Compensation method and device for pitching joint of surgical instrument and slave end controller

Abstract

The invention discloses a compensation method and device for a pitching joint of a surgical instrument and a slave end controller, and relates to the technical field of industrial control. The method is applied to a slave end controller of a master-slave surgical robot and comprises the steps that instrument joint instructions transmitted by a master end of the master-slave surgical robot are received in real time, and the instrument joint instructions comprise an instrument deflection center line joint instruction and an instrument pitching joint instruction; determining the pitching compensation angle of the current period based on the pitching compensation angle of the previous period, the instrument deflection center line joint instruction and the compensation proportionality coefficient; and under the condition that the pitching compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, generating a target pitching joint instruction based on the pitching compensation angle of the current period and the instrument pitching joint instruction, and sending the target pitching joint instruction to a pitching joint motor to drive a pitching joint to move. According to the method, the unexpected motion generated by the pitching joint can be compensated, and the position precision of the pitching joint of the surgical instrument of the master-slave surgical robot is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial control technology, and in particular to a compensation method and device for a pitch joint of a surgical instrument and a slave controller. Background Art

[0002] At present, laparoscopic surgical robots adopt master-slave control, that is, a mapping relationship between the master end and the slave end is established, and a corresponding control method is designed according to this mapping relationship to realize the complete control of the master end over the slave end.

[0003] However, the transmission mode of the joints of the surgical instruments of the laparoscopic surgical robot is wire transmission. Due to the mechanical structure of the pitch joint and the yaw joint, the yaw joint and the pitch joint have a coupling relationship. This coupling relationship causes the yaw joint wire to exert a force on the pitch joint wire when the yaw joint moves, causing the pitch joint to produce unexpected movement. Therefore, the pitch joint will not be able to move to the command position, and when the operator operates the yaw joint of the surgical instrument during the operation, the pitch joint will produce movement that does not meet the operator's subjective expectations. Summary of the invention

[0004] The present invention provides a compensation method and device for a pitch joint of a surgical instrument and a slave controller, so as to solve the problem that the pitch joint generates unexpected movement due to the force exerted on the pitch joint by the yaw joint movement.

[0005] According to one aspect of the present invention, a compensation method for a pitch joint of a surgical instrument is provided, which is applied to a slave controller of a master-slave surgical robot, comprising:

[0006] Receiving in real time the instrument joint instructions transmitted by the master end of the master-slave surgical robot, the instrument joint instructions including instrument yaw midline joint instructions and instrument pitch joint instructions;

[0007] Determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, and the unexpected movement is caused by the force exerted by the yaw joint movement on the pitch joint through the coupling relationship;

[0008] When the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, a target pitch joint instruction is generated based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and the target pitch joint instruction is sent to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0009] According to another aspect of the present invention, there is provided a compensation device for a pitch joint of a surgical instrument, which is applied to a slave controller of a master-slave surgical robot, comprising:

[0010] An instrument joint instruction receiving module, used for receiving in real time the instrument joint instructions transmitted by the master end of the master-slave surgical robot, wherein the instrument joint instructions include instrument yaw midline joint instructions and instrument pitch joint instructions;

[0011] A pitch compensation angle determination module is used to determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, and the unexpected movement is caused by the force applied by the yaw joint movement to the pitch joint through the coupling relationship;

[0012] A target pitch joint instruction generating module is used to generate a target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, and send the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0013] According to another aspect of the present invention, there is provided a slave controller, the slave controller comprising:

[0014] at least one processor; and a memory communicatively coupled to the at least one processor;

[0015] Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the compensation method for the pitch joint of the surgical instrument described in any embodiment of the present invention.

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

[0017] The technical solution of the embodiment of the present invention receives the instrument joint instructions transmitted by the master end of the master-slave surgical robot in real time, the instrument joint instructions include the instrument yaw centerline joint instructions and the instrument pitch joint instructions; determines the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint instructions and the compensation proportional coefficient; when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generates the target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and sends the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint movement. The problem of unexpected movement of the pitch joint caused by the yaw joint movement exerting force on the pitch joint can be solved, the unexpected movement of the pitch joint can be compensated, and the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot can be effectively improved.

[0018] 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

[0019] 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.

[0020] Figure 1 It is a flow chart of a method for compensating a pitch joint of a surgical instrument provided in Embodiment 1 of the present invention;

[0021] Figure 2 It is a schematic structural diagram of a compensation device for a pitch joint of a surgical instrument provided in a second embodiment of the present invention;

[0022] Figure 3 It is a structural diagram of a slave controller provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Before specifically introducing the embodiments of the present invention, the scenario of the present invention is first introduced. The master-slave surgical robot includes a master end and a slave end. The operator operates at the master end (usually a console or an operating handle). These operations include moving the robotic arm, rotating the tool, controlling the force, etc. The sensors (such as position sensors, force sensors, etc.) at the master end capture the operator's operation details and convert them into electrical signals or digital signals. The control system encodes the captured operation signal, converts it into an instruction format that can be recognized and executed by the slave end, and transmits the encoded instruction to the slave end through network communication (such as a wired network, a wireless network, etc.). The slave end receives the control instruction transmitted by the master end, decodes the control instruction, and restores the control instruction to the original operation signal. The controller at the slave end controls the movement of the robotic arm or surgical instrument according to the decoded instruction.

[0026] Embodiment 1

[0027] Figure 1 This is a flow chart of a method for compensating a pitch joint of a surgical instrument provided in the first embodiment of the present invention. This embodiment is applicable to the case of compensating the pitch joint angle of a surgical instrument at the slave end of a master-slave surgical robot. The method can be performed by a compensation device for the pitch joint of a surgical instrument. The compensation device for the pitch joint of a surgical instrument can be implemented in the form of hardware and / or software. The compensation device for the pitch joint of a surgical instrument can be configured in the slave end controller of the master-slave surgical robot. The master-slave surgical robot can be a laparoscopic surgical robot. Figure 1 As shown, the method includes:

[0028] S110, receiving in real time instrument joint instructions transmitted by the master end of the master-slave surgical robot, the instrument joint instructions including instrument yaw midline joint instructions and instrument pitch joint instructions.

[0029] Among them, the instrument joint instruction refers to the control instruction sent by the master end of the master-slave surgical robot to control the joint of the surgical instrument. Specifically, the instrument joint instruction includes parameters such as the angle, speed or position of the instrument joint. The instrument joint instruction includes the instrument yaw midline joint instruction and the instrument pitch joint instruction. The instrument yaw midline joint instruction controls the left and right movement of the yaw joint, and the instrument pitch joint instruction is used to control the up and down movement of the pitch joint. It can be understood that according to the mechanical structure and transmission relationship of the yaw joint (including the left yaw joint and the right yaw joint), the force generated by the yaw joint wire of the surgical robot surgical instrument is affected by the yaw joint movement speed and clamping force. Therefore, the force generated by the yaw joint wire will directly affect the amplitude of the unexpected movement of the pitch joint.

[0030] In this embodiment, when the operator performs a surgical operation at the master end, the master end of the master-slave surgical robot sends instrument joint instructions to the slave end in real time, and the slave end controller receives the instrument joint instructions. The master end may be the operator's console, and the slave end may be the robotic arm where the surgical instrument is located.

[0031] S120, determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient.

[0032] The pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, which is caused by the force exerted by the yaw joint movement on the pitch joint through the coupling relationship. It can be understood that by compensating for the unexpected movement of the pitch joint by the pitch compensation angle, the influence of the unexpected movement of the yaw joint movement on the pitch joint can be eliminated or reduced.

[0033] In this embodiment, in order to correct the influence of the yaw joint movement on the pitch joint to produce unexpected movement, the pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint instruction and the compensation proportional coefficient. The pitch compensation angle refers to the angle value calculated and added to the original instruction of the pitch joint in order to eliminate or reduce the influence of the yaw joint movement on the pitch joint to produce unexpected movement.

[0034] Among them, the compensation proportional coefficient is a parameter used to adjust the pitch compensation angle. It determines how the system should adjust the pitch joint instructions to eliminate or reduce the impact of unexpected motion under given conditions. It is understandable that if the compensation proportional coefficient is set too large, it may cause the system to over-compensate, produce unnecessary vibration or instability; if the compensation proportional coefficient is set too small, it may not be able to effectively eliminate the impact of unexpected motion, resulting in reduced system accuracy. In practical applications, the compensation proportional coefficient usually needs to be determined through experiments and debugging, and is not limited here.

[0035] On the basis of the above embodiment, optionally, the pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint instruction and the compensation proportional coefficient, including: determining the motion data of the yaw centerline based on the instrument yaw centerline joint instruction of the previous cycle and the instrument yaw centerline joint instruction of the current cycle; the motion data includes the movement speed and movement direction of the yaw centerline; determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the motion data of the yaw centerline and the compensation proportional coefficient.

[0036] In this embodiment, the angle change can be determined based on the instrument joint angle in the instrument yaw midline joint instruction of the previous cycle and the instrument joint angle in the instrument yaw midline joint instruction of the current cycle; further, the movement speed is determined according to the angle change and the time interval between the two cycles. For example, if the instrument joint angle is expressed in radians, the movement speed can be approximated as:

[0037] ;

[0038] Where V represents the speed of movement, Indicates the current cycle angle, represents the angle of the previous cycle, is the time interval between two cycles.

[0039] The compensation proportional coefficient is a predefined coefficient used to adjust the angle of pitch compensation to adapt to different operating conditions or performance requirements. The compensation proportional coefficient can be determined based on experience, system model or experimental data, and is not limited here.

[0040] In this embodiment, the pitch compensation angle of the current cycle can be calculated based on the pitch compensation angle of the previous cycle, the motion data of the yaw centerline and the compensation ratio coefficient. Exemplary: the pitch compensation angle calculation formula of the current cycle is as follows:

[0041] ;

[0042] in, Indicates the pitch compensation angle of the current cycle, Indicates the pitch compensation angle of the previous cycle, Indicates the motion data of the deflection centerline, the motion data includes the motion speed and motion direction, Indicates the compensation proportional coefficient.

[0043] This embodiment can adjust the pitch compensation angle according to the movement speed of the yaw centerline, thereby achieving more dynamic or more precise control.

[0044] S130. When the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, a target pitch joint instruction is generated based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and the target pitch joint instruction is sent to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0045] Among them, the maximum compensation angle of the current cycle is the maximum compensation angle in the direction of motion of the yaw centerline of the current cycle. It can be understood that if the pitch compensation angle of the current cycle exceeds the maximum compensation angle of the current cycle, it is impossible to compensate with the pitch compensation angle of the current cycle. In this embodiment, the pitch compensation angle of the current cycle is compared with the maximum compensation angle of the current cycle. If the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, the pitch compensation angle of the current cycle is added to the original instrument pitch joint instruction to generate a target pitch joint instruction. Optionally, the original instrument pitch joint instruction can also be adjusted according to a specific compensation strategy to obtain a target pitch joint instruction. Further, the generated target pitch joint instruction is sent to the pitch joint motor, and the pitch joint motor drives the pitch joint to perform corresponding movements according to the received instructions, thereby achieving precise control of the surgical instrument. Among them, the target instruction will be used to guide the pitch joint motor to perform precise movements to eliminate the influence of the yaw joint movement on the pitch joint, and ensure that the surgical instrument can move according to the operator's intention.

[0046] On the basis of the above embodiment, optionally, the instrument yaw centerline joint instruction includes a clamping force, and the determination of the maximum compensation angle of the current cycle includes: determining the maximum compensation angle of the pitch joint producing unexpected motion based on the movement speed of the yaw centerline, the clamping force and the gain coefficient; wherein the gain coefficient is obtained by fitting a compensation model of the movement speed of the instrument yaw centerline in a test phase and the clamping force and the unexpected motion amplitude of the pitch joint; and determining the maximum compensation angle of the current cycle based on the movement direction of the yaw centerline and the maximum compensation angle of the pitch joint producing unexpected motion.

[0047] During the testing phase, a large amount of data on the movement speed, clamping force of the yaw centerline joint and the corresponding unexpected movement amplitude of the pitch joint are collected. These data are used to fit a compensation model that can describe the relationship between the yaw centerline movement speed, clamping force and the unexpected movement amplitude of the pitch joint. During the fitting process, one or more gain coefficients (which may be a multidimensional vector or matrix) are obtained, which reflect the degree of influence of different input parameters on the unexpected movement amplitude. Among them, the gain coefficients are the direct result of model fitting, which map the movement speed and clamping force of the yaw centerline to the unexpected movement amplitude of the pitch joint. Specifically, the gain coefficients include the yaw centerline movement speed gain coefficient and the clamping force gain coefficient.

[0048] In this embodiment, the movement speed and clamping force of the yaw centerline are obtained in real time, the maximum compensation angle is determined according to the movement speed, clamping force and gain coefficient of the yaw centerline, and the maximum compensation angle of the current cycle is determined based on the movement direction of the yaw centerline and the maximum compensation angle of the pitch joint that produces unexpected movement. The maximum compensation angle is used as the upper limit of the compensation angle.

[0049] Exemplarily, the maximum compensation angle calculation formula is:

[0050] ;

[0051] in, Indicates the maximum compensation angle, represents the motion speed gain coefficient, represents the clamping force gain coefficient, is the speed of the pendulum centerline, is the clamping force.

[0052] The calculation formula for the maximum compensation angle of the current cycle is as follows:

[0053] ;

[0054] in, Indicates the maximum compensation angle of the current cycle, Indicates the maximum compensation angle of the pitch joint that produces unexpected motion. Indicates the direction of movement of the pendulum centerline.

[0055] Based on the above embodiment, optionally, the method also includes: determining an offset based on the pitch joint command of the instrument in the current cycle and an offset model; wherein the offset model is obtained by fitting the pitch joint angle and the offset in the test phase; and updating the maximum compensation angle of the pitch joint to produce unexpected movement based on the offset.

[0056] During the test phase, record the offsets at different pitch joint angles. This data may come from multiple experiments or measurements in actual operation. Use the offsets at different pitch joint angles to fit a bias model that can describe the relationship between the pitch joint angle and the offset. The bias model may be a polynomial, linear equation, lookup table, or a more complex machine learning model.

[0057] Specifically, the bias model can be:

[0058] ;

[0059] in, is the offset, is the pitch joint angle, , and is an unknown parameter to be determined through fitting.

[0060] In this embodiment, according to the pitch joint command of the current cycle, the corresponding offset is calculated using the fitted offset model. It is understandable that the offset represents the amount that needs to be additionally adjusted in order to accurately reach the target pitch angle to compensate for errors within the system or external interference. Further, the maximum compensation angle of the pitch joint that produces unexpected motion is updated based on the offset.

[0061] Specifically, the offset can be used as a correction term and added to the maximum compensation angle previously calculated based on the yaw centerline motion speed, the clamping force and the gain coefficient. In this way, the updated maximum compensation angle will more accurately reflect the system dynamics under current conditions.

[0062] Exemplarily, the updated maximum compensation angle calculation formula is:

[0063] ;

[0064] in, Indicates the offset.

[0065] In some embodiments, optionally, the method further includes: comparing the pitch compensation angle of the current period with the maximum compensation angle of the current period; if the pitch compensation angle of the current period is greater than the maximum compensation angle of the current period, then using the maximum compensation angle of the current period as the pitch compensation angle of the current period.

[0066] In this embodiment, the pitch compensation angle of the current cycle is compared with the maximum compensation angle of the current cycle. If the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, the pitch compensation angle of the current cycle can be used directly; if the pitch compensation angle of the current cycle is greater than the maximum compensation angle of the current cycle, the maximum compensation angle is used as the pitch compensation angle of the current cycle.

[0067] The technical solution of this embodiment receives the instrument joint instructions transmitted by the master end of the master-slave surgical robot in real time, and the instrument joint instructions include the instrument yaw centerline joint instructions and the instrument pitch joint instructions; determines the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint instructions and the compensation proportional coefficient; when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generates the target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and sends the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint movement. The problem of unexpected movement of the pitch joint caused by the yaw joint movement exerting force on the pitch joint can be solved, the unexpected movement of the pitch joint can be compensated, and the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot can be effectively improved.

[0068] Embodiment 2

[0069] Figure 2 Schematic diagram of the structure of a compensation device for a pitch joint of a surgical instrument provided in the second embodiment of the present invention. Figure 2 As shown, the device is applied to a slave controller of a master-slave surgical robot, comprising:

[0070] An instrument joint instruction receiving module 210 is used to receive in real time an instrument joint instruction transmitted by the master end of the master-slave surgical robot, wherein the instrument joint instruction includes an instrument yaw midline joint instruction and an instrument pitch joint instruction;

[0071] A pitch compensation angle determination module 220 is used to determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, and the unexpected movement is caused by the force applied by the yaw joint movement to the pitch joint through the coupling relationship;

[0072] The target pitch joint instruction generating module 230 is used to generate a target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, and send the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0073] The technical solution of this embodiment receives the instrument joint instructions transmitted by the master end of the master-slave surgical robot in real time, and the instrument joint instructions include the instrument yaw centerline joint instructions and the instrument pitch joint instructions; determines the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint instructions and the compensation proportional coefficient; when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generates the target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and sends the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint movement. The problem of unexpected movement of the pitch joint caused by the yaw joint movement exerting force on the pitch joint can be solved, the unexpected movement of the pitch joint can be compensated, and the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot can be effectively improved.

[0074] Based on the above embodiment, optionally, the pitch compensation angle determination module 220 is used to determine the motion data of the yaw centerline based on the instrument yaw centerline joint command of the previous cycle and the instrument yaw centerline joint command of the current cycle; the motion data includes the movement speed and movement direction of the yaw centerline; the pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the motion data of the yaw centerline and the compensation proportional coefficient.

[0075] On the basis of the above embodiment, optionally, the instrument yaw centerline joint instruction also includes a clamping force, and the device also includes a maximum compensation angle determination module for the current cycle, which is used to determine the maximum compensation angle of the pitch joint that produces unexpected movement based on the movement speed of the yaw centerline, the clamping force and the gain coefficient; wherein the gain coefficient is obtained by fitting the movement speed of the instrument yaw centerline in the test phase and the compensation model of the clamping force and the unexpected movement amplitude of the pitch joint; the maximum compensation angle of the current cycle is determined based on the movement direction of the yaw centerline and the maximum compensation angle of the pitch joint that produces unexpected movement.

[0076] Based on the above embodiment, optionally, the device also includes a maximum compensation angle update module, which is used to determine the offset based on the instrument pitch joint command and offset model of the current cycle; wherein the offset model is obtained by fitting the pitch joint angle and offset in the test phase; and the maximum compensation angle of the pitch joint to produce unexpected movement is updated based on the offset.

[0077] Based on the above embodiment, optionally, the bias model is:

[0078] ;

[0079] in, is the offset, is the pitch joint angle, , and is an unknown parameter.

[0080] Based on the above embodiment, optionally, the gain coefficient includes a yaw midline motion speed gain coefficient and a clamping force gain coefficient.

[0081] Based on the above embodiment, optionally, the device also includes a pitch compensation angle detection module, which is used to compare the pitch compensation angle of the current period with the maximum compensation angle of the current period. If the pitch compensation angle of the current period is greater than the maximum compensation angle of the current period, the maximum compensation angle of the current period is used as the pitch compensation angle of the current period.

[0082] The compensation device for the pitch joint of a surgical instrument provided in an embodiment of the present invention can execute the compensation method for the pitch joint of a surgical instrument provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0083] Embodiment 3

[0084] Figure 3 1 is a schematic diagram of the structure of a slave controller provided in Embodiment 3 of the present invention. The slave controller 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The slave 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.

[0085] like Figure 3 As shown, the slave 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 RAM13, various programs and data required for the operation of the slave controller 10 can also be stored. The processor 11, ROM12 and RAM13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0086] A number of components in the slave 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 slave controller 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0087] The processor 11 may be a variety of general and / or dedicated 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 compensation method for a pitch joint of a surgical instrument.

[0088] In some embodiments, the compensation method for the pitch joint of the surgical instrument 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 slave 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 compensation method for the pitch joint of the surgical instrument described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the compensation method for the pitch joint of the surgical instrument by any other appropriate means (for example, by means of firmware).

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

[0090] The computer program for implementing the compensation method of the pitch joint of the surgical instrument of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the 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 can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0091] Embodiment 4

[0092] Embodiment 4 of the present invention further provides a computer-readable storage medium, the computer-readable storage medium storing computer instructions, the computer instructions being used to cause a processor to execute a method for compensating a pitch joint of a surgical instrument, the method being applied to a slave controller of a master-slave surgical robot, comprising:

[0093] Receive in real time the instrument joint instructions transmitted by the master end of the master-slave surgical robot, the instrument joint instructions including the instrument yaw midline joint instructions and the instrument pitch joint instructions;

[0094] The pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, which is caused by the force exerted by the yaw joint movement on the pitch joint through the coupling relationship;

[0095] When the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, a target pitch joint instruction is generated based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and the target pitch joint instruction is sent to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0096] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] To provide interaction with a user, the systems and techniques described herein may be implemented on a slave 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 slave 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).

[0098] 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.

[0099] 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.

[0100] 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.

[0101] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for compensating a pitch joint of a surgical instrument, characterized in that: The slave controller used in the master-slave surgical robot includes: Receiving in real time the instrument joint instructions transmitted by the master end of the master-slave surgical robot, the instrument joint instructions including instrument yaw midline joint instructions and instrument pitch joint instructions; Determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, and the unexpected movement is caused by the force exerted by the yaw joint movement on the pitch joint through the coupling relationship; When the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, a target pitch joint instruction is generated based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction, and the target pitch joint instruction is sent to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

2. The method according to claim 1, characterized in that The step of determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient includes: Determine the motion data of the yaw centerline based on the instrument yaw centerline joint instruction of the previous cycle and the instrument yaw centerline joint instruction of the current cycle; the motion data includes the motion speed and motion direction of the yaw centerline; The pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the motion data of the yaw centerline and the compensation proportional coefficient.

3. The method according to claim 2, characterized in that The instrument deflection midline joint instruction also includes a clamping force, and the method for determining the maximum compensation angle of the current cycle includes: Determine the maximum compensation angle of the pitch joint for unexpected motion based on the motion speed of the yaw centerline, the clamping force and the gain coefficient; wherein the gain coefficient is obtained by fitting the compensation model of the motion speed of the instrument yaw centerline and the clamping force and the unexpected motion amplitude of the pitch joint during the test phase; The maximum compensation angle of the current cycle is determined based on the movement direction of the yaw centerline and the maximum compensation angle of the pitch joint that produces unexpected movement.

4. The method according to claim 3, characterized in that The method further comprises: Determine the offset based on the pitch joint command of the instrument in the current cycle and the offset model; wherein the offset model is obtained by fitting the pitch joint angle and the offset in the test phase; The maximum compensation angle of the pitch joint that generates unexpected motion is updated based on the offset.

5. The method according to claim 4, characterized in that The bias model is: ； in, is the offset, is the pitch joint angle, , and is an unknown parameter.

6. The method according to claim 3, characterized in that The gain coefficients include a yaw midline motion speed gain coefficient and a clamping force gain coefficient.

7. The method according to claim 1, characterized in that The method further comprises: The pitch compensation angle of the current cycle is compared with the maximum compensation angle of the current cycle. If the pitch compensation angle of the current cycle is greater than the maximum compensation angle of the current cycle, the maximum compensation angle of the current cycle is used as the pitch compensation angle of the current cycle.

8. A compensation device for a pitch joint of a surgical instrument, characterized in that: The slave controller used in the master-slave surgical robot includes: An instrument joint instruction receiving module, used for receiving in real time the instrument joint instructions transmitted by the master end of the master-slave surgical robot, wherein the instrument joint instructions include instrument yaw midline joint instructions and instrument pitch joint instructions; A pitch compensation angle determination module is used to determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint instruction and the compensation proportional coefficient; the pitch compensation angle is used to compensate for the unexpected movement of the pitch joint, and the unexpected movement is caused by the force applied by the yaw joint movement to the pitch joint through the coupling relationship; A target pitch joint instruction generating module is used to generate a target pitch joint instruction based on the pitch compensation angle of the current cycle and the instrument pitch joint instruction when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, and send the target pitch joint instruction to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

9. A slave controller, characterized in that: The slave controller comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the compensation method for the pitch joint of a surgical instrument as described in any one of claims 1-7.

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 compensation method for the pitch joint of a surgical instrument according to any one of claims 1 to 7 when executed.

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