30°, the operation data is 30° rotation. Accordingly, after conversion according to the mapping coefficient, the execution data received by the slave actuator is 30° rotation of the device.

[0108] Furthermore, the torsion angle at the main end is calculated according to the third formula. The third formula is:

[0109] θ z =K2θ c ;

[0110] Where, θ z Main end torsion angle, K2 is the mapping coefficient, θ c The angle of rotation is from the end.

[0111] Step S1233: Determine the main end torsion angle as the constraint torsion angle.

[0112] In this step, the master-end torsion angle is output as the constraint torsion angle to constrain the torsion angle of the master-end manipulator. Understandably, because the master-end manipulator and the slave-end actuator have a mapping relationship, constraining the master-end manipulator by limiting the torsion angle also constrains the slave-end actuator, thereby further preventing excessive instrument torsion caused by the constraint torsion angle of the slave-end actuator, reducing the instrument's damage rate, and improving the instrument's stability and safety in use.

[0113] Step S13: In response to the received instrument movement command, control the slave actuator according to the output constraint parameters to drive the instrument movement.

[0114] In this step, the output constraint parameters are determined based on the instrument's rated torsional parameters and the transmission coefficient of the slave actuator. This ensures that the output constraint parameters are compatible with the instrument's rated torsional parameters. When the slave actuator drives the instrument's movement, the output of the slave actuator is constrained by the output constraint parameters, thereby achieving stable torsion of the instrument, reducing the instrument's damage rate, and improving the instrument's stability and safety. As a result, the slave actuator can be used to drive instruments of different types, sizes, or functions, making it highly versatile.

[0115] Understandably, the instrument motion command is used to instruct the slave actuator to drive the instrument to move. When the instrument motion execution includes a torsion command to drive the instrument, the slave actuator drives the instrument to twist based on the rotation command. At this time, due to the constraint of the output constraint parameter, the output torsion parameter of the slave actuator will not cause the instrument to twist excessively, thereby preventing the instrument from being twisted, damaged, or even broken due to excessive twisting, reducing the damage rate of the instrument, and improving the stability and safety of the instrument.

[0116] In one embodiment, when controlling the slave actuator through the output constraint parameters of the master actuator, the output torsional parameters between the master and slave actuators have a mapping relationship. Therefore, after constraining the output torsional parameters of the master actuator through the output constraint parameters, the mapping relationship between the master and slave actuators is used to constrain the output torsional parameters of the slave actuator, thereby preventing excessive instrument torsion, reducing the instrument's damage rate, and improving its stability and safety. In another embodiment, when controlling the slave actuator through the output constraint parameters of the slave actuator, constraining the output torsional parameters of the slave actuator using the same output constraint parameters can also prevent excessive instrument torsion, reduce the instrument's damage rate, and improve its stability and safety.

[0117] In one embodiment, the instrument motion command includes an instrument torsion command and an instrument displacement command; wherein, the instrument torsion command is used to instruct the slave actuator to drive the instrument to torsion, and the instrument displacement command is used to instruct the slave actuator to drive the instrument to move forward or backward.

[0118] In one embodiment, the device motion command is generated based on the operator's manipulation of the master manipulator to perform "forward / backward" or torsional movements. In another embodiment, the device motion command is generated by the intervention robot based on pre-stored torsional and / or displacement data after a preset time has elapsed or the device has moved to a preset node.

[0119] In one embodiment, the rated torsional parameter includes the rated torque. See also... Figure 5 In step S13 above, the step of driving the movement of the device further includes:

[0120] Step S1311: Obtain the cumulative torque and fatigue safety torque of the instrument, wherein the fatigue safety torque is less than the rated torque.

[0121] In this step, the cumulative torque is the torque experienced by the instrument when it is driven to twist.

[0122] In one embodiment, the slave actuator includes a motor, a clamping mechanism, and a rotating mechanism. The instrument is mounted on the clamping mechanism and passes through a torsion sensor. When the motor drives the rotating mechanism to rotate and causes the instrument on the clamping mechanism to twist, the torque of the instrument is continuously collected by the torque sensor, and the cumulative torque borne by the instrument is obtained.

[0123] In another embodiment, the slave actuator includes a motor and a rubbing mechanism. The force on the first rubbing part in the rubbing mechanism is collected by a multi-axis force sensor to obtain a measured value F. The cumulative torque that the instrument can withstand is obtained by multiplying the measured value F by the radius r of the instrument.

[0124] In this step, fatigue safety torque refers to the maximum torque that the instrument can withstand without fatigue damage or failure during long-term use.

[0125] In one embodiment, see below. Figure 5 Before step S1311 above, which involves obtaining the cumulative torque and fatigue safety torque of the instrument, the method further includes:

[0126] Step S131a: Obtain the fatigue safety factor of the device.

[0127] In this step, the fatigue safety factor refers to the ratio of the cumulative torque that the instrument withstands in one direction during use to its rated torque.

[0128] In one embodiment, the fatigue safety factor ranges from [0.7, 0.9]. Within this range, the device will not suffer fatigue damage due to excessive torque accumulation during use, which can effectively improve the device's stability and service life.

[0129] Optionally, the fatigue safety factor can be selected from any one of 0.7, 0.8, 0.9, or any combination thereof.

[0130] Preferably, the fatigue safety factor is 0.7 to ensure the safety of the instrument and to ensure that the torque applied to the instrument can drive it torsion.

[0131] Step S131b: Determine the fatigue safety torque based on the fatigue safety factor and the rated torque.

[0132] In this step, the rated torque is converted using a fatigue safety factor so that the determined fatigue safety torque is the maximum safe torque that the instrument can bear, thereby ensuring the reliability and safety of the instrument and improving its stability and durability during use.

[0133] Furthermore, the fatigue safety torque is calculated using the following fourth formula. The fourth formula is:

[0134] T s =K3T m ;

[0135] Among them, T s The fatigue safety torque is given by K3, where K3 is the fatigue safety factor, and T is the torque value. m This is the rated torque.

[0136] Step S1312: Compare the accumulated torque with the rated torque and the fatigue safety torque to determine the feedback torque of the main end operator.

[0137] In this step, the operator can perceive the motion state of the instrument through the feedback torque of the master actuator. Understandably, when the operator controls the slave actuator to drive the instrument's movement by operating the master actuator, the feedback torque provides feedback on the operator's operation of the master actuator, allowing the operator to intuitively obtain the instrument's motion state. This ensures the operator's safety and smoothness during use, and further prevents excessive twisting of the instrument.

[0138] In one embodiment, in step S1312 above, the step of determining the feedback torque of the master-end operator, the cumulative bearing torque, rated torque, and fatigue safety torque may fall into the following categories:

[0139]

[0140] Among them, T l To accumulate the torque, T s For fatigue safety torque, T m K is the rated torque, k4 is the first feedback parameter, and k5 is the second feedback parameter.

[0141] Understandably, ① if the cumulative torque T is borne l Less than the fatigue safety torque T s At this point, the operator can continue to operate the main actuator, and the feedback torque T of the main actuator... f A value of zero means no feedback is provided to the operations of the master controller, in order to avoid excessive feedback information affecting the smoothness of the operator's operation.

[0142] ②If the cumulative torque T is... l Greater than or equal to fatigue safety torque T s And less than the rated torque T m At this point, the device is at risk of damage. By obtaining the first feedback parameter k4, and based on the first feedback coefficient k4 and the cumulative torque T, l The product of these factors is used to calculate the feedback torque T of the master actuator. f With this feedback torque T f The feedback torque provides feedback on the operator's operation of the main actuator, allowing the operator to obtain the motion status of the device and plan subsequent main actuator operations based on this feedback torque. This ensures the stability and safety of the device and the smoothness of the operator's operation.

[0143] Optionally, the value range of the first feedback parameter k4 is [0.9, 1.5]. When the value range of the first feedback parameter k4 is [0.9, 1], it ensures that the calculated feedback torque T f The authenticity of the data ensures that the operator can obtain the true motion state of the equipment, allowing for timely adjustments. When the first feedback parameter j4 is in the range of (1, 1.5), it ensures that compared to the cumulative torque T... l The calculated feedback torque T f The larger size allows operators to make adjustments before the risk of equipment damage occurs, further ensuring the stability and safety of the equipment and the smoothness of operation.

[0144] Preferably, the first feedback parameter k4 is set to 1, that is, based on the cumulative torque T. l The system provides feedback on the operator's actions on the main control unit, thereby further verifying the authenticity of the feedback.

[0145] ③If the cumulative torque T is... l Equal to rated torque T m At this point, the instrument reaches its torsional limit and is prone to breakage. By obtaining the second feedback parameter k5 and considering the relationship between k5 and the accumulated torque T... l The product of these factors is used to calculate the feedback torque T of the master actuator. fWith this feedback torque T f The feedback mechanism provides the operator with feedback on the results of their actions on the master controller. The second feedback parameter k5 is greater than the first feedback parameter k4, ensuring the operator receives a significant feedback torque T. f .

[0146] Optionally, the second feedback parameter k5 is set to 1.5 so that the operator can obtain a noticeable feedback torque T. f .

[0147] In one embodiment, see Figure 6 In step S13 above, the step of driving the movement of the device further includes:

[0148] Step S1321: Determine the cumulative torsion angle based on the real-time torsion angle continuously output by the slave actuator or the master operator.

[0149] In this step, the cumulative torsion angle is obtained by accumulating the real-time torsion angles continuously output by the slave actuator / master manipulator.

[0150] Understandably, when "the cumulative torsion angle is determined based on the real-time torsion angle continuously output by the slave actuator," the torsion angle output by the slave actuator can be collected by a torsion sensor as the real-time torsion angle; when "the cumulative torsion angle is determined based on the real-time torsion angle continuously output by the master operator," the torsion angle generated when the operator operates the master operator can be used as the real-time torsion angle. Step S1322: Compare the cumulative torsion angle with the constraint torsion angle to determine the remaining torsion angle.

[0151] In this step, the remaining torsion angle is calculated by subtracting the cumulative torsion angle from the constraint torsion angle.

[0152] Step S1323: Display the remaining torsion angle according to the preset display method.

[0153] In this step, the preset display methods include, but are not limited to, screen display, voice broadcast, and SMS reminder.

[0154] Preferably, the remaining torsion angle is displayed on the screen, which allows the operator to intuitively know the changes in the torsion angle of the master / slave actuator, thereby ensuring the stability of the system operation.

[0155] In one embodiment, see Figure 7 In step S13 above, the step of driving the movement of the device further includes:

[0156] Step S1331: Obtain the real-time output parameters of the slave actuator and / or the master operator.

[0157] In this step, the output real-time parameters include, but are not limited to, real-time output torsional parameters, which include real-time torsional angle and / or real-time torque. Understandably, when the master actuator controls the slave actuator to drive the instrument's movement, the output real-time parameters are the torsional parameters output by the master actuator; when the slave actuator directly drives the instrument's movement, the output real-time parameters are the torsional parameters output by the slave actuator, in which case the torsional angle output by the slave actuator can be collected by a torsional sensor as the torsional parameter.

[0158] Step S1332: Compare the real-time output parameter with the output constraint parameter. If the real-time output parameter is greater than or equal to the output constraint parameter, stop driving the movement of the machine.

[0159] In this step, the safety of the instrument's movement is determined by comparing the real-time output parameters with the output constraint parameters. Understandably, when the real-time output parameters are less than the output constraint parameters, the risk of damage during instrument movement is low, and the instrument can continue to be controlled via the master actuator and / or slave actuator. When the real-time output parameters are greater than or equal to the output constraint parameters, the risk of damage during instrument movement is high, and the slave actuator should be stopped to prevent excessive twisting of the instrument, which could lead to damage or breakage.

[0160] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0161] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0162] Further reference Figure 8 As a response to the above Figure 1 To implement the method shown, this application provides an embodiment of a device control device, which is similar to... Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0163] like Figure 8 As shown, the instrument control device 20 described in this embodiment is applied to an instrument control system, which includes a slave actuator and a master operator; the instrument control device 20 includes an acquisition module 21, a determination module 22, and a control module 23. Wherein:

[0164] The acquisition module 21 is used to acquire the rated torsional parameters of the instrument and the transmission coefficient of the slave actuator.

[0165] The determining module 22 is used to determine the output constraint parameters of the slave actuator and / or the master actuator based on the rated torsional parameters and the transmission coefficient;

[0166] The control module 23 is used to respond to the received instrument movement command and control the slave actuator according to the output constraint parameters to drive the instrument movement.

[0167] In this embodiment, since the output constraint parameters are determined based on the instrument's rated torsional parameters and the transmission coefficient of the slave actuator, the output constraint parameters are adapted to the instrument's rated torsional parameters. When the slave actuator drives the instrument to move, the output of the slave actuator is constrained by the output constraint parameters, thereby achieving stable torsion of the instrument, reducing the instrument's damage rate, and improving the instrument's stability and safety. In this way, the slave actuator can be applied to drive instruments of different types, sizes, or functions, and has strong versatility.

[0168] For ease of understanding, the technical solution for determining module 22 will be described clearly and completely below.

[0169] In one embodiment, the rated torsional parameter includes the rated torque, and the output constraint parameter includes the constraint torque. See also... Figure 8 The determining module 22 includes a first acquisition submodule 2211 and a first determining submodule 2212. Wherein:

[0170] The first acquisition submodule 2211 is used to acquire the torque safety factor of the slave actuator.

[0171] The first determining submodule 2212 is used to calculate the slave constraint torque of the slave actuator based on the rated torque, the transmission coefficient and the torque safety factor, and determine the slave constraint torque as the constraint torque.

[0172] In another embodiment, the rated torsion parameter includes a rated torsion angle, and the output constraint parameter includes a constraint torsion angle. See further... Figure 8 The determining module 22 further includes a second determining submodule 2221. Wherein:

[0173] The second determining submodule 2221 is used to calculate the slave-end torsion angle of the slave actuator based on the rated torsion angle and the transmission coefficient, and to determine the slave-end torsion angle as the constraint torsion angle.

[0174] In another embodiment, the rated torsion parameter includes a rated torsion angle, and the output constraint parameter includes a constraint torsion angle. See further... Figure 8 The determining module 22 further includes a first calculation submodule 2231, a second calculation submodule 2232, and a third determining submodule 2233. Wherein:

[0175] The first calculation submodule 2231 is used to calculate the slave-end torsion angle of the slave-end actuator based on the rated torsion angle and the transmission coefficient.

[0176] The second calculation submodule 2232 is used to obtain the mapping coefficient between the slave actuator and the master actuator, and to calculate the master actuator's master torsion angle based on the slave torsion angle and the mapping coefficient.

[0177] The third determining submodule 2233 is used to determine the main end torsion angle as the constraint torsion angle;

[0178] To facilitate understanding, the technical solution of control module 23 will be clearly and completely described below.

[0179] In one embodiment, see below. Figure 8 The control module 23 includes a second acquisition submodule 2311 and a fourth determination submodule 2312. Wherein:

[0180] The second acquisition submodule 2311 is used to acquire the cumulative torque that the instrument can withstand and the fatigue safety torque, wherein the fatigue safety torque is less than the rated torque;

[0181] The fourth determining submodule 2312 is used to compare the cumulative bearing torque with the rated torque and the fatigue safety torque respectively to determine the feedback torque of the main end operator.

[0182] Further reading Figure 8 The control module 23 further includes a third acquisition submodule 231a and a fifth determination submodule 231b. Wherein:

[0183] The third acquisition submodule 231a is used to acquire the fatigue safety factor of the instrument;

[0184] The fifth determining submodule 231b is used to determine the fatigue safety torque based on the fatigue safety factor and the rated torque.

[0185] In one embodiment, see Figure 9 The fifth determining submodule 231b includes a first determining unit 231b1, a second determining unit 231b2, and a third determining unit 231b3. Wherein:

[0186] The first determining unit 231b1 is used to determine the feedback torque of the main end operator as zero if the cumulative bearing torque is less than the fatigue safety torque.

[0187] The second determining unit 231b2 is used to obtain a first feedback coefficient if the cumulative bearing torque is greater than or equal to the fatigue safety torque and less than the rated torque, and to determine the feedback torque of the main end operator based on the first feedback coefficient and the cumulative bearing torque.

[0188] The third determining unit 231b3 is used to obtain a second feedback coefficient if the cumulative bearing torque is equal to the rated torque, and to determine the feedback torque of the master end operator based on the second feedback coefficient and the cumulative bearing torque; wherein the second feedback coefficient is greater than the first feedback coefficient.

[0189] In one embodiment, see below. Figure 8 The control module 23 further includes a sixth determining submodule 2321, a seventh determining submodule 2322, and a display submodule 2323. Wherein:

[0190] The sixth determining submodule 2321 is used to determine the cumulative torsion angle based on the real-time torsion angle continuously output by the master end operator or the slave end actuator;

[0191] The seventh determining submodule 2322 is used to compare the cumulative torsion angle with the constraint torsion angle to determine the remaining torsion angle;

[0192] The display submodule 2323 is used to display the remaining torsion angle according to a preset display method.

[0193] In one embodiment, see below. Figure 8 The control module 23 further includes a fourth acquisition submodule 2331 and a stop submodule 2332. Wherein:

[0194] The fourth acquisition submodule 2331 is used to acquire the real-time output parameters of the slave actuator and / or the master operator;

[0195] The stop submodule 2332 is used to compare the output real-time parameters with the output constraint parameters. If the output real-time parameters are greater than or equal to the output constraint parameters, the movement of the machine is stopped.

[0196] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 10 , Figure 10 This is a basic structural block diagram of the computer device in this embodiment.

[0197] The computer device 30 includes a memory 31, a processor 32, and a network interface 33 that are interconnected via a system bus. It should be noted that only the computer device 30 with components 31-33 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0198] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0199] The memory 31 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In one embodiment, the memory 31 may be an internal storage unit of the computer device 30, such as the hard disk or memory of the computer device 30. In another embodiment, the memory 31 may also be an external storage device of the computer device 30, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Of course, the memory 31 may include both internal storage units and external storage devices of the computer device 30. In this embodiment, the memory 31 is typically used to store the operating system and various application software installed on the computer device 30, such as computer-readable instructions for machine control methods. In addition, the memory 31 can also be used to temporarily store various types of data that have been output or will be output.

[0200] In one embodiment, the processor 32 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 32 is typically used to control the overall operation of the computer device 30. In this embodiment, the processor 32 is used to execute computer-readable instructions stored in the memory 31 or to process data, for example, to execute computer-readable instructions for the device control method.

[0201] The network interface 33 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 30 and other electronic devices.

[0202] In this embodiment, the slave actuator is controlled by output constraint parameters to limit the torsion of the device, thereby improving the stability and safety of the device.

[0203] This application also provides another embodiment, namely, a computer-readable storage medium storing computer-readable instructions that can be executed by at least one processor to cause the at least one processor to perform the steps of the device control method described above.

[0204] In this embodiment, the slave actuator is controlled by output constraint parameters to limit the torsion of the device, thereby improving the stability and safety of the device.

[0205] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0206] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An apparatus control device characterized by comprising: Applied to a medical device control system, the medical device control system includes a slave actuator and a master operator, and the medical device control device is used to execute a medical device control method; the medical device control method includes: Obtain the rated torsional parameters of the instrument and the transmission coefficient of the slave actuator; The output constraint parameters of the slave actuator and / or the master manipulator are determined based on the rated torsional parameters and the transmission coefficient. In response to the received instrument movement command, the slave actuator is controlled according to the output constraint parameters to drive the instrument movement; The response to the received instrument movement command, controlling the slave actuator according to the output constraint parameters to drive the instrument movement includes: The cumulative torque that the instrument can withstand and the fatigue safety torque are obtained, wherein the fatigue safety torque is less than the rated torque; The cumulative torque is compared with the rated torque and the fatigue safety torque to determine the feedback torque of the main end operator; The step of comparing the accumulated torque with the rated torque and the fatigue safety torque to determine the feedback torque of the main-end operator includes: If the cumulative torque is less than the fatigue safety torque, then the feedback torque of the master end operator is zero; If the cumulative torque is greater than or equal to the fatigue safety torque and less than the rated torque, then a first feedback coefficient is obtained, and the feedback torque of the master end operator is determined based on the first feedback coefficient and the cumulative torque. If the cumulative torque is equal to the rated torque, then a second feedback coefficient is obtained, and the feedback torque of the master operator is determined based on the second feedback coefficient and the cumulative torque; wherein the second feedback coefficient is greater than the first feedback coefficient.

2. The instrument control apparatus of claim 1, wherein The rated torsional parameter includes the rated torque, and the output constraint parameter includes the constraint torque; the determination of the output constraint parameters of the slave actuator and / or the master actuator based on the rated torsional parameter and the transmission coefficient in the instrument control method includes: Obtain the torque safety factor of the slave actuator; Based on the rated torque, the transmission coefficient, and the torque safety factor, the slave-end constraint torque of the slave actuator is calculated, and the slave-end constraint torque is determined as the constraint torque.

3. The instrument control apparatus of claim 2, wherein, Before obtaining the cumulative torque and fatigue safety torque of the instrument, the instrument control method further includes: Obtain the fatigue safety factor of the instrument; The fatigue safety torque is determined based on the fatigue safety factor and the rated torque.

4. The instrument control apparatus of claim 1, wherein The rated torsion parameter includes the rated torsion angle, and the output constraint parameter includes the constraint torsion angle; The method for controlling the device includes determining the output constraint parameters of the slave actuator and / or the master operator based on the rated torsional parameter and the transmission coefficient, which includes: Based on the rated torsion angle and the transmission coefficient, the driven torsion angle of the driven actuator is calculated, and the driven torsion angle is determined as the constraint torsion angle; Alternatively, the method for controlling the device may include determining the output constraint parameters of the slave actuator and / or the master operator based on the rated torsional parameter and the transmission coefficient, including: Calculate the driven-end torsion angle of the driven-end actuator based on the rated torsion angle and the transmission coefficient; Obtain the mapping coefficient between the slave actuator and the master actuator, and calculate the master actuator's master torsion angle based on the slave torsion angle and the mapping coefficient. The main end torsion angle is determined as the constraint torsion angle.

5. The instrument control apparatus of claim 4, wherein, When driving the device to move, the device control method further includes: The cumulative torsion angle is determined based on the real-time torsion angle continuously output by the slave actuator or the master operator. By comparing the cumulative torsion angle with the constrained torsion angle, the remaining torsion angle is determined; The remaining torsion angle is displayed according to the preset display method.

6. The instrument control device according to any one of claims 1 to 5, characterized in that, When driving the device to move, the device control method further includes: Obtain the real-time output parameters of the slave actuator and / or master operator; If the real-time output parameter is compared with the output constraint parameter, and the real-time output parameter is greater than or equal to the output constraint parameter, then the movement of the device is stopped.

7. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the device control method as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the instrument control method as described in any one of claims 1-6.

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