Surgical instrument control method and device, electronic equipment, storage medium and product

Abstract

The embodiment of the invention discloses a surgical instrument control method and device, electronic equipment, a storage medium and a product. The method comprises the steps that under the condition that it is detected that driving equipment of the endoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving equipment so that a clamp on a surgical instrument can be in a closed state; determining the current movement length generated by a steel wire rope corresponding to the surgical instrument in the process of executing the first closing control instruction by the driving equipment; determining a compensation length corresponding to the steel wire rope based on the current movement length and a preset standard movement length corresponding to the steel wire rope in a closed state, so as to control the surgical instrument based on the compensation length in the actual surgical operation of the endoscopic surgical robot; wherein the standard movement length is the movement length generated by the steel wire rope after the clamp is controlled to be adjusted to be in a closed state when the steel wire rope is in a standard state and the driving equipment is in an idle state.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and in particular, to a surgical instrument control method, device, electronic device, storage medium, and product. Background Art

[0002] With the rapid development of surgical robot technology, the performance requirements for surgical instruments are also constantly increasing. During the operation, surgical instruments are used as tools to assist doctors in their operations. They are usually transmitted by wire ropes. The wire ropes are used to tighten the clamps in the surgical instruments to provide clamping force. How to accurately control surgical instruments has become an important part of effectively controlling surgical robots.

[0003] In the prior art, in order to avoid the situation where the wire rope cannot provide accurate clamping force due to irreversible elongation as the frequency of use increases, a customized force sensor is usually required to accurately control the clamping force applied by the surgical instrument during the surgical operation. However, in the process of implementing the present invention, it is found that the prior art has at least the following technical problems: the use environment of the surgical instrument is complex, it is difficult to install the force sensor near the clamping end of the surgical instrument, and the labor cost and time cost are high. Summary of the invention

[0004] Embodiments of the present invention provide a surgical instrument control method, device, electronic device, storage medium and product to control the surgical instrument by determining the compensation length, which helps the surgical instrument provide a stable and accurate clamping force, avoids the operation of installing a force sensor, and achieves the purpose of reducing labor costs and time costs.

[0005] According to one aspect of the present invention, there is provided a surgical instrument control method, comprising:

[0006] When detecting that the driving device of the laparoscopic surgical robot is in an idle state, sending a first closing control instruction to the driving device to put the clamp on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a steel wire rope;

[0007] Determine a current movement length of the steel wire rope corresponding to the surgical instrument during the process in which the driving device executes the first closing control instruction;

[0008] Based on the current movement length and a pre-set standard movement length corresponding to the steel wire rope in the closed state, a compensation length corresponding to the steel wire rope is determined, so that the laparoscopic surgical robot controls the surgical instrument based on the compensation length during actual surgical operations;

[0009] The standard movement length is the movement length of the wire rope generated after the clamp is controlled to be adjusted to the closed state when the wire rope is in the standard state and the driving device is in the idle state.

[0010] According to another aspect of the present invention, there is provided a surgical instrument control device, the device comprising:

[0011] a first closing control instruction sending module, configured to send a first closing control instruction to the driving device to close the clamp on the surgical instrument when detecting that the driving device of the laparoscopic surgical robot is in an idle state; wherein the surgical instrument is mounted on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device via a steel wire rope;

[0012] a current movement length determination module, used to determine the current movement length of the steel wire rope corresponding to the surgical instrument during the process in which the driving device executes the first closing control instruction;

[0013] a compensation length determination module, for determining a compensation length corresponding to the steel wire rope based on the current movement length and a preset standard movement length corresponding to the steel wire rope in the closed state, so as to control the surgical instrument based on the compensation length during the actual surgical operation of the laparoscopic surgical robot;

[0014] The standard movement length is the movement length of the wire rope generated after the clamp is controlled to be adjusted to the closed state when the wire rope is in the standard state and the driving device is in the idle state.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical instrument control method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument control method described in any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the surgical instrument control method according to any embodiment of the present invention is implemented.

[0018] The technical solution of the embodiment of the present invention is, when it is detected that the driving device of the laparoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving device to make the clamp on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a wire rope; the current movement length of the wire rope corresponding to the surgical instrument during the execution of the first closing control instruction by the driving device is determined, so as to determine the length of the wire rope that needs to be tightened for the current control of the clamp closing; since the standard movement length is the movement length of the wire rope after the clamp is controlled to be adjusted to a closed state when the wire rope is in a standard state and the driving device is in an idle state. By comparing the standard movement length with the current movement length, the change in the movement length required for the current state of the wire rope relative to the standard state during the closing process can be determined; therefore, based on the current movement length and the standard movement length corresponding to the wire rope in the closed state set in advance, the compensation length corresponding to the wire rope can be accurately determined, so that the laparoscopic surgical robot controls the surgical instrument based on the compensation length in actual surgical operations. The technical solution of this embodiment controls the surgical instrument by determining the compensation length, which helps the surgical instrument provide a stable and accurate clamping force, avoids the operation of installing a force sensor, and reduces labor costs and time costs.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a surgical instrument control method provided according to an embodiment of the present invention;

[0022] Figure 2 is a flow chart of another surgical instrument control method provided according to an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of a surgical instrument control device provided according to an embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the surgical instrument control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "etc." and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information and network security.

[0028] Figure 1 This is a flow chart of a surgical instrument control method provided according to an embodiment of the present invention. This embodiment can be applied to the motion compensation of the wire rope connecting the driving device and the surgical instrument in the laparoscopic surgical robot, so as to control the operation of the surgical instrument based on the determined compensation length to ensure that the clamp in the surgical instrument provides a stable clamping force. The method can be executed by a surgical instrument control device, which can be implemented in the form of hardware and / or software.

[0029] like Figure 1 As shown, the method of this embodiment may specifically include:

[0030] S110. When it is detected that the driving device of the laparoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving device to put the clamps on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device via a steel wire rope.

[0031] In a specific implementation, the working state of the driving device of the laparoscopic surgical robot can be detected when a detection indication is received. The driving device may include a motor. The working state includes an idle state when no work is performed and a busy state when work is performed. When the driving device is in an idle state, the corresponding control position is a preset zero position. When it is detected that the driving device of the laparoscopic surgical robot is in an idle state, in order to compensate for the irreversible deformation of the wire rope, a first closing control instruction may be sent to the driving device. After receiving the first closing control instruction, the driving device starts working to drive the wire rope connected to the driving device to move, so that the clamp on the surgical instrument connected to the wire rope starts closing movement. It should be noted that when the driving device is in an idle state, the clamp is not subjected to external force and does not provide clamping force.

[0032] In this embodiment, during the movement of the clamp, the movement information of the clamp can be detected. The movement information includes movement speed, movement acceleration, movement direction, etc. Based on the movement information, it is determined whether the clamp is in a closed state. The closed state can be a state in which the two clamp arms of the clamp are tightly combined to form a clamping space to clamp an object. Exemplarily, when the movement speed is less than or equal to a preset speed value, it is determined that the clamp is in a closed state. For example, the preset speed value can be 0.

[0033] S120, determining the current movement length of the steel wire rope corresponding to the surgical instrument during the process of the driving device executing the first closing control instruction.

[0034] Specifically, a first length of the wire rope at the start of the closing movement of the clamp can be determined, and a second length of the wire rope at the stop of the closing movement of the clamp can be determined. The difference between the first length and the second length is determined as the current movement length of the wire rope corresponding to the surgical instrument during the closing movement.

[0035] S130. Determine a compensation length corresponding to the wire rope based on the current movement length and a preset standard movement length corresponding to the wire rope in a closed state, so that the laparoscopic surgical robot can control surgical instruments based on the compensation length during actual surgical operations.

[0036] The standard movement length is the movement length of the wire rope generated after the control clamp is adjusted to a closed state when the wire rope is in a standard state and the driving device is in an idle state.

[0037] It should be noted that the standard state can be the state of the wire rope when the device leaves the factory, that is, the state when no irreversible deformation occurs; it can also be any state preset by a person skilled in the art before the first closing control instruction is executed. When the wire rope is in the standard state and the driving device is in the idle state, the current state of the clamp when the driving device is in the idle state can be adjusted to the closed state, and the movement length of the wire rope after adjusting from the current state to the closed state is determined as the standard movement length of the wire rope in the standard state.

[0038] Specifically, before sending a first closing control instruction to the driving device to put the clamps on the surgical instrument into a closed state, it also includes: when the wire rope is in a standard state and the driving device is in an idle state, generating a second closing control instruction based on a predetermined target clamping force required by the object of the actual surgical operation; sending the second closing control instruction to the driving device to make the clamps in the surgical instrument perform a closing operation and generate a target clamping force; determining a first control position of the driving device corresponding to the starting moment of the closing operation, and a second control position of the driving device corresponding to the ending moment of the closing operation, and determining a standard movement length of the wire rope corresponding to the closed state based on the first control position and the second control position.

[0039] In order to determine the compensation length more accurately, the standard movement length of the wire rope can be determined in advance. Specifically, when the wire rope is detected to be in a standard state and the driving device is in an idle state, the standard movement length of the wire rope generated by the closing operation under the standard state can be detected first, and the standard movement length is used as the length of the wire rope required for the closing operation when the wire rope does not undergo irreversible deformation.

[0040] In order to be able to better combine with the actual application situation, when determining the standard movement length, the target clamping force required by the object of the actual surgical operation can be determined first, so that when determining the standard movement length, the target clamping force is used as a standard to determine a standard movement length that is more combined with reality. Specifically, based on the target clamping force, a second closing control instruction is generated to control the drive device to generate traction force on the wire rope, so that the movement of the wire rope drives the clamp to generate the target clamping force. In addition, at the start time of the clamp performing the closing operation, the first control position corresponding to the drive device is determined. Exemplarily, the first control position can be zero. After the closing operation is completed, the second control position corresponding to the drive device at the end of the closing operation is determined, and based on the first control position and the second control position, the change control position of the drive device is determined, and the wire rope movement distance corresponding to the change control position is determined as the standard movement length.

[0041] This embodiment determines the standard movement length by combining the target clamping force required by the object of action, so that the determined standard movement length is more in line with the needs of actual application, and it is convenient to accurately determine the compensation length of the wire rope.

[0042] Optionally, the laparoscopic surgical robot controls the surgical instrument based on the compensation length during the actual surgical operation, including: when the laparoscopic surgical robot starts a compensation mode for compensating the clamping force for the actual surgical operation, generating a third closing control instruction based on the second closing control instruction, the target clamping force, the compensation length and the preset actual clamping force; and sending the third closing control instruction to the driving device to control the surgical instrument to perform the actual surgical operation.

[0043] It should be noted that the laparoscopic surgical robot can be set to two control modes: compensation mode and normal mode. The compensation mode is a mode in which control instructions are generated based on the determined compensation length, and motion compensation is performed through the control instructions. The normal mode is a control mode in which motion compensation is not required. In actual applications, whether to adopt the compensation mode can be determined based on the type of object and the length of time the wire rope is used. Specifically, if the length of time the wire rope is used is greater than the preset ratio of the maximum length of time, the compensation mode can be activated; otherwise, the normal mode is used. For example, the preset ratio is two-thirds.

[0044] In this embodiment, during the actual surgical operation, before generating the control instruction, it can also be determined whether the laparoscopic surgical robot starts the compensation mode; if the compensation mode is not started, based on the preset actual clamping force required for the surgical operation received in advance, a closing control instruction is generated to be sent to the drive device, so that the clamp performs a closing operation to fix the object of action. If the compensation mode is started, a third closing control instruction can be generated based on the second closing control instruction, the target clamping force, the compensation length and the preset actual clamping force. Among them, the third closing control instruction is used to control the clamp to generate a preset actual clamping force. Specifically, after comparing the target clamping force and the preset actual clamping force, the control parameters in the second closing control instruction can be adjusted in combination with the compensation length to generate a third closing control instruction based on the adjusted control parameters, and the third closing control instruction is sent to the drive device to control the surgical instrument to perform the actual surgical operation.

[0045] This embodiment generates a third closing control instruction based on the compensation length when the compensation mode is started, thereby improving the flexibility of motion compensation for the wire rope in actual applications and better meeting the needs of actual surgical operations.

[0046] The technical solution of the embodiment of the present invention is, when it is detected that the driving device of the laparoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving device to make the clamp on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a wire rope; the current movement length of the wire rope corresponding to the surgical instrument during the execution of the first closing control instruction by the driving device is determined, so as to determine the length of the wire rope that needs to be tightened for the current control of the clamp closing; since the standard movement length is the movement length of the wire rope after the clamp is controlled to be adjusted to a closed state when the wire rope is in a standard state and the driving device is in an idle state. By comparing the standard movement length with the current movement length, the change in the movement length required for the current state of the wire rope relative to the standard state during the closing process can be determined; therefore, based on the current movement length and the standard movement length corresponding to the wire rope in the closed state set in advance, the compensation length corresponding to the wire rope can be accurately determined, so that the laparoscopic surgical robot controls the surgical instrument based on the compensation length in actual surgical operations. The technical solution of this embodiment controls the surgical instrument by determining the compensation length, which helps the surgical instrument provide a stable and accurate clamping force, avoids the operation of installing a force sensor, and reduces labor costs and time costs.

[0047] Figure 2 This is a flow chart of another surgical instrument control method provided according to an embodiment of the present invention. On the basis of this embodiment, optionally, based on the current movement length and a standard movement length corresponding to the wire rope in a closed state, a compensation length corresponding to the wire rope is determined, including: determining the absolute value of the difference between the standard movement length corresponding to the wire rope in a closed state and the current movement length; when the absolute value of the difference is within a preset value range, determining the absolute value of the difference as the compensation length corresponding to the wire rope. The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here. Figure 2 As shown, the method includes:

[0048] S210. When it is detected that the driving device of the laparoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving device to put the clamps on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device via a steel wire rope.

[0049] S220, determining the current movement length of the steel wire rope corresponding to the surgical instrument during the process of the driving device executing the first closing control instruction.

[0050] S230. Determine the absolute value of the difference between the standard movement length corresponding to the wire rope in the closed state and the current movement length; when the absolute value of the difference is within the preset value range, determine the absolute value of the difference as the compensation length corresponding to the wire rope, so that the laparoscopic surgical robot can control the surgical instrument based on the compensation length during actual surgical operations.

[0051] In a specific implementation, the absolute value of the difference between the standard motion length and the current motion length can be determined, and the absolute value of the difference reflects the length of the irreversible deformation of the wire rope. The absolute value of the difference can be compensated during the actual surgical operation to improve the operating accuracy of the surgical instrument and the stability of the clamping force. In order to ensure the safety and effectiveness of the surgical operation, a safe compensation range can be predetermined to avoid surgical failures due to motion compensation operations. Specifically, a preset value range can be predetermined, and the preset value range can be a safe value range determined by the staff operating the laparoscopic surgical robot. Detect whether the absolute value of the difference is within the preset value range. If it is within the preset value range, it means that motion compensation according to the absolute value of the difference is a safe operation. The absolute value of the difference can be determined as the compensation length corresponding to the wire rope, so as to control the surgical instrument based on the compensation length during the actual operation of the laparoscopic surgical robot.

[0052] This embodiment discloses that when the absolute value of the difference is within a preset value range, the absolute value of the difference is used as a compensation length to perform motion compensation during an actual surgical operation, thereby improving the safety of the surgical operation.

[0053] In addition, the method also includes: when the absolute value of the difference is less than the minimum value in the preset value range, the minimum value is determined as the compensation length corresponding to the wire rope; when the absolute value of the difference is greater than the maximum value in the preset value range, the maximum value is determined as the compensation length corresponding to the wire rope.

[0054] In a specific implementation, since the absolute value of the difference is not within the preset value range, it can be divided into two situations, including: 1. The absolute value of the difference is less than the minimum value in the preset value range; 2. The absolute value of the difference is greater than the maximum value in the preset value range. In order to provide effective clamping force during the surgical operation as much as possible, the compensation length can be determined for these two situations respectively. For the case where the absolute value of the difference is less than the minimum value, the minimum value can be directly determined as the compensation length corresponding to the wire rope. For the case where the absolute value of the difference is greater than the maximum value, the maximum value is directly determined as the compensation length corresponding to the wire rope.

[0055] In this embodiment, the compensation length is determined according to the comparison result between the absolute value of the difference and the maximum value and the minimum value in the preset value range, so as to ensure the safety of the surgical operation while meeting the clamping force requirements during the operation as much as possible.

[0056] Optionally, in order to ensure that the surgical operation is safer, after determining the absolute value of the difference, it also includes: when the absolute value of the difference is not within a preset value range, generating an alarm message, and sending the alarm message to the operation and maintenance terminal; when receiving feedback information from the operation and maintenance terminal, updating the preset value range based on the feedback information.

[0057] It should be noted that if the absolute value of the difference is not within the preset range, it means that the wire rope is severely deformed. In order to ensure the safety of the surgical operation and avoid surgical failures, the situation needs to be fed back to the operation and maintenance terminal.

[0058] Specifically, when the absolute value of the difference is not within the preset value range, an alarm message containing the absolute value of the difference can be generated, and the alarm message can be sent to the operation and maintenance terminal, so that the staff can check the abnormal situation in time. According to the judgment of the staff, if the absolute value of the difference is normal, feedback information for adjusting the preset value range can be generated to update the preset value range based on the absolute value of the difference. Exemplarily, when the absolute value of the difference is greater than the maximum value of the preset value range, the maximum value of the preset value range is updated to the absolute value of the difference; when the absolute value of the difference is less than the minimum value of the preset value range, the minimum value of the preset value range is updated to the absolute value of the difference.

[0059] Furthermore, if the staff determines that the absolute value of the difference is greater than the normal deformation range of the wire rope, affecting the safety of the operation and requiring wire rope replacement, a replacement prompt can be generated and fed back to the laparoscopic surgical robot to stop working and wait for replacement of the wire rope.

[0060] This embodiment generates alarm information and sends the alarm information to the operation and maintenance terminal, so that the staff can find abnormalities in time, update the preset value range or replace the wire rope, thereby improving the operation efficiency while ensuring the safety of the surgical operation.

[0061] Figure 3 1 is a schematic diagram of the structure of a surgical instrument control device provided according to an embodiment of the present invention, and the device is used to execute the surgical instrument control method provided in any of the above embodiments. The device and the surgical instrument control method of the above embodiments belong to the same inventive concept, and the details not described in detail in the embodiment of the surgical instrument control device can refer to the embodiment of the above surgical instrument control method. Figure 3 As shown, the device comprises:

[0062] The first closing control instruction sending module 10 is used to send a first closing control instruction to the driving device to close the clamp on the surgical instrument when detecting that the driving device of the laparoscopic surgical robot is in an idle state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a wire rope;

[0063] The current movement length determination module 11 is used to determine the current movement length of the wire rope corresponding to the surgical instrument during the process of the driving device executing the first closing control instruction;

[0064] The compensation length determination module 12 is used to determine the compensation length corresponding to the wire rope based on the current movement length and the preset standard movement length corresponding to the wire rope in the closed state, so as to control the surgical instrument based on the compensation length during the actual surgical operation of the laparoscopic surgical robot;

[0065] The standard movement length is the movement length of the wire rope generated after the control clamp is adjusted to a closed state when the wire rope is in a standard state and the driving device is in an idle state.

[0066] Based on any optional technical solution in the embodiment of the present invention, optionally, the compensation length determination module 12 includes:

[0067] A difference absolute value determination unit, used to determine the absolute value of the difference between a standard movement length corresponding to the wire rope in a closed state and a current movement length;

[0068] The first compensation length determining unit is used to determine the absolute value of the difference as the compensation length corresponding to the steel wire rope when the absolute value of the difference is within a preset value range.

[0069] Based on any optional technical solution in the embodiments of the present invention, optionally, the method further includes:

[0070] A second compensation length determination unit, configured to determine the minimum value as the compensation length corresponding to the steel wire rope when the absolute value of the difference is less than the minimum value in the preset value range;

[0071] The third compensation length determining unit is used to determine the maximum value as the compensation length corresponding to the steel wire rope when the absolute value of the difference is greater than the maximum value in the preset value range.

[0072] Based on any optional technical solution in the embodiments of the present invention, optionally, the method further includes:

[0073] An alarm information generating unit is used to generate an alarm information when the absolute value of the difference is not within a preset value range, and send the alarm information to the operation and maintenance terminal;

[0074] The preset value range updating unit is used to update the preset value range based on the feedback information received from the operation and maintenance terminal.

[0075] Based on any optional technical solution in the embodiments of the present invention, optionally, the method further includes:

[0076] A second closing control instruction generating module is used to generate a second closing control instruction based on a predetermined target clamping force required by an object of an actual surgical operation when the wire rope is in a standard state and the driving device is in an idle state before sending a first closing control instruction to the driving device to put the clamp on the surgical instrument in a closed state;

[0077] A second closing control instruction sending module, used for sending the second closing control instruction to the driving device, so that the clamp in the surgical instrument performs a closing operation and generates a target clamping force;

[0078] The standard movement length determination module is used to determine the first control position corresponding to the driving device at the starting moment of the closing operation, and the second control position corresponding to the driving device at the ending moment. Based on the first control position and the second control position, the standard movement length corresponding to the wire rope in the closed state is determined.

[0079] Based on any optional technical solution in the embodiment of the present invention, optionally, the compensation length determination module 12 includes:

[0080] a third closing control instruction generating unit, configured to generate a third closing control instruction based on the second closing control instruction, the target clamping force, the compensation length and the preset actual clamping force when the laparoscopic surgical robot starts a compensation mode for compensating the clamping force for the actual surgical operation;

[0081] The third closing control instruction sending unit is used to send the third closing control instruction to the driving device to control the surgical instrument to perform actual surgical operation.

[0082] The technical solution of the embodiment of the present invention is, when it is detected that the driving device of the laparoscopic surgical robot is in an idle state, a first closing control instruction is sent to the driving device to make the clamp on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a wire rope; the current movement length of the wire rope corresponding to the surgical instrument during the execution of the first closing control instruction by the driving device is determined, so as to determine the length of the wire rope that needs to be tightened for the current control of the clamp closing; since the standard movement length is the movement length of the wire rope after the clamp is controlled to be adjusted to a closed state when the wire rope is in a standard state and the driving device is in an idle state. By comparing the standard movement length with the current movement length, the change in the movement length required for the current state of the wire rope relative to the standard state during the closing process can be determined; therefore, based on the current movement length and the standard movement length corresponding to the wire rope in the closed state set in advance, the compensation length corresponding to the wire rope can be accurately determined, so that the laparoscopic surgical robot controls the surgical instrument based on the compensation length in actual surgical operations. The technical solution of this embodiment controls the surgical instrument by determining the compensation length, which helps the surgical instrument provide a stable and accurate clamping force, avoids the operation of installing a force sensor, and reduces labor costs and time costs.

[0083] It is worth noting that in the above-mentioned embodiment of the surgical instrument control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0084] Figure 4 1 is a schematic diagram of the structure of an electronic device for implementing the surgical instrument control method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0085] like Figure 4As shown, the electronic device 20 includes at least one processor 21, and a memory connected to the at least one processor 21, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 21 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or the computer program loaded from the storage unit 28 to the random access memory (RAM) 23. In RAM23, various programs and data required for the operation of the electronic device 20 can also be stored. The processor 21, ROM22 and RAM23 are connected to each other through a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0086] A number of components in the electronic device 20 are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a disk, an optical disk, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0087] The processor 21 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 21 performs the various methods and processes described above, such as a surgical instrument control method.

[0088] In some embodiments, the surgical instrument control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded into the RAM 23 and executed by the processor 21, one or more steps of the surgical instrument control method described above can be performed. Alternatively, in other embodiments, the processor 21 can be configured to execute the surgical instrument control method in any other appropriate manner (for example, by means of firmware).

[0089] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0091] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0092] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0093] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0094] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0095] This embodiment also provides a computer program product, including a computer program, which, when executed by a processor, implements a surgical instrument control method as provided in any embodiment of the present application.

[0096] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical instrument control method, characterized in that: include: When detecting that the driving device of the laparoscopic surgical robot is in an idle state, sending a first closing control instruction to the driving device to put the clamp on the surgical instrument in a closed state; wherein the surgical instrument is installed on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device through a steel wire rope; Determine a current movement length of the steel wire rope corresponding to the surgical instrument during the process in which the driving device executes the first closing control instruction; Based on the current movement length and a pre-set standard movement length corresponding to the steel wire rope in the closed state, a compensation length corresponding to the steel wire rope is determined, so that the laparoscopic surgical robot controls the surgical instrument based on the compensation length during actual surgical operations; The standard movement length is the movement length of the wire rope generated after the clamp is controlled to be adjusted to the closed state when the wire rope is in the standard state and the driving device is in the idle state.

2. The method according to claim 1, characterized in that The determining of the compensation length corresponding to the steel wire rope based on the current movement length and a preset standard movement length corresponding to the steel wire rope in the closed state comprises: Determine the absolute value of the difference between the standard movement length corresponding to the steel wire rope in the closed state and the current movement length; When the absolute value of the difference is within a preset value range, the absolute value of the difference is determined as the compensation length corresponding to the steel wire rope.

3. The method according to claim 2, characterized in that Also includes: When the absolute value of the difference is less than the minimum value in the preset value range, the minimum value is determined as the compensation length corresponding to the steel wire rope; When the absolute value of the difference is greater than the maximum value in the preset value range, the maximum value is determined as the compensation length corresponding to the steel wire rope.

4. The method according to claim 2, characterized in that: Also includes: When the absolute value of the difference is not within the preset value range, an alarm message is generated and the alarm message is sent to the operation and maintenance terminal; When feedback information from the operation and maintenance terminal is received, the preset value range is updated based on the feedback information.

5. The method according to claim 1, characterized in that Before sending the first closing control instruction to the driving device to put the clamp on the surgical instrument into a closed state, the method further includes: When the steel wire rope is in the standard state and the driving device is in the idle state, generating a second closing control instruction based on a predetermined target clamping force required by an object of an actual surgical operation; sending the second closing control instruction to the driving device to cause the clamp in the surgical instrument to perform a closing operation and generate the target clamping force; Determine the first control position of the driving device corresponding to the starting moment of the closing operation, and the second control position of the driving device corresponding to the ending moment, and determine the standard movement length of the wire rope corresponding to the closing state based on the first control position and the second control position.

6. The method according to claim 5, characterized in that The step of controlling the surgical instrument based on the compensation length during the actual surgical operation by the laparoscopic surgical robot includes: When the laparoscopic surgical robot starts a compensation mode for performing clamping force compensation on the actual surgical operation, a third closing control instruction is generated based on the second closing control instruction, the target clamping force, the compensation length and the preset actual clamping force; The third closing control instruction is sent to the driving device to control the surgical instrument to perform the actual surgical operation.

7. A surgical instrument control device, characterized in that: include: a first closing control instruction sending module, configured to send a first closing control instruction to the driving device to close the clamp on the surgical instrument when detecting that the driving device of the laparoscopic surgical robot is in an idle state; wherein the surgical instrument is mounted on the laparoscopic surgical robot, and the surgical instrument is connected to the driving device via a steel wire rope; a current movement length determination module, used to determine the current movement length of the steel wire rope corresponding to the surgical instrument during the process in which the driving device executes the first closing control instruction; a compensation length determination module, for determining a compensation length corresponding to the steel wire rope based on the current movement length and a preset standard movement length corresponding to the steel wire rope in the closed state, so as to control the surgical instrument based on the compensation length during the actual surgical operation of the laparoscopic surgical robot; The standard movement length is the movement length of the wire rope generated after the clamp is controlled to be adjusted to the closed state when the wire rope is in the standard state and the driving device is in the idle state.

8. An electronic device, characterized in that: The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical instrument control method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument control method according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the surgical instrument control method according to any one of claims 1 to 6.

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