Motion gap determination method, device, electronic device, storage medium and product

Abstract

The embodiment of the present invention discloses a method, device, electronic device, storage medium and product for determining a motion gap. The method includes: generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, sending the opening control instruction to a driving device in a laparoscopic surgical robot, and determining a first position generated after the driving device executes the opening control instruction; generating a continuous closing control instruction, and sending the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start a closing movement, and detects the working state of the clamp, and when the working state meets a preset condition, controls the driving device to stop working, and determines a second position generated after the driving device executes the continuous closing control instruction; wherein the preset condition includes that the working state of the clamp is converted from a stop motion state to a start motion state; based on the first position and the second position, determining a motion gap compensation value of the surgical instrument.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of surgical robots, and in particular, to a motion gap determination 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 usually use wire ropes to control the opening and closing of clamps 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 inability to provide accurate clamping force due to the movement gap of the surgical instrument, it is usually necessary to manually maintain the surgical instrument regularly to reduce the movement gap and facilitate accurate control of 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 of manual maintenance increases the workload of the staff, is inefficient and has poor accuracy. Summary of the invention

[0004] Embodiments of the present invention provide a motion clearance determination method, device, electronic device, storage medium and product to achieve the purpose of improving the efficiency and accuracy of determining a motion clearance compensation value of a surgical instrument.

[0005] According to one aspect of the present invention, a method for determining a motion gap is provided, comprising:

[0006] Generate an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, send the opening control instruction to a driving device in a laparoscopic surgical robot, and determine a first position generated after the driving device executes the opening control instruction; 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;

[0007] Generate a continuous closing control instruction, and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start closing movement, and detects the working state of the clamp, and when the working state meets a preset condition, controls the driving device to stop working, and determines a second position generated after the driving device executes the continuous closing control instruction; wherein the preset condition includes the working state of the clamp being converted from a stop motion state to a start motion state;

[0008] Based on the first position and the second position, a motion backlash compensation value of the surgical instrument is determined.

[0009] According to another aspect of the present invention, there is provided a motion gap determination device, comprising:

[0010] an opening control instruction generation module, used for generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sending the opening control instruction to a driving device in the laparoscopic surgical robot, and determining a first position generated after the driving device executes the opening control instruction; 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;

[0011] An instruction sending module is used to generate a continuous closing control instruction and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start the closing movement, detects the working state of the clamp, and controls the driving device to stop working when the working state meets a preset condition, and determines a second position generated after the driving device executes the continuous closing control instruction; wherein the preset condition includes the working state of the clamp being converted from a stop motion state to a start motion state;

[0012] A motion gap compensation value determination module is used to determine the motion gap compensation value of the surgical instrument based on the first position and the second position.

[0013] 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 motion gap determination method described in any embodiment of the present invention.

[0014] 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 motion gap determination method described in any embodiment of the present invention when executed.

[0015] 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 motion gap determination method according to any embodiment of the present invention is implemented.

[0016] The technical solution of the embodiment of the present invention generates an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sends the opening control instruction to a driving device in a laparoscopic surgical robot, and determines a first position generated after the driving device executes the opening control instruction; then, generates a continuous closing control instruction, and sends the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start closing movement, and detects the working state of the clamp. When the working state meets the preset conditions, the driving device is controlled to stop working, and the second position generated after the driving device executes the continuous closing control instruction is determined; wherein the preset conditions include the working state of the clamp being converted from a stopped motion state to a started motion state; since the surgical instrument is connected to the driving device through a wire rope, the first position and the second position can reflect the process of the clamp being converted from a stopped motion state to a started motion state, and the movement change of the wire rope can be reflected, and the movement gap of the surgical instrument can be reflected through the movement change, so that the movement gap compensation value of the surgical instrument is determined based on the first position and the second position, without the need for manual maintenance, reducing the workload, and achieving the effect of improving the efficiency and accuracy of determining the movement gap compensation value of the surgical instrument.

[0017] 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

[0018] 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.

[0019] Figure 1 is a flow chart of a method for determining a motion gap according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of another method for determining dynamic clearance provided according to an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of a motion gap determination device provided according to an embodiment of the present invention;

[0022] Figure 4 It is a structural schematic diagram of an electronic device for implementing the motion gap determination method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Figure 1 1 is a flow chart of a motion gap determination method provided according to an embodiment of the present invention. This embodiment can be applied to the case of determining a motion gap compensation value for compensating for a motion gap generated in a surgical instrument. The method can be performed by a motion gap determination device, which can be implemented in the form of hardware and / or software.

[0027] like Figure 1 As shown, the method of this embodiment may specifically include:

[0028] S110, generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sending the opening control instruction to a driving device in the laparoscopic surgical robot, and determining a first position generated after the driving device executes the opening control instruction.

[0029] The surgical instrument is installed on the laparoscopic surgical robot, and is connected to the driving device through a steel wire rope. The opening and closing of the clamp on the surgical instrument is controlled by the movement of the steel wire rope.

[0030] In a specific implementation, an opening control instruction for controlling the clamp in the surgical instrument to be in an open state can be generated during an idle period of the laparoscopic surgical robot. The open state can be a state in which the two clamp arms of the clamp are at a certain angle and no clamping force is provided. Those skilled in the art can pre-set the opening angle of the clamp according to actual application conditions. When generating the opening control instruction, the opening control instruction for controlling the clamp to be in an open state is generated based on the pre-set opening angle.

[0031] In this embodiment, an opening control instruction is sent to a driving device in a laparoscopic surgical robot, so that the driving device executes the opening control instruction to drive the steel wire rope to move, thereby making the clamp connected to the steel wire rope in an open state. The driving device includes a stepper motor. The working position corresponding to the execution of the opening control instruction by the driving device is taken as the first position. Furthermore, in order to facilitate the determination of the first position, a zero position calibration operation may be performed on the driving device before sending the opening control instruction.

[0032] S120, generate a continuous closing control instruction, and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start the closing movement, and detects the working status of the clamp. When the working status meets the preset conditions, the driving device is controlled to stop working, and the second position generated after the driving device executes the continuous closing control instruction is determined.

[0033] The preset condition includes that the working state of the clamp is converted from a stop motion state to a start motion state.

[0034] In this embodiment, after the driving device executes the opening control instruction, when the clamp is in a stopped motion state, a continuous closing control instruction can be generated, and the continuous closing control instruction can be sent to the driving device so that the driving device controls the clamp to start the closing movement. Among them, the continuous closing control instruction is used to make the clamp continue to perform the closing movement by pulling the wire rope. In the process of the clamp performing the closing movement, the working state of the clamp can be detected. Exemplarily, the working state of the clamp includes a stopped motion state and a started motion state. It should be noted that when there is a motion gap in the surgical instrument, there will be an operation lag, that is, after the driving device executes the continuous closing control instruction, the clamp needs to lag for a period of time before performing the closing operation. In this embodiment, by detecting the working state of the clamp, the moment when the clamp is converted from the stopped motion state to the started motion state is determined, and the driving device is controlled to stop working at this moment, so as to determine the second position corresponding to the driving device at this moment, that is, to determine the moment when the clamp eliminates the motion gap and is ready to start the movement, and the working position corresponding to the driving device.

[0035] S130. Determine a motion clearance compensation value of the surgical instrument based on the first position and the second position.

[0036] Optionally, the method of determining the motion gap compensation value of the surgical instrument based on the first position and the second position includes: determining the absolute value of the difference between the first position and the second position; and determining the motion gap compensation value of the surgical instrument based on the absolute value of the difference.

[0037] In this embodiment, the absolute value of the difference between the first position and the second position is the position change value of the driving device during the process of the clamp switching from the stopped motion state to the started motion state. Specifically, the absolute value of the difference can be determined as the motion gap compensation value of the surgical instrument, so that the motion gap compensation value can accurately and effectively compensate for the motion gap of the surgical instrument.

[0038] Alternatively, the motion clearance compensation value of the surgical instrument may be determined based on the absolute value of the difference by: when the absolute value of the difference is within a preset numerical range, the absolute value of the difference is determined as the motion clearance compensation value.

[0039] In order to ensure the safety and effectiveness of the surgical operation, a safe compensation range can be predetermined to avoid surgical failures caused by 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.

[0040] In a specific implementation, it is determined whether the absolute value of the difference is within a preset numerical range. If it is within the preset numerical range, it means that it is a safe operation to perform motion compensation according to the absolute value of the difference, and the absolute value of the difference can be determined as the motion gap compensation value, which is conducive to accurately and effectively performing motion gap compensation while ensuring the safety of the operation. Further, when the absolute value of the difference is not within the preset numerical range, a pre-set default compensation value can be used as the motion gap compensation value; the motion gap compensation value can also be determined based on the difference value of the absolute value of the difference exceeding the preset numerical range.

[0041] In this embodiment, the implementation method of determining the motion gap compensation value of the surgical instrument based on the absolute value of the difference can also be: when the absolute value of the difference is greater than the maximum value of a preset numerical range, determining a first difference between the absolute value of the difference and the maximum value; when the absolute value of the difference is less than the minimum value of the preset numerical range, determining a second difference between the absolute value of the difference and the minimum value; when the first difference or the second difference is greater than the preset difference threshold, generating detection information and sending it to the operation and maintenance terminal, and receiving compensation indication information fed back by the operation and maintenance terminal; determining the indication compensation value corresponding to the compensation indication information as the motion gap compensation value.

[0042] Since the absolute value of the difference is not within the preset numerical range, it can be divided into two cases, including: 1. The absolute value of the difference is less than the minimum value in the preset numerical range; 2. The absolute value of the difference is greater than the maximum value of the preset numerical range. In the case where the absolute value of the difference is greater than the maximum value, the first difference between the absolute value of the difference and the maximum value can be determined; and it is determined whether the first difference is less than the preset difference threshold. If so, the maximum value can be determined as the motion gap compensation value. In the case where the absolute value of the difference is less than the minimum value, the second difference between the absolute value of the difference and the minimum value can be determined, and it is determined whether the second difference is less than the preset difference threshold. If so, the minimum value can be determined as the motion gap compensation value. If the absolute value of the difference is greater than the maximum value, and the first difference is greater than the preset difference threshold; or, when the absolute value of the difference is less than the minimum value, and the second difference is greater than the preset difference threshold, it means that the gap between the absolute value of the difference and the safety value is large. In order to ensure the safety of the surgical operation, detection information corresponding to the absolute value of the difference can be generated and sent to the operation and maintenance terminal, so that after the operation and maintenance terminal receives the detection information, the staff will check the surgical instruments and determine the indication compensation value input value to the operation and maintenance terminal. The operation and maintenance terminal generates compensation indication information based on the received indication compensation value, and feeds back the compensation indication information to the laparoscopic surgical robot, which receives the compensation indication information fed back by the operation and maintenance terminal; the indication compensation value corresponding to the compensation indication information is determined as the motion gap compensation value.

[0043] This embodiment determines the motion gap compensation value by determining the size of the difference when the absolute value of the difference exceeds the preset numerical range; when the first difference or the second difference is greater than the preset difference threshold, the indicated compensation value fed back by the operation and maintenance terminal is determined as the motion gap compensation value, thereby ensuring that an accurate and safe motion gap compensation value is obtained, which is beneficial to improving the safety and stability of surgical operations.

[0044] The technical solution of the embodiment of the present invention generates an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sends the opening control instruction to a driving device in a laparoscopic surgical robot, and determines a first position generated after the driving device executes the opening control instruction; then, generates a continuous closing control instruction, and sends the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start closing movement, and detects the working state of the clamp. When the working state meets the preset conditions, the driving device is controlled to stop working, and the second position generated after the driving device executes the continuous closing control instruction is determined; wherein the preset conditions include the working state of the clamp being converted from a stopped motion state to a started motion state; since the surgical instrument is connected to the driving device through a wire rope, the first position and the second position can reflect the process of the clamp being converted from a stopped motion state to a started motion state, and the movement change of the wire rope can be reflected, and the movement gap of the surgical instrument can be reflected through the movement change, so that the movement gap compensation value of the surgical instrument is determined based on the first position and the second position, without the need for manual maintenance, reducing the workload, and achieving the effect of improving the efficiency and accuracy of determining the movement gap compensation value of the surgical instrument.

[0045] Figure 2 This is a flow chart of another method for determining a motion gap provided in accordance with an embodiment of the present invention. Based on the above-mentioned embodiment, this embodiment optionally generates an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sends the opening control instruction to a driving device in the laparoscopic surgical robot, including: determining the predicted opening angle of the clamp based on the predetermined shape of the actual operation object of the laparoscopic surgical robot; generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state based on the predicted opening angle, so that the opening angle of the clamp is the predicted opening angle. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here. Figure 2 As shown, the method includes:

[0046] S210. Determine the predicted opening angle of the clamp based on the predetermined shape of the actual operation object of the laparoscopic surgical robot; generate an opening control instruction for controlling the clamp in the surgical instrument to be in an open state based on the predicted opening angle, so that the opening angle of the clamp is the predicted opening angle, and send the opening control instruction to the driving device in the laparoscopic surgical robot to determine the first position generated after the driving device executes the opening control instruction.

[0047] In order to make the determined motion gap compensation value more consistent with the actual operation requirements of the laparoscopic surgical robot, the shape of the actual operation object of the laparoscopic surgical robot can be determined in advance, and the corresponding opening angle when the clamp can clamp the actual operation object is used as the predicted opening angle. In addition, an opening control instruction is generated based on the predicted opening angle, so that when the motion gap compensation value is determined, the clamp is controlled to open the predicted opening angle through the opening control instruction to determine the first position.

[0048] S220, generate a continuous closing control instruction, and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start the closing movement, and detects the working status of the clamp. When the working status meets the preset conditions, the driving device is controlled to stop working, and the second position generated after the driving device executes the continuous closing control instruction is determined.

[0049] S230. Determine a motion clearance compensation value of the surgical instrument based on the first position and the second position.

[0050] In actual applications, after determining the motion gap compensation value of the surgical instrument based on the first position and the second position, it also includes: when receiving an operation instruction for the surgical instrument installed on the laparoscopic surgical robot sent by the doctor terminal, generating a driving instruction for the driving device based on the operation instruction and the motion gap compensation value to control the surgical instrument to work according to the driving instruction.

[0051] During the surgical operation performed by the laparoscopic robot, the doctor terminal sends an operation instruction to the laparoscopic surgical robot to control the surgical robot to perform the surgical operation. When receiving the operation instruction sent by the doctor terminal for the surgical instrument installed on the laparoscopic surgical robot, in order to avoid the unstable clamping force caused by the motion gap of the surgical instrument, motion compensation can be performed based on the operation instruction and the motion gap compensation value, thereby generating a drive instruction for controlling the clamp to generate the target clamping force indicated by the operation instruction, and sending the drive instruction to the drive device so that the drive device drives the wire rope to move according to the drive instruction, so that the clamp generates the target clamping force.

[0052] In this embodiment, the motion gap existing in the surgical instrument is taken into consideration. In order to avoid inaccurate and unstable clamping force caused by the motion gap during the actual operation, a driving instruction is generated based on the operation instruction and the motion gap compensation value, thereby completing the motion compensation of the surgical instrument, ensuring that the target clamping force indicated by the doctor's terminal can be provided during the surgical operation, thereby ensuring the stability and accuracy of the clamping force generated by the clamp.

[0053] Figure 31 is a schematic diagram of the structure of a motion gap determination device provided according to an embodiment of the present invention, and the device is used to execute the motion gap determination method provided in any of the above embodiments. The device and the motion gap determination method of the above embodiments belong to the same inventive concept, and the details not described in detail in the embodiment of the motion gap determination device can refer to the embodiment of the above motion gap determination method. Figure 3 As shown, the device comprises:

[0054] An opening control instruction generating module 10 is used to generate an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and send the opening control instruction to a driving device in the laparoscopic surgical robot, and determine a first position generated after the driving device executes the opening control instruction; 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;

[0055] The instruction sending module 11 is used to generate a continuous closing control instruction and send the continuous closing control instruction to the driving device so that the driving device controls the clamp to start the closing movement, detects the working state of the clamp, and controls the driving device to stop working when the working state meets the preset conditions, and determines the second position generated after the driving device executes the continuous closing control instruction; wherein the preset conditions include the working state of the clamp being converted from a stop motion state to a start motion state;

[0056] The motion gap compensation value determination module 12 is used to determine the motion gap compensation value of the surgical instrument based on the first position and the second position.

[0057] On the basis of any optional technical solution in the embodiment of the present invention, optionally, the opening control instruction generating module 10 includes:

[0058] An angle determination unit, used to determine a predicted opening angle of the clamp based on a predetermined morphology of an actual operation object of the laparoscopic surgical robot;

[0059] The opening control instruction generating unit is used to generate an opening control instruction for controlling the clamp in the surgical instrument to be in an open state based on the predicted opening angle, so that the opening angle of the clamp is the predicted opening angle.

[0060] Based on any optional technical solution in the embodiment of the present invention, optionally, the motion gap compensation value determination module 12 includes:

[0061] a difference absolute value determining unit, configured to determine an absolute value of a difference between a first position and a second position;

[0062] The motion gap compensation value determination unit is used to determine the motion gap compensation value of the surgical instrument based on the absolute value of the difference.

[0063] Based on any optional technical solution in the embodiments of the present invention, optionally, the motion gap compensation value determining unit includes:

[0064] The first motion gap compensation value determining subunit is used to determine the absolute value of the difference as the motion gap compensation value when the absolute value of the difference is within a preset value range.

[0065] Based on any optional technical solution in the embodiments of the present invention, optionally, the motion gap compensation value determining unit includes:

[0066] A first difference determination subunit, configured to determine a first difference between the absolute value of the difference and the maximum value when the absolute value of the difference is greater than the maximum value of the preset value range;

[0067] A second difference determination subunit, configured to determine a second difference between the absolute value of the difference and the minimum value when the absolute value of the difference is less than the minimum value of the preset value range;

[0068] A detection information generating subunit, configured to generate detection information and send it to the operation and maintenance terminal when the first difference or the second difference is greater than a preset difference threshold, and receive compensation indication information fed back by the operation and maintenance terminal;

[0069] The second motion gap compensation value determining subunit is configured to determine the indicated compensation value corresponding to the compensation indication information as the motion gap compensation value.

[0070] Based on any optional technical solution in the embodiments of the present invention, optionally, the method further includes:

[0071] The drive instruction generating unit is used to determine the motion gap compensation value of the surgical instrument based on the first position and the second position, and upon receiving the operation instruction for the surgical instrument installed on the laparoscopic surgical robot sent by the doctor terminal, generate a drive instruction for the drive device based on the operation instruction and the motion gap compensation value to control the surgical instrument to work according to the drive instruction.

[0072] The technical solution of the embodiment of the present invention generates an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sends the opening control instruction to a driving device in a laparoscopic surgical robot, and determines a first position generated after the driving device executes the opening control instruction; then, generates a continuous closing control instruction, and sends the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start closing movement, and detects the working state of the clamp. When the working state meets the preset conditions, the driving device is controlled to stop working, and the second position generated after the driving device executes the continuous closing control instruction is determined; wherein the preset conditions include the working state of the clamp being converted from a stopped motion state to a started motion state; since the surgical instrument is connected to the driving device through a wire rope, the first position and the second position can reflect the process of the clamp being converted from a stopped motion state to a started motion state, and the movement change of the wire rope can be reflected, and the movement gap of the surgical instrument can be reflected through the movement change, so that the movement gap compensation value of the surgical instrument is determined based on the first position and the second position, without the need for manual maintenance, reducing the workload, and achieving the effect of improving the efficiency and accuracy of determining the movement gap compensation value of the surgical instrument.

[0073] It is worth noting that in the embodiment of the above-mentioned motion gap determination 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.

[0074] Figure 4 1 is a schematic diagram of the structure of an electronic device that implements the motion gap determination 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, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can 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 required herein.

[0075] 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.

[0076] 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.

[0077] 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 executes the various methods and processes described above, such as a motion gap determination method.

[0078] In some embodiments, the motion gap determination method may 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 may 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 motion gap determination method described above may be performed. Alternatively, in other embodiments, the processor 21 may be configured to perform the motion gap determination method in any other appropriate manner (e.g., by means of firmware).

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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).

[0083] 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.

[0084] 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.

[0085] This embodiment also provides a computer program product, including a computer program, which, when executed by a processor, implements the motion gap determination method provided in any embodiment of the present application.

[0086] 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).

[0087] 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.

[0088] 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 method for determining a motion gap, characterized in that: include: Generate an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, send the opening control instruction to a driving device in a laparoscopic surgical robot, and determine a first position generated after the driving device executes the opening control instruction; 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; Generate a continuous closing control instruction, and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start closing movement, and detects the working state of the clamp, and when the working state meets a preset condition, controls the driving device to stop working, and determines a second position generated after the driving device executes the continuous closing control instruction; wherein the preset condition includes that the working state of the clamp is converted from a stop motion state to a start motion state; Based on the first position and the second position, a motion backlash compensation value of the surgical instrument is determined.

2. The method according to claim 1, characterized in that: The method of generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sending the opening control instruction to a driving device in the laparoscopic surgical robot, comprises: Determining a predicted opening angle of the clamp based on the predetermined shape of an actual operation object of the laparoscopic surgical robot; Based on the predicted opening angle, an opening control instruction for controlling the clamp in the surgical instrument to be in an open state is generated, so that the opening angle of the clamp is the predicted opening angle.

3. The method according to claim 1, characterized in that The step of determining the motion clearance compensation value of the surgical instrument based on the first position and the second position includes: determining an absolute value of a difference between the first position and the second position; Based on the absolute value of the difference, a motion clearance compensation value of the surgical instrument is determined.

4. The method according to claim 3, characterized in that The step of determining the motion clearance compensation value of the surgical instrument based on the absolute value of the difference comprises: When the absolute value of the difference is within a preset value range, the absolute value of the difference is determined as the motion gap compensation value.

5. The method according to claim 3, characterized in that: The step of determining the motion clearance compensation value of the surgical instrument based on the absolute value of the difference comprises: In a case where the absolute value of the difference is greater than a maximum value of a preset value range, determining a first difference between the absolute value of the difference and the maximum value; In a case where the absolute value of the difference is less than the minimum value of the preset numerical range, determining a second difference between the absolute value of the difference and the minimum value; When the first difference or the second difference is greater than a preset difference threshold, generating detection information and sending it to the operation and maintenance terminal, and receiving compensation indication information fed back by the operation and maintenance terminal; The indicated compensation value corresponding to the compensation indication information is determined as the motion gap compensation value.

6. The method according to claim 1, characterized in that After determining the motion clearance compensation value of the surgical instrument based on the first position and the second position, the method further includes: When an operation instruction for a surgical instrument mounted on the laparoscopic surgical robot is received from a doctor terminal, a drive instruction for the drive device is generated based on the operation instruction and the motion gap compensation value.

7. A motion gap determination device, characterized in that: include: an opening control instruction generation module, used for generating an opening control instruction for controlling the clamp in the surgical instrument to be in an open state, and sending the opening control instruction to a driving device in the laparoscopic surgical robot, and determining a first position generated after the driving device executes the opening control instruction; 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; An instruction sending module is used to generate a continuous closing control instruction and send the continuous closing control instruction to the driving device, so that the driving device controls the clamp to start the closing movement, detects the working state of the clamp, and controls the driving device to stop working when the working state meets a preset condition, and determines a second position generated after the driving device executes the continuous closing control instruction; wherein the preset condition includes the working state of the clamp being converted from a stop motion state to a start motion state; A motion gap compensation value determination module is used to determine the motion gap compensation value of the surgical instrument based on the first position and the second position.

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 motion gap determination 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 motion gap determination 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 motion gap determination method according to any one of claims 1 to 6.

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