Surgical instrument clamping control method and device, controller, storage medium and program product

Abstract

The embodiment of the invention discloses a surgical instrument clamping control method and device, a controller, a storage medium and a program product. The method is applied to a controller in the surgical robot, and comprises the following steps: in response to a surgical instrument hooking event, determining the instrument type of a surgical instrument hooked to the surgical robot and the current field number of a surgery currently performed by using the surgical instrument; a test result obtained after a compression test is conducted in advance according to the instrument type is obtained, a target deviation angle is determined from multiple zero deviation angles represented by the test result according to the current field number, and the multiple zero deviation angles correspond to different operation field numbers; in response to the surgical instrument clamping instruction, a target clamping angle is obtained, and the surgical instrument is controlled to conduct clamping operation according to the target clamping angle and the target deviation angle. According to the technical scheme, the clamping angle of the surgical instrument can be accurately controlled.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic control, and in particular to a surgical instrument clamping control method, device, controller, storage medium and program product. Background Art

[0002] With the development of endoscopic surgical robots, more and more departments have carried out endoscopic surgery, during which different surgical instruments are required to complete the corresponding surgical operations.

[0003] It should be noted that the clamping force that can be output by the end clamp of the surgical instrument is not constant, but will become smaller and smaller with the continuous use of the surgical instrument. This causes the actual clamping angle obtained by the doctor after controlling the surgical instrument to perform the clamping operation to be different from the target clamping angle (or the expected clamping angle), which affects the progress of the operation and needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present invention provide a surgical instrument clamping control method, device, controller, storage medium and program product, which solve the problem that the clamping angle of the surgical instrument cannot be accurately controlled.

[0005] According to one aspect of the present invention, a surgical instrument clamping control method is provided, which is applied to a controller in a surgical robot. The method may include:

[0006] In response to a surgical instrument attachment event, determining the instrument type of the surgical instrument attached to the surgical robot and the current number of the surgery currently being performed using the surgical instrument;

[0007] Obtaining a test result obtained after a compression test is pre-performed on the instrument type, and determining a target deviation angle from a plurality of zero deviation angles represented by the test result according to the current field number, wherein the plurality of zero deviation angles correspond to different numbers of surgical fields;

[0008] In response to a surgical instrument clamping instruction, a target clamping angle is obtained, and the surgical instrument is controlled to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0009] According to another aspect of the present invention, a surgical instrument clamping control device is provided, which is configured in a controller in a surgical robot, and the device may include:

[0010] A current field number determination module is used to determine the instrument type of the surgical instrument that has been attached to the surgical robot and the current field number of the surgery currently being performed using the surgical instrument in response to a surgical instrument attachment event;

[0011] A target deviation angle determination module is used to obtain the test results obtained after a compression test is pre-performed on the instrument type, and determine the target deviation angle from multiple zero deviation angles represented by the test results according to the current field number, wherein the multiple zero deviation angles correspond to different numbers of surgical fields;

[0012] The clamping control module is used to respond to the clamping instruction of the surgical instrument, obtain the target clamping angle, and control the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0013] According to another aspect of the present invention, a controller is provided, which may include:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the surgical instrument clamping control method provided by any embodiment of the present invention is implemented when the at least one processor executes the computer program.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, on which computer instructions are stored, and the computer instructions are used to enable a processor to implement the surgical instrument clamping control method provided by any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, on which a computer program is stored. When the computer program is executed by a processor, the surgical instrument clamping control method provided by any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention determines the instrument type of the surgical instrument that has been attached to the surgical robot and the current field number of the current operation using the surgical instrument by responding to the surgical instrument attachment event. The determination of the instrument type helps to obtain the test results of the corresponding compression test, and the determination of the current field number helps to clarify the zero deviation angle used in the current operation; obtain the test results corresponding to the instrument type, and determine the target deviation angle corresponding to the current field number from the multiple zero deviation angles characterized by the test results; on this basis, respond to the surgical instrument clamping instruction to obtain the target clamping angle, so that the surgical instrument can be controlled to perform a clamping operation based on the target deviation angle, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to the target clamping angle, or even equal to the target clamping angle. The above technical solution obtains the target deviation angle of the surgical instrument in the current operation through a pre-conducted compression test, and performs clamping control based on this, which solves the problem of being unable to accurately control the clamping angle of the surgical instrument, realizes precise control of the clamping angle, and further realizes precise control of the master-slave operation accuracy and clamping force.

[0020] 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

[0021] 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.

[0022] Figure 1 is a flow chart of a surgical instrument clamping control method provided according to an embodiment of the present invention;

[0023] Figure 2 is a flow chart of another surgical instrument clamping control method provided according to an embodiment of the present invention;

[0024] Figure 3 is a flow chart of another surgical instrument clamping control method provided according to an embodiment of the present invention;

[0025] Figure 4 is a structural block diagram of a surgical instrument clamping control device provided according to an embodiment of the present invention;

[0026] Figure 5It is a structural schematic diagram of a controller for implementing the surgical instrument clamping control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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 interchangeable 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. The situations of "target", "original", etc. are similar and will not be repeated here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Before introducing the embodiments of the present invention, the application scenarios of the embodiments of the present invention are first exemplified. For example, here, a surgical instrument for clamping tissue is taken as an example. The forceps include two clamping parts (i.e., a left swing leg and a right swing leg). As the forceps are used continuously, the two clamping parts cannot return to the zero position when they should return to the zero position, that is, they cannot close when they should close, and there is a gap in the middle, which causes the doctor to control the forceps to perform a clamping operation (i.e., an opening and closing operation) based on the target clamping angle. The actual clamping angle of the forceps (i.e., the actual opening and closing angle) deviates from the target clamping angle.

[0030] On this basis, in order to optimize the control accuracy of the clamping angle of the end of the surgical instrument (hereinafter referred to as the clamping angle) so that the actual clamping angle is as close as possible to the expected clamping angle (or the target clamping angle), considering that the gap between the two clamping parts is not constant, and usually becomes larger and larger with the continuous use of the surgical instrument, a compression test (such as a time compression test or an event compression test) is performed on the surgical instrument, and the clamping angle is controlled on this basis. This will be explained in detail below.

[0031] Figure 1This is a flow chart of a surgical instrument clamping control method provided by an embodiment of the present invention. This embodiment can be applied to the case of controlling the clamping angle of a surgical instrument, and is particularly applicable to the case of controlling the clamping angle based on the test results of a compression test. The method can be executed by a surgical instrument clamping control device provided by an embodiment of the present invention, which can be implemented by software and / or hardware, and the device can be integrated on a controller, and the controller can be integrated on a surgical robot.

[0032] See also Figure 1 The method of the embodiment of the present invention specifically includes the following steps:

[0033] S110. In response to a surgical instrument attachment event, determine the instrument type of the surgical instrument that has been attached to the surgical robot and the current number of the surgery currently being performed using the surgical instrument.

[0034] Among them, the surgical instrument attachment event can be understood as an event in which the surgical instrument is attached to the surgical robot. In response to the surgical instrument attachment event, the instrument type of the attached surgical instrument is determined. The instrument type can be, for example, forceps or scissors, etc. This is related to the actual situation and is not specifically limited here; and because the surgical instrument can be used to perform multiple surgeries, the number of surgeries currently being performed using the surgical instrument (here referred to as the current number of surgeries) is determined here. For example, if the current number of surgeries is X, it means that the surgical instrument has been used to perform (X-1) surgeries, and the current operation is the Xth surgery.

[0035] S120. Obtain the test results obtained after a compression test is performed in advance on the instrument type, and determine the target deviation angle from multiple zero-position deviation angles represented by the test results according to the current field number, wherein the multiple zero-position deviation angles correspond to different surgical field numbers.

[0036] Among them, since multiple surgical instruments under the same instrument type are basically consistent in terms of changes in clamping angles, for example, forceps No. 1, forceps No. 2, forceps No. 3 and forceps No. 4 under the instrument type of forceps are basically consistent in terms of changes in clamping angles, in order to improve efficiency, compression tests are conducted on the instrument type here.

[0037] In combination with the application scenarios that may be involved in the embodiments of the present invention, optionally, the application scenarios of surgical instruments under different instrument types may be different. Therefore, corresponding types of compression tests can be performed for instrument types, such as event compression tests for forceps and time compression tests for scissors, etc. This helps to more reasonably evaluate the zero-position deviation angle, thereby further improving the control accuracy of the clamping angle.

[0038] For the surgical instrument S currently mounted on the surgical robot, the multiple surgical instruments used in the pre-compression test of the instrument type to which the surgical instrument S belongs may include the surgical instrument S or may not include the surgical instrument S. This depends on the actual situation and is not specifically limited here.

[0039] The test results obtained after a compression test is performed on the instrument type to which the surgical instrument S belongs. The test results can characterize the correspondence between multiple operating field numbers and multiple zero-position deviation angles. Specifically, the zero-position deviation angle corresponding to a certain operating field number can be understood as the deviation angle of the surgical instrument under the instrument type relative to the zero position under the operation at the operating field number.

[0040] Further, according to the current field number and the corresponding relationship, a target deviation angle can be determined from multiple zero-position deviation angles represented by the test results. The target deviation angle can be understood as the deviation angle of the surgical instrument S relative to the zero position under the current field number surgery.

[0041] S130. In response to the clamping instruction of the surgical instrument, a target clamping angle is obtained, and the surgical instrument is controlled to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0042] The surgical instrument clamping instruction can be understood as an instruction to control the surgical instrument to perform a clamping operation. In response to the surgical instrument clamping instruction, a target clamping angle is obtained, which can be understood as the angle that the surgical instrument S is expected to hold after controlling the surgical instrument S to perform a clamping operation.

[0043] Further, the surgical instrument S is controlled to perform a clamping operation according to the target clamping angle and the target deviation angle. It should be noted that the target deviation angle is taken into consideration here, that is, on the basis of the target deviation angle, the surgical instrument S is controlled to perform a clamping operation with the target clamping angle as the target, which can make the actual clamping angle of the surgical instrument S after the clamping operation infinitely close to the target clamping angle.

[0044] The technical solution of the embodiment of the present invention determines the instrument type of the surgical instrument that has been attached to the surgical robot and the current field number of the current operation using the surgical instrument by responding to the surgical instrument attachment event. The determination of the instrument type helps to obtain the test results of the corresponding compression test, and the determination of the current field number helps to clarify the zero deviation angle used in the current operation; obtain the test results corresponding to the instrument type, and determine the target deviation angle corresponding to the current field number from the multiple zero deviation angles represented by the test results; on this basis, respond to the surgical instrument clamping instruction to obtain the target clamping angle, so that the surgical instrument can be controlled to perform a clamping operation based on the target deviation angle, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to the target clamping angle, or even equal to the target clamping angle. The above technical solution obtains the target deviation angle of the surgical instrument in the current operation through a pre-conducted compression test, and performs clamping control based on this, which solves the problem of being unable to accurately control the clamping angle of the surgical instrument and realizes precise control of the clamping angle.

[0045] Figure 2 It is a flow chart of another surgical instrument clamping control method provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the surgical instrument includes a clamping component; obtaining the test results obtained after a compression test is performed in advance on the instrument type, and determining the target deviation angle from multiple zero-position deviation angles represented by the test results according to the current field number, which may include: obtaining the test results obtained after a compression test is performed in advance on the instrument type and the clamping component, and determining the target deviation angle of the clamping component from multiple zero-position deviation angles represented by the test results according to the current field number; then responding to the surgical instrument clamping instruction, obtaining the target clamping angle, and controlling the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle, including: responding to the surgical instrument clamping instruction, obtaining the target clamping angle of the clamping component, and controlling the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0046] See also Figure 2 The method of this embodiment may specifically include the following steps:

[0047] S210. In response to a surgical instrument attachment event, determine the instrument type of the surgical instrument that has been attached to the surgical robot and the current number of a surgery currently being performed using the surgical instrument, wherein the surgical instrument includes a clamping component.

[0048] Among them, the clamping component can be understood as a component on the surgical instrument that is responsible for performing the clamping operation, such as the swinging leg that performs the clamping operation by swinging as described above. The number of the clamping components can be one, two or more, which is related to the actual situation and is not specifically limited here. For example, in the case where the surgical instrument includes one clamping component, the surgical instrument can be an instrument similar to an electric hook, which has a curved hook. When the doctor operates the main hand clamp to open and close, the electric hook swings; in the case where the surgical instrument includes two clamping components, the surgical instrument can be an instrument such as the pliers with two swinging legs as exemplified above; in the case where the surgical instrument includes multiple clamping components, taking three clamping components as an example here, the surgical instrument can be an instrument such as a three-claw bone clamp; and so on, which are not specifically limited here.

[0049] S220. Obtain the test results obtained after pre-compression testing of the instrument type and the clamping component, and determine the target deviation angle of the clamping component from multiple zero-position deviation angles represented by the test results according to the current field number, wherein the multiple zero-position deviation angles correspond to different surgical field numbers.

[0050] Among them, since the clamping component is the component on the surgical instrument responsible for performing the clamping operation, the compression test is not only a test conducted on the instrument type, but also a test conducted on the clamping component.

[0051] In combination with the application scenarios that may be involved in the embodiments of the present invention, when the number of clamping components is two or more, one clamping component can be selected from the two or more clamping components for a compression test, and the obtained test results can be used as the test results of the two or more clamping components, which can improve the test efficiency; clamping tests can also be performed on the two or more clamping components separately to obtain test results corresponding to each clamping component, which helps to improve the accuracy of subsequent clamping angle control.

[0052] After obtaining the test results corresponding to the clamping component, the target deviation angle of the clamping component can be obtained based on the test results, and then combined with subsequent steps, the target clamping angle and target deviation angle of the clamping component can be used to control the clamping operation of the clamping component, so that the actual clamping angle of the clamping component after the clamping operation is infinitely close to the target clamping angle of the clamping component.

[0053] S230. In response to the clamping instruction of the surgical instrument, a target clamping angle of the clamping component is obtained, and according to the target clamping angle and the target deviation angle, the clamping component is controlled to perform a clamping operation.

[0054] The technical solution of the embodiment of the present invention further improves the accuracy of clamping angle control by performing a compression test on the clamping component and controlling the clamping component to perform a clamping operation on this basis.

[0055] In an optional technical solution, the number of the clamping components is at least two, and the at least two clamping components respectively correspond to their own target deviation angles;

[0056] In response to a clamping instruction of a surgical instrument, a target clamping angle of a clamping component is obtained, and according to the target clamping angle and the target deviation angle, the clamping component is controlled to perform a clamping operation, including:

[0057] In response to the clamping instruction of the surgical instrument, a target clamping angle of each of the at least two clamping components is obtained, and the clamping component is controlled to perform a clamping operation according to the target clamping angle and the target deviation angle of the clamping component.

[0058] Among them, as explained above, when the number of clamping components is at least two, in order to further improve the accuracy of clamping angle control, compression tests can be performed on each clamping component separately, so that when processing the surgical instrument S, the target deviation angle corresponding to each clamping component on the surgical instrument S can be obtained from the test results, and on this basis, targeted control of the clamping operation of each clamping component can be performed.

[0059] The above technical solution further improves the accuracy of clamping angle control by performing compression tests on each clamping component respectively and, on this basis, performing targeted control on the clamping operation of each clamping component.

[0060] Another optional technical solution is to control the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle, including:

[0061] According to the target deviation angle, the clamping parts are controlled to return to zero position;

[0062] According to the target clamping angle, the clamping component returning to the zero position is controlled to perform the clamping operation.

[0063] Among them, according to the target deviation angle, the clamping component is controlled to return to zero position, thereby ensuring the accuracy of the posture of the clamping component. Exemplarily, the zero position compensation angle of the motor that drives the yaw of the clamping component can be calculated according to the target deviation angle and the transmission ratio, and the clamping component is controlled to return to zero position based on this. On this basis, further, according to the target clamping angle, the clamping component that returns to zero position is controlled to perform a clamping operation, thereby ensuring the precise control of the clamping angle. In other words, when there is a reverse gap in the master-slave control of the clamping component movement, the motor quickly moves in the reverse moment to compensate for this target deviation angle.

[0064] Figure 3It is a flow chart of another surgical instrument clamping control method provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the compression test is a compression test of the total usage situation, and the total usage situation is determined according to the target situation and the target number of fields. The target situation characterizes the usage situation of the type of instrument under the instrument type in an operation, and the target number of fields characterizes the number of surgical fields that can be used for the type of instrument; the test results can be obtained in the following manner: according to the target situation, from the multiple usage situations corresponding to the total usage situation, determine the test situation corresponding to each operation in the target number of operations when completed; measure the zero deviation angle of the type of instrument in each test situation respectively, and obtain the test results according to each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0065] See also Figure 3 The method of this embodiment may specifically include the following steps:

[0066] S310. In the process of compression testing the total usage of the instrument type, the following two steps are performed to obtain the test results, wherein the total usage is determined based on the target situation and the target number of fields, the target situation characterizes the usage of the type of instrument under the instrument type in an operation, and the target number of fields characterizes the number of surgical fields where the type of instrument can be used.

[0067] Among them, in the process of performing a compression test on a certain instrument type, the type of instrument can be understood as the surgical instrument under the instrument type that participates in the compression test. The number of the surgical instruments can be one, two or more, which can be set according to the actual situation and is not specifically limited here. In particular, in order to ensure the comprehensiveness of the compression test, multiple surgical instruments can be used for the compression test. Exemplarily, multiple surgical instruments can be selected from the same batch of surgical instruments for compression testing, and then the obtained test results can be used as the test results of the batch of surgical instruments.

[0068] The target situation represents the usage of the same type of instrument in a surgery. It is understandable that in a time compression test, the usage situation can be the usage time; in an event compression test, the usage situation can be the number of times it is used; etc., which are not specifically limited here.

[0069] The target number of fields represents the number of surgical fields that a type of instrument can be used for, that is, the maximum number of surgical fields that can be performed using this type of instrument. In practical applications, this maximum number of fields can also be called the lifespan.

[0070] The total usage is determined according to the target situation and the target number of games. On this basis, in combination with the above examples, optionally, in a time compression test, the total usage may be the total usage time, which may be the product of the usage time and the target number of games; and in an event compression test, the total usage may be the total number of usages, which may be the product of the number of usages and the target number of games.

[0071] During the compression test for the general usage of the device type, the test results can be obtained by executing the following S320 and S330.

[0072] S320. According to the target situation, from a plurality of usage situations corresponding to the total usage situation, determine the test situation corresponding to each operation in the target number of operations upon completion.

[0073] Among them, multiple usage conditions corresponding to the total usage conditions can be understood as the usage conditions involved in the type of equipment during the compression test of the total usage conditions. For example, it can be each hour in 1000 hours or each time in 1000 times, etc. This is related to the actual scenario and is not specifically limited here.

[0074] According to the target situation, from multiple usage situations, the usage situations corresponding to the completion of each operation in the target number of operations are determined. To facilitate the distinction from the remaining usage situations, the determined usage situation is referred to as a test situation. For example, a usage situation that is a multiple of the target situation among the multiple usage situations can be used as a test situation, and the multiple is the number of surgical fields corresponding to the test situation.

[0075] S330. Measure the zero deviation angle of each type of instrument in each test situation, and obtain the test results based on each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle.

[0076] When the usage of the type of instrument is a test situation, the zero deviation angle of the instrument type in the test situation is measured. Further, since one test situation corresponds to one surgery, that is, one surgical field number, the test result can be obtained according to each measured zero deviation angle and the surgical field number corresponding to each zero deviation angle.

[0077] S340. In response to the surgical instrument attachment event, determine the instrument type of the surgical instrument that has been attached to the surgical robot and the current number of the surgery currently being performed using the surgical instrument.

[0078] S350. Obtain the test results corresponding to the instrument type, and determine the target deviation angle from multiple zero deviation angles represented by the test results according to the current field number.

[0079] S360. In response to the clamping instruction of the surgical instrument, a target clamping angle is obtained, and the surgical instrument is controlled to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0080] The technical solution of the embodiment of the present invention measures the zero deviation angle corresponding to different numbers of surgical fields of the same type of instrument through target conditions, target number of fields and total usage, thereby achieving accurate determination of the test results.

[0081] On this basis, an optional technical solution is that the number of type devices is multiple;

[0082] The zero deviation angle of each type of instrument in each test situation is measured respectively, and the test results are obtained according to each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle, including:

[0083] For each instrument type among the multiple types of instruments, the zero deviation angle of the instrument type in each test situation is measured respectively, and the instrument test result is obtained according to each measured zero deviation angle and the number of surgical fields corresponding to each zero deviation angle;

[0084] The test results are obtained according to the device test results corresponding to the multiple types of devices.

[0085] In order to improve the accuracy of the test results, compression tests can be performed on multiple types of instruments respectively to obtain instrument test results corresponding to each type of instrument, and then the test results can be obtained based on these instrument test results. For example, for each surgical field number in the test results, the mean, median or mode of the zero deviation angles corresponding to the surgical field number in all instrument test results can be used as the zero deviation angle corresponding to the surgical field number in the test results.

[0086] The above technical solution improves the accuracy of the test results by conducting compression tests on multiple types of instruments under the instrument type, thereby further improving the accuracy of the clamping angle control.

[0087] In order to more vividly understand the various technical solutions in the embodiments of the present invention, exemplary descriptions are given below in conjunction with specific examples.

[0088] For example, in a time compression test, assuming that the use time of a surgical instrument of a certain instrument type in each operation is t and the life span (i.e., the target number of operations) is n, the total use time T = n*t. Then, a time compression test with a total use time of T is performed under the reasonable stress of the operation performed by the surgical instrument of this instrument type, and the zero deviation angle of the clamping component is measured at (1, 2, 3, ... n)*t respectively, and the test of m surgical instruments is completed, and the average value of the zero deviation angle at (1, 2, 3, ... n)*t is obtained respectively, thereby obtaining the test result corresponding to the instrument type.

[0089] As another example, in an event compression test, assuming that a surgical instrument of a certain instrument type is used a times in each operation and has a life span of n, the total number of uses A = n*a. Then, an event compression test with a total number of uses of A is performed under a reasonable stress for the operation performed by the surgical instrument of this instrument type, and the zero deviation angle of the clamping component is measured at (1, 2, 3, ... n)*a respectively, and the test of m surgical instruments is completed, and the average value of the zero deviation angle at (1, 2, 3, ... n)*a is obtained respectively, thereby obtaining the test result corresponding to the instrument type.

[0090] Figure 4 This is a structural block diagram of a surgical instrument clamping control device provided in an embodiment of the present invention, and the device is used to execute the surgical instrument clamping control method provided in any of the above embodiments. The device and the surgical instrument clamping control method in the above embodiments belong to the same inventive concept, and the details not described in detail in the embodiments of the surgical instrument clamping control device can refer to the embodiments of the above surgical instrument clamping control method. Figure 4 The device is configured in a controller of a surgical robot, and the device may specifically include: a current field number determination module 410, a target deviation angle determination module 420 and a clamping control module 430.

[0091] The current field number determination module 410 is used to determine the instrument type of the surgical instrument that has been attached to the surgical robot and the current field number of the surgery currently being performed using the surgical instrument in response to the surgical instrument attachment event;

[0092] The target deviation angle determination module 420 is used to obtain the test results obtained after the compression test is pre-performed on the instrument type, and determine the target deviation angle from multiple zero deviation angles represented by the test results according to the current field number, wherein the multiple zero deviation angles correspond to different surgical field numbers;

[0093] The clamping control module 430 is used to respond to the clamping instruction of the surgical instrument, obtain the target clamping angle, and control the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0094] Optionally, the surgical instrument includes a clamping member;

[0095] The target deviation angle determination module 420 may include:

[0096] A target deviation angle determination unit is used to obtain test results obtained after a compression test is performed in advance on the instrument type and the clamping component, and determine a target deviation angle of the clamping component from a plurality of zero deviation angles represented by the test results according to the current field number;

[0097] The clamping control module 430 may include:

[0098] The clamping control unit is used to respond to the clamping instruction of the surgical instrument, obtain the target clamping angle of the clamping component, and control the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle.

[0099] On this basis, optionally, the number of the clamping components is at least two, and the at least two clamping components respectively correspond to their own target deviation angles;

[0100] The clamping control unit may include:

[0101] The first clamping control subunit is used to respond to the clamping instruction of the surgical instrument, obtain the target clamping angle of each clamping component of at least two clamping components, and control the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle of the clamping component.

[0102] Alternatively, the clamping control unit may include:

[0103] A return control subunit is used to control the clamping component to return to zero position according to the target deviation angle;

[0104] The second clamping control subunit is used to control the clamping component returning to the zero position to perform a clamping operation according to a target clamping angle.

[0105] Optionally, based on any of the above devices, the compression test is a compression test of total usage, and the total usage can be determined according to a target condition and a target number of sites, the target condition represents the usage of a type of instrument under the instrument type in a surgery, and the target number of sites represents the number of surgical sites where the type of instrument can be used;

[0106] The test results are obtained through the following modules;

[0107] A test condition determination module is used to determine, according to the target condition, from a plurality of usage conditions corresponding to the total usage condition, the test condition corresponding to each operation in the target number of operations when it is completed;

[0108] The test result obtaining module is used to measure the zero deviation angle of each type of instrument in each test situation, and obtain the test result according to each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle.

[0109] On this basis, one option is that the number of types of devices is multiple;

[0110] The test result acquisition module may include:

[0111] An instrument test result obtaining unit is used to measure the zero deviation angle of each instrument type in each test case for each instrument type among multiple types of instruments, and obtain the instrument test result according to each measured zero deviation angle and the number of surgical fields corresponding to each zero deviation angle;

[0112] The test result obtaining unit can be used to obtain the test results according to the device test results corresponding to multiple types of devices.

[0113] Alternatively, where the compression test is a time compression test, the condition is time; and / or,

[0114] In the case where the compression test is an event compression test, the case is the number of times.

[0115] The surgical instrument clamping control device provided by the embodiment of the present invention determines the instrument type of the surgical instrument that has been mounted on the surgical robot and the current field number of the current operation using the surgical instrument in response to the surgical instrument mounting event through the current field number determination module, the determination of the instrument type is helpful to obtain the test results of the corresponding compression test, and the determination of the current field number is helpful to clarify the zero deviation angle used in the current operation; the test results corresponding to the instrument type are obtained through the target deviation angle determination module, and the target deviation angle corresponding to the current field number is determined from the multiple zero deviation angles characterized by the test results; on this basis, the target clamping angle is obtained through the clamping control module in response to the surgical instrument clamping instruction, so that the surgical instrument can be controlled to perform a clamping operation based on the target deviation angle, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to the target clamping angle, or even equal to the target clamping angle. The above device obtains the target deviation angle of the surgical instrument in the current operation through the compression test conducted in advance, and performs clamping control based on the target deviation angle, which solves the problem of being unable to accurately control the clamping angle of the surgical instrument and realizes precise control of the clamping angle.

[0116] The surgical instrument clamping control device provided in the embodiment of the present invention can execute the surgical instrument clamping control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0117] It is worth noting that in the above-mentioned embodiment of the surgical instrument clamping 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.

[0118] Figure 5 A schematic diagram of a controller 10 that can be used to implement an embodiment of the present invention is shown. The controller 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 controller 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 required herein.

[0119] like Figure 5 As shown, the controller 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the controller 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0120] A number of components in the controller 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the controller 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 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 11 executes the various methods and processes described above, such as a surgical instrument clamping control method.

[0122] In some embodiments, the surgical instrument clamping control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the controller 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the surgical instrument clamping control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the surgical instrument clamping control method in any other appropriate manner (for example, by means of firmware).

[0123] 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.

[0124] 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 as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0125] 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 combination 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.

[0126] To provide interaction with a user, the systems and techniques described herein may be implemented on a controller 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the controller. 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).

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 clamping control method, characterized in that: A controller applied to a surgical robot, the method comprising: In response to a surgical instrument attachment event, determining the instrument type of the surgical instrument that has been attached to the surgical robot and the current number of a surgery currently being performed using the surgical instrument; Obtaining a test result obtained after a compression test is pre-performed on the instrument type, and determining a target deviation angle from a plurality of zero deviation angles represented by the test result according to the current field number, wherein the plurality of zero deviation angles correspond to different numbers of surgical fields; In response to a surgical instrument clamping instruction, a target clamping angle is obtained, and according to the target clamping angle and the target deviation angle, the surgical instrument is controlled to perform a clamping operation.

2. The method according to claim 1, characterized in that The surgical instrument includes a clamping component; The obtaining of the test result obtained after the compression test is pre-performed on the device type, and determining the target deviation angle from a plurality of zero deviation angles represented by the test result according to the current field number, comprises: Acquire test results obtained after a compression test is pre-performed on the instrument type and the clamping component, and determine a target deviation angle of the clamping component from a plurality of zero deviation angles represented by the test results according to the current field number; The method of obtaining a target clamping angle in response to a clamping instruction of a surgical instrument, and controlling the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle, comprises: In response to a surgical instrument clamping instruction, a target clamping angle of the clamping component is obtained, and according to the target clamping angle and the target deviation angle, the clamping component is controlled to perform a clamping operation.

3. The method according to claim 2, characterized in that The number of the clamping components is at least two, and the at least two clamping components respectively correspond to respective target deviation angles; The method of obtaining a target clamping angle of the clamping component in response to a clamping instruction of the surgical instrument, and controlling the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle, comprises: In response to a surgical instrument clamping instruction, a target clamping angle of each of the at least two clamping components is obtained, and the clamping component is controlled to perform a clamping operation based on the target clamping angle and the target deviation angle of the clamping component.

4. The method according to claim 2, characterized in that: The controlling the clamping component to perform a clamping operation according to the target clamping angle and the target deviation angle includes: According to the target deviation angle, controlling the clamping component to return to zero position; According to the target clamping angle, the clamping component returning to the zero position is controlled to perform a clamping operation.

5. The method according to any one of claims 1 to 4, characterized in that The compression test is a compression test of the total usage, and the total usage is determined according to the target situation and the target number of sites. The target situation represents the usage of the type of instrument under the instrument type in a surgery, and the target number of sites represents the number of surgical sites where the type of instrument can be used. The test results are obtained in the following way: According to the target situation, from a plurality of usage situations corresponding to the total usage situation, determining the test situation corresponding to each operation in the target number of operations when completed; The zero deviation angle of the type of instrument in each test case is measured respectively, and the test result is obtained according to each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle.

6. The method according to claim 5, characterized in that The number of the type of apparatus is multiple; The step of measuring the zero deviation angle of the type of instrument in each test case, and obtaining the test result according to each zero deviation angle and the number of surgical fields corresponding to each zero deviation angle, comprises: For each of the multiple types of instruments, respectively measure the zero deviation angle of the type of instrument in each test situation, and obtain the instrument test result according to each measured zero deviation angle and the number of surgical fields corresponding to each zero deviation angle; The test result is obtained according to the instrument test results respectively corresponding to a plurality of instruments of the type.

7. The method according to claim 5, characterized in that In case the compression test is a time compression test, the condition is time; and / or, In case the compression test is an event compression test, the instance is a number of times.

8. A surgical instrument clamping control device, characterized in that: A controller configured in a surgical robot, the device comprising: a current field number determination module, for determining, in response to a surgical instrument attachment event, the instrument type of the surgical instrument that has been attached to the surgical robot and the current field number of the surgery currently being performed using the surgical instrument; a target deviation angle determination module, used to obtain a test result obtained after a compression test is pre-performed on the instrument type, and determine a target deviation angle from a plurality of zero deviation angles represented by the test result according to the current field number, wherein the plurality of zero deviation angles correspond to different numbers of surgical fields; The clamping control module is used to respond to the clamping instruction of the surgical instrument, obtain the target clamping angle, and control the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle.

9. A controller, characterized in that: Integrated in a surgical robot, the controller comprises: 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 performs the surgical instrument clamping control method according to any one of claims 1 to 7.

10. 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 clamping control method as described in any one of claims 1-7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the surgical instrument clamping control method according to any one of claims 1 to 7.

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