A surgical instrument clamping control method, device, controller, storage medium, and program product.

Abstract

Embodiments of the present application disclose 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 a surgical robot, and the method comprises the following steps: in response to a surgical instrument hanging event, determining an instrument type of a surgical instrument that has been hung on the surgical robot and a current field number of a current surgery performed by using the surgical instrument; obtaining a test result obtained after a compression test is performed in advance for the instrument type, and determining a target deviation angle from a plurality of zero position deviation angles represented by the test result according to the current field number, wherein the plurality of zero position deviation angles correspond to different field numbers; in response to a surgical instrument clamping instruction, obtaining a target clamping angle, and controlling the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle. The technical scheme of the embodiments of the present application can accurately control the clamping angle of the surgical instrument.

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 Technology

[0002] With the development of endoscopic surgical robots, more and more departments are carrying out endoscopic surgery, which requires different surgical instruments to complete the corresponding surgical procedures.

[0003] It should be noted that the clamping force output by the end of a surgical instrument is not constant, but decreases with continuous use. This results in a difference between the actual clamping angle obtained by the surgeon after controlling the surgical instrument to perform clamping operations and the target clamping angle (or the desired clamping angle), which affects the operation and urgently needs to be addressed. Summary of the Invention

[0004] This invention provides a surgical instrument clamping control method, device, controller, storage medium, and program product, which solves the problem of inaccurate control of the clamping angle of surgical instruments.

[0005] According to one aspect of the present invention, a surgical instrument clamping control method is provided, the method being applied to a controller in a surgical robot, the method comprising:

[0006] 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;

[0007] Obtain the test results obtained after performing a compression test on the instrument type in advance, and determine the target deviation angle from multiple zero deviation angles characterized by the test results based on the current number of surgical sessions. The multiple zero deviation angles correspond to different surgical sessions.

[0008] In response to the surgical instrument clamping command, the target clamping angle is obtained, and the surgical instrument is controlled to perform clamping operation based on 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, the device being configured in a controller of a surgical robot, the device comprising:

[0010] The 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 being performed using the surgical instrument in response to the surgical instrument attachment event.

[0011] The target deviation angle determination module is used to obtain the test results obtained after a compression test is performed on the instrument type in advance, and to determine the target deviation angle from multiple zero deviation angles characterized by the test results based on the current number of operations. The multiple zero deviation angles correspond to different number of operations.

[0012] The clamping control module is used to respond to the surgical instrument clamping command, obtain the target clamping angle, and control the surgical instrument to perform clamping operations based on 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 that is communicatively connected to at least one processor; wherein,

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

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided having computer instructions stored thereon, which are used to cause a processor to execute and implement the surgical instrument clamping control method provided in any embodiment of the present invention.

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

[0019] The technical solution of this invention, in response to a surgical instrument attachment event, determines the instrument type of the surgical instrument attached to the surgical robot and the current surgery session number using the surgical instrument. Determining the instrument type helps obtain the corresponding compression test results, and determining the current session number helps clarify the zero-position deviation angle applied in the current surgery. The test results corresponding to the instrument type are obtained, and a target deviation angle corresponding to the current session number is determined from multiple zero-position deviation angles represented by the test results. Based on this, in response to a surgical instrument clamping command, the target clamping angle is obtained. Therefore, based on the target deviation angle, the surgical instrument can be controlled to perform clamping operations with the target clamping angle as the target, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to, or even equal to, the target clamping angle. This technical solution, through a pre-performed compression test, obtains the target deviation angle of the surgical instrument in the current surgery and uses this as the basis for clamping control, solving the problem of inaccurate control of the surgical instrument's clamping angle, achieving precise control of the clamping angle, and further realizing precise control of master-slave operation accuracy and clamping force.

[0020] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

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

[0026] Figure 5This is a schematic diagram of the controller that implements the surgical instrument clamping control method of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The same applies to "target," "original," etc., and will not be repeated here. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Before introducing the embodiments of the present invention, the application scenarios of the embodiments of the present invention will be described by way of example. For example, a surgical instrument for clamping tissue is used as an example. The forceps includes two clamping parts (i.e., a left-hand swing leg and a right-hand swing leg). With the continuous use of the forceps, the two clamping parts cannot return to the zero position when they should, that is, they cannot close when they should, and there is a gap in the middle. This causes the actual clamping angle (i.e., the actual opening and closing angle) of the forceps to deviate from the target clamping angle after the doctor controls the forceps to perform clamping operation (i.e., opening and closing operation) based on the target clamping angle.

[0030] Building upon this, to optimize the control precision of the clamping angle at the end of the surgical instrument (hereinafter referred to as the clamping angle), and to make the actual clamping angle as close as possible to the desired clamping angle (or target clamping angle), considering that the gap between the two clamping components is not constant and usually increases with the continuous use of the surgical instrument, compression tests (such as time compression tests or event compression tests) are performed on the surgical instrument, and the clamping angle is controlled based on these tests. This will be elaborated in detail below.

[0031] Figure 1This is a flowchart of a surgical instrument clamping control method provided in an embodiment of the present invention. This embodiment is applicable to controlling the clamping angle of surgical instruments, and is particularly suitable for controlling the clamping angle based on the results of a compression test. This method can be executed by the surgical instrument clamping control device provided in this embodiment of the present invention. This device can be implemented by software and / or hardware, and can be integrated into a controller, which can be integrated into a surgical robot.

[0032] See Figure 1 The method of this 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] The surgical instrument attachment event can be understood as the event of a surgical instrument being attached to a surgical robot. In response to this surgical instrument attachment event, for the attached surgical instrument, the instrument type is determined. This instrument type can be, for example, forceps or scissors, which depends on the actual situation and is not specifically limited here. Since the surgical instrument can be used for multiple surgeries, the number of surgeries currently being performed using the surgical instrument is determined here (here referred to as the current number). For example, if the current number is X, it means that (X-1) surgeries have been performed using the surgical instrument, and the current surgery is the Xth surgery.

[0035] S120. Obtain the test results obtained after performing a compression test on the instrument type in advance, and determine the target deviation angle from multiple zero-position deviation angles characterized by the test results based on the current number of operations, wherein the multiple zero-position deviation angles correspond to different number of operations.

[0036] Since multiple surgical instruments of the same instrument type have basically the same clamping angle variation, such as forceps No. 1, No. 2, No. 3 and No. 4 of the forceps instrument type, the clamping angle variation is basically the same, so in order to improve efficiency, a compression test is conducted on the instrument type.

[0037] In light of the possible application scenarios involved in the embodiments of the present invention, the application scenarios of surgical instruments under different instrument types may vary. Therefore, corresponding compression tests can be performed for different instrument types, such as event compression tests for forceps and time compression tests for scissors. 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 attached to the surgical robot, the multiple surgical instruments used in the compression test for the instrument type to which the surgical instrument S belongs may include the surgical instrument S or may not, depending on the actual situation, and no specific limitation is made here.

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

[0040] Furthermore, based on the current number of operations and the corresponding relationships, the target deviation angle can be determined from the multiple zero-position deviation angles characterized by the experimental results. This target deviation angle can be understood as the deviation angle of the surgical instrument S relative to the zero position under the current number of operations.

[0041] S130. In response to the surgical instrument clamping command, obtain the target clamping angle, and control the surgical instrument to perform clamping operation based on the target clamping angle and the target deviation angle.

[0042] The surgical instrument clamping command can be understood as an instruction to control the surgical instrument to perform a clamping operation. In response to the surgical instrument clamping command, 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] Furthermore, the surgical instrument S is controlled to perform a clamping operation based on 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, based on the target deviation angle, the surgical instrument S is controlled to perform a clamping operation with the target clamping angle as the target. This ensures that the actual clamping angle of the surgical instrument S after the clamping operation is infinitely close to the target clamping angle.

[0044] The technical solution of this invention, in response to a surgical instrument attachment event, determines the instrument type of the surgical instrument attached to the surgical robot and the current surgery session number using the surgical instrument. Determining the instrument type helps obtain the corresponding compression test results, and determining the current session number helps clarify the zero-position deviation angle applied in the current surgery. The test results corresponding to the instrument type are obtained, and a target deviation angle corresponding to the current session number is determined from multiple zero-position deviation angles represented by the test results. Based on this, in response to a surgical instrument clamping command, the target clamping angle is obtained. Therefore, based on the target deviation angle, the surgical instrument can be controlled to perform clamping operations with the target clamping angle as the target, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to, or even equal to, the target clamping angle. This technical solution, through a pre-performed compression test, obtains the target deviation angle of the surgical instrument in the current surgery and uses this as the basis for clamping control, solving the problem of inaccurate control of the surgical instrument's clamping angle and achieving precise control of the clamping angle.

[0045] Figure 2 This is a flowchart of another surgical instrument clamping control method provided by an embodiment of the present invention. This embodiment is an optimization based on the above-described technical solutions. In this embodiment, optionally, the surgical instrument includes a clamping component; obtaining the test results obtained after a compression test for the instrument type, and determining the target deviation angle from multiple zero-position deviation angles characterized by the test results according to the current number of tests, may include: obtaining the test results obtained after a compression test for the instrument type and the clamping component, and determining the target deviation angle of the clamping component from multiple zero-position deviation angles characterized by the test results according to the current number of tests; then, in response to a surgical instrument clamping command, 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, may include: in response to a surgical instrument clamping command, 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. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0046] See Figure 2 The method in 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 the surgery currently being performed using the surgical instrument, wherein the surgical instrument includes a clamping component.

[0048] The clamping component can be understood as a part of the surgical instrument responsible for performing clamping operations, such as the swing leg described above that performs clamping operations by swaying. The number of clamping components can be one, two, or more, depending on the specific circumstances, and is not specifically limited here. For example, if the surgical instrument includes one clamping component, it could be a device similar to an electric hook with a curved hook that swings when the surgeon operates the main hand clamp; if the surgical instrument includes two clamping components, it could be a forceps or similar device with two swing legs as exemplified above; if the surgical instrument includes multiple clamping components, taking three clamping components as an example, it could be a three-jaw bone forceps or similar device; and so on, without specific limitations.

[0049] S220. Obtain the test results obtained after performing a compression test on the instrument type and clamping components in advance, and determine the target deviation angle of the clamping components from multiple zero-position deviation angles characterized by the test results based on the current number of operations, wherein the multiple zero-position deviation angles correspond to different number of operations.

[0050] Since the clamping component is the part of the surgical instrument responsible for performing the clamping operation, the compression test is not only a test for the instrument type, but also a test for the clamping component.

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

[0052] After obtaining the test results for the clamping component, the target deviation angle of the clamping component can be obtained based on the test results. Then, in combination with subsequent steps, the clamping operation of the clamping component can be controlled by using the target clamping angle and the target deviation angle 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 surgical instrument clamping command, obtain the target clamping angle of the clamping component, and control the clamping component to perform clamping operation based on the target clamping angle and the target deviation angle.

[0054] The technical solution of this invention improves the accuracy of clamping angle control by conducting a compression test on the clamping component and controlling the clamping component to perform clamping operations based on the test.

[0055] One optional technical solution is that the number of clamping components is at least two, and the at least two clamping components each correspond to their respective target deviation angles;

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

[0057] In response to a surgical instrument clamping command, for each of at least two clamping components, a target clamping angle of the clamping component 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.

[0058] As explained above, when there are at least two clamping components, in order to further improve the accuracy of clamping angle control, compression tests can be performed on each clamping component separately. Thus, 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 targeted control of the clamping operation of each clamping component can be carried out based on this.

[0059] The above technical solution improves the accuracy of clamping angle control by conducting compression tests on each clamping component and then specifically controlling the clamping operation of each component based on these tests.

[0060] Another optional technical solution involves controlling the clamping component to perform clamping operations based on the target clamping angle and the target deviation angle, including:

[0061] Based on the target deviation angle, control the clamping component to return to the zero position;

[0062] The clamping component, which has returned to the zero position, is controlled to perform clamping operations based on the target clamping angle.

[0063] Specifically, based on the target deviation angle, the clamping component is controlled to return to its zero position, thereby ensuring the accuracy of the clamping component's posture. For example, the zero-position compensation angle of the motor driving the clamping component's yaw can be calculated based on the target deviation angle and the transmission ratio, and the clamping component is controlled to return to its zero position based on this. Furthermore, based on the target clamping angle, the clamping component, now back to its zero position, is controlled to perform the clamping operation, thus ensuring precise control of the clamping angle. In other words, when there is a backlash in the master-slave control of the clamping component's movement, the motor quickly moves in the reverse instant to compensate for this target deviation angle.

[0064] Figure 3This is a flowchart of another surgical instrument clamping control method provided by an embodiment of the present invention. This embodiment is based on the above-mentioned technical solutions and optimized. In this embodiment, optionally, the compression test is a compression test of total usage. The total usage is determined according to the target situation and the target number of surgeries. The target situation represents the usage of a certain type of instrument in a single surgery, and the target number of surgeries represents the number of surgeries in which the type of instrument can be used. The test results can be obtained as follows: Based on the target situation, from the multiple usage situations corresponding to the total usage, determine the test situation corresponding to each surgery in the target number of surgeries at the time of completion; measure the zero-position deviation angle of the type of instrument under each test situation, and obtain the test results based on each zero-position deviation angle and the number of surgeries corresponding to each zero-position deviation angle. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

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

[0066] S310. In the process of conducting a compression test on the total usage of an 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 operations, the target situation characterizes the usage of a type of instrument in a single operation, and the target number of operations characterizes the number of operations in which the type of instrument can be used.

[0067] In the compression test for a specific instrument type, the instrument type can be understood as the surgical instrument of that type participating in the compression test. The number of these surgical instruments can be one, two, or more, depending on the actual situation, and is not specifically limited here. In particular, to ensure the comprehensiveness of the compression test, multiple surgical instruments can be used for the compression test. For example, multiple surgical instruments can be selected from the same batch of surgical instruments for the compression test, and the obtained test results can then be used as the test results for that batch of surgical instruments.

[0068] The target scenario characterizes the usage of a particular type of instrument in a single surgical procedure. It is understood that in a time compression test, this usage scenario could be the duration of use; while in an event compression test, it could be the number of uses; and so on, without specific limitations.

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

[0070] Based on the target situation and the target number of events, determine the total usage. Building on this, and referring to the above example, optionally, in a time compression experiment, the total usage can be the total usage time, which can be the product of usage time and the target number of events; while in an event compression experiment, the total usage can be the total number of uses, which can be the product of the number of uses and the target number of events.

[0071] During the compression test for the total usage of the instrument type, the test results can be obtained by performing the following steps S320 and S330.

[0072] S320. Based on the target situation, determine the test situation corresponding to each surgery in the target number of surgeries when it is completed from multiple usage situations corresponding to the total usage situation.

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

[0074] Based on the target situation, from multiple usage scenarios, the specific usage scenario corresponding to the completion of each surgery within the target number of surgeries is determined. To facilitate differentiation from other usage scenarios, the determined usage scenario is referred to here as the test scenario. For example, the usage scenario that is a multiple of the target situation can be considered as the test scenario, and this multiple is the number of surgeries corresponding to the test scenario.

[0075] S330. Measure the zero-position deviation angle of each type of instrument under each test condition, and obtain the test results based on each zero-position deviation angle and the number of surgical operations corresponding to each zero-position deviation angle.

[0076] Specifically, when the usage of a particular type of instrument is a test case, the zero-position deviation angle of that instrument type under that test case is measured. Furthermore, since one test case corresponds to one surgery, i.e., one surgical session, the test results can be obtained based on each measured zero-position deviation angle and the number of surgical sessions corresponding to each zero-position deviation angle.

[0077] S340. 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.

[0078] S350. Obtain the test results corresponding to the instrument type, and determine the target deviation angle from multiple zero-point deviation angles characterized by the test results based on the current number of tests.

[0079] S360. In response to the surgical instrument clamping command, obtains the target clamping angle, and controls the surgical instrument to perform clamping operation based on the target clamping angle and the target deviation angle.

[0080] The technical solution of this invention measures the zero-position deviation angle of different types of instruments for different surgical procedures by considering the target conditions, target number of procedures, and total usage, thereby achieving accurate determination of the test results.

[0081] Based on this, one possible technical solution is to have multiple types of instruments;

[0082] The zero-position deviation angle of each type of instrument was measured under each test condition. Based on each zero-position deviation angle and the corresponding number of surgical procedures, the test results were obtained, including:

[0083] For each type of instrument among multiple instrument types, the zero-position deviation angle of each instrument type is measured under each test condition, and the instrument test results are obtained based on each measured zero-position deviation angle and the number of surgical operations corresponding to each zero-position deviation angle;

[0084] The test results are obtained based on the test results of the corresponding instruments for multiple types of instruments.

[0085] To improve the accuracy of the test results, compression tests can be performed on multiple types of instruments separately to obtain instrument test results for each type of instrument. The final test result can then be derived from these instrument test results. For example, for each number of surgical procedures in the test results, the mean, median, or mode of the zero-deviation angles corresponding to that number of surgical procedures from all instrument test results can be used as the zero-deviation angle corresponding to that number of surgical procedures in the test results.

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

[0087] To provide a more vivid understanding of the various technical solutions in the embodiments of the present invention, specific examples are provided below for illustrative purposes.

[0088] For example, in a time compression test, assuming that the usage time of a surgical instrument of a certain instrument type in each surgery is t and its lifespan (i.e., the target number of surgeries) is n, then the total usage time T = n*t. Therefore, under the reasonable stress of surgery performed with this type of surgical instrument, a time compression test is conducted with a total usage time of T. The zero-position deviation angle of the clamping component is measured at (1, 2, 3, ..., n)*t. The test is completed for m surgical instruments, and the average value of the zero-position deviation angle at (1, 2, 3, ..., n)*t is obtained. This yields the test results corresponding to this instrument type.

[0089] For another example, in an event compression test, assuming that a surgical instrument of a certain type is used a number of times in each surgery and has a lifespan of n, then the total number of uses A = n*a. Then, under the reasonable stress of surgery performed with this type of surgical instrument, an event compression test is conducted for a total of A uses. The zero-position deviation angle of the clamping component is measured at (1, 2, 3, ..., n)*a. The test is completed for m surgical instruments, and the average value of the zero-position deviation angle at (1, 2, 3, ..., n)*a is obtained. This yields the test results corresponding to this type of instrument.

[0090] Figure 4 This is a structural block diagram of a surgical instrument clamping control device provided in an embodiment of the present invention. This device is used to execute the surgical instrument clamping control method provided in any of the above embodiments. This device and the surgical instrument clamping control methods of the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the surgical instrument clamping control device can be found in the embodiments of the surgical instrument clamping control method. See also... Figure 4 The device is configured in the controller of the 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] Among them, the current field number determination module 410 is used to respond to the surgical instrument attachment event 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.

[0092] The target deviation angle determination module 420 is used to obtain the test results obtained after a compression test is performed on the instrument type in advance, and to determine the target deviation angle from multiple zero deviation angles characterized by the test results according to the current number of operations. The multiple zero deviation angles correspond to different number of operations.

[0093] The clamping control module 430 is used to respond to the surgical instrument clamping command, obtain the target clamping angle, and control the surgical instrument to perform clamping operation based on the target clamping angle and the target deviation angle.

[0094] Optionally, the surgical instruments may include clamping components;

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

[0096] The target deviation angle determination unit is used to obtain the test results obtained after a compression test is performed on the instrument type and clamping component, and to determine the target deviation angle of the clamping component from multiple zero-position deviation angles characterized by the test results based on the current field number.

[0097] The clamping control module 430 may include:

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

[0099] Based on this, optionally, the number of clamping components is at least two, and each of the at least two clamping components corresponds to its own target deviation angle;

[0100] The clamping control unit may include:

[0101] The clamping control first subunit is used to respond to a surgical instrument clamping command, obtain the target clamping angle of each of at least two clamping components, and control the clamping components to perform clamping operations based on the target clamping angle and the target deviation angle of the clamping components.

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

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

[0104] The second clamping control subunit is used to control the clamping component that has returned to the zero position to perform clamping operations according to the target clamping angle.

[0105] Optionally, based on any of the above devices, the compression test is a compression test of total usage. The total usage can be determined according to the target situation and the target number of operations. The target situation represents the usage of a type of instrument in a single operation, and the target number of operations represents the number of operations in which the type of instrument can be used.

[0106] The experimental results were obtained through the following modules;

[0107] The test situation determination module is used to determine the test situation corresponding to each surgery in the target number of surgeries at the time of completion from multiple usage situations corresponding to the total usage situation, based on the target situation;

[0108] The test results module is used to measure the zero-position deviation angle of each type of instrument under each test condition. The test results are obtained based on each zero-position deviation angle and the number of surgical procedures corresponding to each zero-position deviation angle.

[0109] Based on this, the number of optional types of instruments is multiple;

[0110] The module for obtaining experimental results may include:

[0111] The instrument test result acquisition unit is used to measure the zero-position deviation angle of each instrument type in each test condition for multiple types of instruments, and obtain the instrument test result based on each measured zero-position deviation angle and the number of surgical operations corresponding to each zero-position deviation angle;

[0112] The test results unit can be used to obtain test results based on the test results corresponding to multiple types of instruments.

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

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

[0115] The surgical instrument clamping control device provided in this embodiment of the invention, through a current field number determination module, responds to a surgical instrument attachment event to determine the instrument type of the surgical instrument attached to the surgical robot and the current field number of the surgery being performed using the surgical instrument. Determining the instrument type helps obtain the corresponding compression test results, and determining the current field number helps clarify the zero-position deviation angle applied in the current surgery. Through a target deviation angle determination module, the test results corresponding to the instrument type are obtained, and the target deviation angle corresponding to the current field number is determined from multiple zero-position deviation angles characterized by the test results. Based on this, through a clamping control module, in response to a surgical instrument clamping command, the target clamping angle is obtained. Therefore, based on the target deviation angle, the clamping operation of the surgical instrument can be controlled with the target clamping angle as the target, so that the actual clamping angle of the surgical instrument after the clamping operation is infinitely close to, or even equal to, the target clamping angle. This device, through a pre-performed compression test to obtain the target deviation angle of the surgical instrument in the current surgery, and using this target deviation angle as the basis for clamping control, solves the problem of inaccurate control of the clamping angle of the surgical instrument, achieving precise control of the clamping angle.

[0116] The surgical instrument clamping control device provided in the embodiments 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 embodiments of the surgical instrument clamping control device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0118] Figure 5 A schematic diagram of a controller 10, which can be used to implement embodiments 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 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0119] like Figure 5 As shown, the controller 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 may also store various programs and data required for the operation of the controller 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

[0121] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as surgical instrument clamping control methods.

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

[0123] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0125] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0126] To provide interaction with the user, the systems and techniques described herein can be implemented on a controller having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the controller. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0127] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0128] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0129] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0130] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. 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 configured to determine, in response to a surgical instrument hooking event, an instrument type of a surgical instrument hooked to the surgical robot and a current field number of a surgery currently performed using the surgical instrument; A target deviation angle determination module configured to obtain a test result obtained after a compression test performed in advance for the instrument type, and determine, from a plurality of zero position deviation angles represented by the test result, a target deviation angle according to the current field number, wherein the plurality of zero position deviation angles correspond to different field numbers of the surgery; A clamping control module configured to obtain, in response to a surgical instrument clamping instruction, a target clamping angle, and control the surgical instrument to perform a clamping operation according to the target clamping angle and the target deviation angle.

2. The apparatus of claim 1, wherein, The surgical instrument comprises a clamping component; The target deviation angle determination module comprises: A target deviation angle determination unit configured to obtain a test result obtained after a compression test performed in advance for the instrument type and the clamping component, and determine, from a plurality of zero position deviation angles represented by the test result, a target deviation angle of the clamping component according to the current field number; The clamping control module comprises: A clamping control unit configured to obtain, in response to a surgical instrument clamping instruction, a 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.

3. The apparatus of claim 2, wherein, The number of the clamping components is at least two, and each of the at least two clamping components corresponds to a respective target deviation angle; The clamping control unit comprises: A clamping control first sub-unit configured to obtain, in response to a surgical instrument clamping instruction, a target clamping angle of each of the 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.

4. The apparatus of claim 2, wherein, The clamping control unit comprises: A regression control sub-unit configured to control the clamping component to return to a zero position according to the target deviation angle; A clamping control second sub-unit configured to control the clamping component returned to the zero position to perform a clamping operation according to the target clamping angle.

5. The apparatus of any one of claims 1-4, wherein, The compression test is a total use case compression test, and the total use case is determined according to a target case and a target field number, the target case represents a use case of a type instrument under the instrument type in a surgery, and the target field number represents a number of surgeries in which the type instrument can be used; The test result is obtained by the following modules: A test case determination module configured to determine, from a plurality of use cases corresponding to the total use case, a test case corresponding to each of the target field number of surgeries when completed according to the target case; A test result obtaining module configured to measure a zero position deviation angle of the type instrument in each of the test cases, and obtain the test result according to each of the zero position deviation angles and a field number of surgery corresponding to each of the zero position deviation angles.

6. The apparatus of claim 5, wherein, The number of the type instruments is a plurality. The test result obtaining module comprises: An instrument test result obtaining unit is configured to measure, for each of the instrument types, a zero deviation angle of the type instrument in each of the test conditions, and obtain an instrument test result according to each of the measured zero deviation angles and the number of surgical fields corresponding to each of the zero deviation angles. A test result obtaining unit is configured to obtain the test result according to the instrument test results corresponding to the type instruments.

7. The apparatus of claim 5, wherein, In a case where the compression test is a time compression test, the condition is time; and / or, In a case where the compression test is an event compression test, the condition is number of times.

8. A controller characterized by comprising: The controller is integrated in a surgical robot, and the controller comprises: at least one processor; and a memory connected to the at least one processor in communication; 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 to cause the at least one processor to perform the steps characterized by the surgical instrument clamping control device according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to perform the steps characterized by the surgical instrument clamping control device according to any one of claims 1-7 when executed by the processor.

10. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program, when executed by the processor, implements the steps characterized by the surgical instrument clamping control device according to any one of claims 1-7.

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