Compensation Method, Device and Slave Controller for Pitch Joint of Surgical Instrument

Abstract

The present invention discloses a compensation method, device and slave controller for the pitching joint of a surgical instrument, relating to the field of industrial control technology. The method is applied to the slave controller of a master-slave surgical robot and includes: receiving in real time the instrument joint commands transmitted by the master end of the master-slave surgical robot, where the instrument joint commands include the instrument yaw midline joint command and the instrument pitching joint command; determining the pitching compensation angle of the current cycle based on the pitching compensation angle of the previous cycle, the instrument yaw midline joint command and the compensation ratio coefficient; in the case where the pitching compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generating a target pitching joint command based on the pitching compensation angle of the current cycle and the instrument pitching joint command, and sending it to the pitching joint motor to drive the pitching joint to move. The present invention can compensate for the unexpected movement generated by the pitching joint, effectively improving the position accuracy of the pitching joint of the surgical instrument of the master-slave surgical robot.

Description

Technical Field

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

[0002] At present, laparoscopic surgical robots adopt master-slave control, that is, a mapping relationship is established between the master end and the slave end, and corresponding control methods are designed according to this mapping relationship to achieve complete control of the slave end by the master 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 structures of the pitch joint and the yaw joint, there is a coupling relationship between the yaw joint and the pitch joint. This coupling relationship causes that when the yaw joint moves, the wire of the yaw joint will exert a force on the wire of the pitch joint, thereby causing the pitch joint to have an unexpected movement. Therefore, the pitch joint may fail to move to the commanded position, and when the operator operates the yaw joint of the surgical instrument during the operation, the pitch joint will have a movement that does not conform to the operator's subjective expectation. Summary of the Invention

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

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

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

[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 command and the compensation ratio 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 on the pitch joint through the coupling relationship by the movement of the yaw joint;

[0008] When the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generating a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command, and sending the target pitch joint command 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 the pitch joint of a surgical instrument, which is applied to the slave controller of a master-slave surgical robot and includes:

[0010] An instrument joint command receiving module, configured to receive in real time an instrument joint command transmitted by a master end of the master-slave surgical robot, where the instrument joint command includes an instrument yaw centerline joint command and an instrument pitch joint command;

[0011] A pitch compensation angle determination module, configured to determine a pitch compensation angle of the current cycle based on a pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and a compensation ratio coefficient; the pitch compensation angle is used to compensate for an unexpected movement of a pitch joint, and the unexpected movement is caused by a force applied to the pitch joint through a coupling relationship due to the movement of a yaw joint;

[0012] A target pitch joint command generation module, configured to generate a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command and send the target pitch joint command to a pitch joint motor to enable the pitch joint motor to drive the pitch joint to move when the pitch compensation angle of the current cycle is less than or equal to a maximum compensation angle of the current cycle.

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

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

[0015] Wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the compensation method for a pitch joint of a surgical instrument according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for enabling a processor to implement the compensation method for a pitch joint of a surgical instrument according to any embodiment of the present invention when executed.

[0017] In the technical solution of the embodiment of the present invention, by receiving in real time the instrument joint commands transmitted from the master end of the master-slave surgical robot, the instrument joint commands include the instrument yaw centerline joint command and the instrument pitch joint command; determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation ratio coefficient; in the case where the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generating a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command, and sending the target pitch joint command to the pitch joint motor so that the pitch joint motor drives the pitch joint to move. It can solve the problem that the non-expected movement of the pitch joint is caused by the force exerted on the pitch joint by the movement of the yaw joint, compensate for the non-expected movement of the pitch joint, and effectively improve the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot.

[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 is a flowchart of a compensation method for a pitch joint of a surgical instrument provided in Embodiment 1 of the present invention;

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

[0022] Figure 3 is a schematic structural diagram of a slave end controller provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units 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 will be introduced first. 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), and these operations include moving the robotic arm, rotating the tool, controlling the force, etc. The sensors at the master end (such as position sensors, force sensors, etc.) capture the operation details of the operator and convert them into electrical signals or digital signals. The control system encodes the captured operation signals, converts them into an instruction format that can be recognized and executed by the slave end, and transmits the encoded instructions to the slave end through network communication (such as wired network, wireless network, etc.). The slave end receives the control instructions transmitted from the master end, decodes the control instructions, and restores the control instructions to the original operation signals. The controller at the slave end controls the robotic arm or surgical instrument to move according to the decoded instructions.

[0026] Embodiment 1

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

[0028] S110. Real-time receive the instrument joint instructions transmitted from the master end of the master-slave surgical robot, where the instrument joint instructions include instrument yaw midline joint instructions and instrument pitch joint instructions.

[0029] Among them, the instrument joint command refers to the control command sent by the master end of the master-slave surgical robot to control the joints of the surgical instrument. Specifically, the instrument joint command includes parameters such as the angle, speed, or position of the instrument joint. The instrument joint command includes the instrument yaw centerline joint command and the instrument pitch joint command. The instrument yaw centerline joint command controls the left and right movement of the yaw joint, and the instrument pitch joint command 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 wire of the yaw joint of the surgical instrument of the surgical robot is affected by the movement speed and clamping force of the yaw joint. 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 the instrument joint command to the slave end in real time, and the slave end controller receives the instrument joint command. Among them, the master end can be the console of the operator, and the slave end can be the robotic arm where the surgical instrument is located.

[0031] S120. Determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation ratio coefficient.

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

[0033] In this embodiment, in order to correct the influence of the yaw joint movement on the unexpected movement of the pitch joint, 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 command, and the compensation ratio coefficient. Among them, the pitch compensation angle refers to the angle value added to the original command of the pitch joint in order to eliminate or reduce the influence of the yaw joint movement on the unexpected movement of the pitch joint.

[0034] Among them, the compensation ratio coefficient is a parameter used to adjust the magnitude of the pitch compensation angle. It determines how the system should adjust the command of the pitch joint under given conditions to eliminate or reduce the influence of the unexpected movement. It can be understood that if the compensation ratio coefficient is set too large, it may cause the system to overcompensate, resulting in unnecessary vibrations or instability; if the compensation ratio coefficient is set too small, it may not effectively eliminate the influence of the unexpected movement, leading to a decrease in system accuracy. In practical applications, the compensation ratio coefficient usually needs to be determined through experiments and debugging, and is not limited here.

[0035] Based on the above embodiments, optionally, determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation ratio coefficient includes: determining 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 motion speed and motion 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 ratio coefficient.

[0036] In this embodiment, the angle change amount can be determined based on the instrument joint angle in the instrument yaw centerline joint command of the previous cycle and the instrument joint angle in the instrument yaw centerline joint command of the current cycle; further, the motion speed is determined according to the angle change amount and the time interval between two cycles. Exemplarily, if the instrument joint angle is represented in radians, then the motion speed can be approximated as:

[0037] ;

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

[0039] Among them, the compensation ratio coefficient is a predefined coefficient used to adjust the amount of pitch compensation angle to adapt to different operating conditions or performance requirements. The compensation ratio coefficient can be determined according to experience, system models, or experimental data, which 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. Exemplarily: The calculation formula for the pitch compensation angle of the current cycle is as follows:

[0041] ;

[0042] where represents the pitch compensation angle of the current cycle, represents the pitch compensation angle of the previous cycle, represents the motion data of the yaw centerline, and the motion data includes motion speed and motion direction, represents the compensation ratio coefficient.

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

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

[0045] Among them, the maximum compensation angle in the current cycle is the maximum compensation angle in the movement direction of the yaw center line in the current cycle. It can be understood that if the pitch compensation angle in the current cycle exceeds the maximum compensation angle in the current cycle, compensation cannot be performed with the pitch compensation angle in the current cycle. In this embodiment, the pitch compensation angle in the current cycle is compared with the maximum compensation angle in the current cycle. If the pitch compensation angle in the current cycle is less than or equal to the maximum compensation angle in the current cycle, the pitch compensation angle in the current cycle is added to the original instrument pitch joint command to generate a target pitch joint command. Optionally, the original instrument pitch joint command can also be adjusted according to a specific compensation strategy to obtain a target pitch joint command. Further, the generated target pitch joint command is sent to the pitch joint motor, and the pitch joint motor drives the pitch joint to perform corresponding movements according to the received command, thereby realizing precise control of the surgical instrument. Among them, the target command 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 center line joint command includes the clamping force. The determination of the maximum compensation angle in the current cycle includes: determining the maximum compensation angle for the pitch joint to generate an unexpected movement based on the movement speed of the yaw center line, 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 center line and the clamping force and the amplitude of the unexpected movement of the pitch joint in the fitting test stage; determining the maximum compensation angle in the current cycle based on the movement direction of the yaw center line and the maximum compensation angle for the pitch joint to generate an unexpected movement.

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

[0048] In this embodiment, the movement speed and clamping force of the yaw center are obtained in real time, and the maximum compensation angle is determined based on the movement speed of the yaw center, the clamping force, and the gain coefficients obtained by fitting. Based on the movement direction of the yaw center and the maximum compensation angle of the pitching joint generating unexpected movement, the maximum compensation angle of the current cycle is determined. Among them, the maximum compensation angle is used as the upper limit value of the compensation angle.

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

[0050] ;

[0051] Among them, represents the maximum compensation angle, represents the movement speed gain coefficient, represents the clamping force gain coefficient, is the movement speed of the yaw center, is the clamping force.

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

[0053] ;

[0054] Among them, represents the maximum compensation angle of the current cycle, represents the maximum compensation angle of the pitching joint generating unexpected movement, represents the movement direction of the yaw center.

[0055] Based on the above embodiments, optionally, the method further includes: determining an offset amount based on the instrument pitching joint command and the offset model of the current cycle; wherein, the offset model is obtained by fitting based on the pitching joint angle and the offset amount during the testing phase; updating the maximum compensation angle of the pitching joint generating unexpected movement based on the offset amount.

[0056] During the testing phase, record the offset values at different pitch joint angles. These data may come from multiple experiments or measurements during actual operations. Use the offset values at different pitch joint angles to fit an offset model that can describe the relationship between the pitch joint angle and the offset value. The offset model may be a polynomial, a linear equation, a lookup table, or a more complex machine learning model.

[0057] Specifically, the offset model can be:

[0058] ;

[0059] where, is the said offset value, is the pitch joint angle, , and are unknown parameters to be determined by fitting.

[0060] In this embodiment, according to the instrument pitch joint command of the current cycle, use the fitted offset model to calculate the corresponding offset value. It can be understood that this offset value represents the amount that needs to be additionally adjusted to accurately reach the target pitch angle to compensate for internal errors or external interferences in the system. Further, based on this offset value, update the maximum compensation angle for the pitch joint to generate unexpected movements.

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

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

[0063] ;

[0064] where, represents the offset value.

[0065] In some embodiments, optionally, the method further includes: comparing the pitch compensation angle of the current cycle 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, then use the maximum compensation angle of the current cycle as the pitch compensation angle of the current cycle.

[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 directly used; 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 is to receive in real time the instrument joint commands transmitted by the master end of the master-slave surgical robot. The instrument joint commands include the instrument yaw centerline joint command and the instrument pitch joint command; determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation ratio coefficient; when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generate a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command, and send the target pitch joint command to the pitch joint motor so that the pitch joint motor drives the pitch joint to move. It can solve the problem that the non-expected movement of the pitch joint is caused by the force exerted on the pitch joint due to the movement of the yaw joint, compensate for the non-expected movement of the pitch joint, and effectively improve the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot.

[0068] Embodiment 2

[0069] Figure 2 It is a schematic structural diagram of a compensation device for the pitch joint of a surgical instrument provided in Embodiment 2 of the present invention. As Figure 2 shown, this device is applied to the slave controller of the master-slave surgical robot and includes:

[0070] An instrument joint command receiving module 210, configured to receive in real time the instrument joint commands transmitted by the master end of the master-slave surgical robot, where the instrument joint commands include an instrument yaw centerline joint command and an instrument pitch joint command;

[0071] A pitch compensation angle determining module 220, configured to determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation ratio coefficient; the pitch compensation angle is used to compensate for the non-expected movement of the pitch joint, and the non-expected movement is generated by the force exerted on the pitch joint through the coupling relationship due to the movement of the yaw joint;

[0072] A target pitch joint command generating module 230, configured to generate a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command 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 command to the pitch joint motor so that the pitch joint motor drives the pitch joint to move.

[0073] In the technical solution of this embodiment, by receiving in real time the instrument joint commands transmitted from the master end of the master-slave surgical robot, the instrument joint commands include the instrument yaw midline joint command and the instrument pitch joint command; determining the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the instrument yaw midline joint command, and the compensation ratio coefficient; when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generating a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command, and sending the target pitch joint command to the pitch joint motor so that the pitch joint motor drives the pitch joint to move. It can solve the problem that the unexpected movement of the pitch joint is caused by the force exerted on the pitch joint due to the movement of the yaw joint, compensate for the unexpected movement of the pitch joint, and effectively improve the position accuracy of the pitch joint of the surgical instrument of the master-slave surgical robot.

[0074] On the basis of the above embodiment, optionally, the pitch compensation angle determination module 220 is configured to determine the motion data of the yaw midline based on the instrument yaw midline joint command of the previous cycle and the instrument yaw midline joint command of the current cycle; the motion data includes the motion speed and motion direction of the yaw midline; 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 midline, and the compensation ratio coefficient.

[0075] On the basis of the above embodiment, optionally, the instrument yaw midline joint command further includes the clamping force, and the device further includes a maximum compensation angle determination module for the current cycle, configured to determine the maximum compensation angle of the unexpected movement of the pitch joint based on the motion speed of the yaw midline, 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 midline and the clamping force and the amplitude of the unexpected movement of the pitch joint in the fitting test stage; determining the maximum compensation angle of the current cycle based on the motion direction of the yaw midline and the maximum compensation angle of the unexpected movement of the pitch joint.

[0076] On the basis of the above embodiment, optionally, the device further includes a maximum compensation angle update module, configured to determine the offset amount based on the instrument pitch joint command of the current cycle and the offset model; wherein, the offset model is obtained by fitting the pitch joint angle and the offset amount in the test stage; updating the maximum compensation angle of the unexpected movement of the pitch joint based on the offset amount.

[0077] On the basis of the above embodiment, optionally, the offset model is:

[0078] ;

[0079] wherein, is the offset amount, is the pitch joint angle, , and are unknown parameters.

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

[0081] Based on the above embodiments, optionally, the device further includes a pitch compensation angle detection module, configured to compare the pitch compensation angle of the current cycle 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, then the maximum compensation angle of the current cycle is used as the pitch compensation angle of the current cycle.

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

[0083] Embodiment III

[0084] Figure 3 is a schematic structural diagram of a slave controller provided by Embodiment III of the present invention. The slave controller 10 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 slave controller can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0085] As Figure 3 shown, the slave controller 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute 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 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the slave controller 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0086] Multiple 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 disc, 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 can be various general-purpose and / or special-purpose 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 suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the compensation method for the pitching joint of the surgical instrument.

[0088] In some embodiments, the compensation method for the pitching joint of the surgical instrument can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 pitching joint of the surgical instrument described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the compensation method for the pitching joint of the surgical instrument in any other suitable manner (e.g., by means of firmware).

[0089] The various embodiments of the systems and technologies 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), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] A computer program for implementing the compensation method of the pitching 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 devices, so that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs can be executed entirely on the machine, partially on the machine, partially on the machine as an independent software package 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 stores computer instructions for causing a processor to execute a compensation method for the pitching joint of a surgical instrument. This method is applied to the slave controller of a master-slave surgical robot and includes:

[0093] Receiving in real time the instrument joint instructions transmitted from the master end of the master-slave surgical robot. The instrument joint instructions include the instrument yaw midline joint instructions and the instrument pitching joint instructions;

[0094] Determining the pitching compensation angle of the current cycle based on the pitching compensation angle of the previous cycle, the instrument yaw midline joint instructions, and the compensation ratio coefficient; the pitching compensation angle is used to compensate for the unexpected movement of the pitching joint, and the unexpected movement is generated by the force exerted on the pitching joint through the coupling relationship due to the movement of the yaw joint;

[0095] When the pitching compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle, generating a target pitching joint instruction based on the pitching compensation angle of the current cycle and the instrument pitching joint instruction, and sending the target pitching joint instruction to the pitching joint motor to drive the pitching joint to move by the pitching joint motor.

[0096] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a slave controller that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the slave controller. Other kinds of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0098] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of the communication network 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 far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0100] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0101] The above specific embodiments do not constitute a limitation on the protection scope of the present 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 principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A compensation device for the pitching joint of a surgical instrument, characterized in that, The slave controller applied to the master-slave surgical robot includes: An instrument joint command receiving module, configured to receive in real time the instrument joint commands transmitted by the master end of the master-slave surgical robot, where the instrument joint commands include instrument yaw midline joint commands and instrument pitch joint commands; A pitch compensation angle determination module, configured to determine the motion data of the yaw midline based on the instrument yaw midline joint command of the previous cycle and the instrument yaw midline joint command of the current cycle; determine the pitch compensation angle of the current cycle based on the pitch compensation angle of the previous cycle, the motion data of the yaw midline, and the compensation proportionality coefficient; the pitch compensation angle is used to compensate for the unexpected motion of the pitch joint, and the unexpected motion is generated by the force exerted on the pitch joint through the coupling relationship due to the motion of the yaw joint; A target pitch joint command generation module, configured to generate a target pitch joint command based on the pitch compensation angle of the current cycle and the instrument pitch joint command and send the target pitch joint command to the pitch joint motor to drive the pitch joint to move when the pitch compensation angle of the current cycle is less than or equal to the maximum compensation angle of the current cycle.

2. The device according to claim 1, wherein The instrument yaw midline joint command further includes a clamping force, and the motion data includes the motion speed and motion direction of the yaw midline; the device further includes a maximum compensation angle determination module for the current cycle, configured to: Determine the maximum compensation angle for the unexpected motion of the pitch joint based on the motion speed of the yaw midline, the clamping force, and the gain coefficient; where the gain coefficient is obtained by fitting the compensation model of the motion speed of the instrument yaw midline and the clamping force and the amplitude of the unexpected motion of the pitch joint in the fitting test stage; Determine the maximum compensation angle of the current cycle based on the motion direction of the yaw midline and the maximum compensation angle for the unexpected motion of the pitch joint.

3. The device according to claim 2, wherein The device further includes a maximum compensation angle update module, configured to: Determine the offset based on the instrument pitch joint command of the current cycle and the offset model; where the offset model is obtained by fitting the pitch joint angle and the offset in the test stage; Update the maximum compensation angle for the unexpected motion of the pitch joint based on the offset.

4. The device according to claim 2, wherein The gain coefficient includes a yaw midline motion speed gain coefficient and a clamping force gain coefficient.

5. The device according to claim 1, characterized in that, The device further includes a pitch compensation angle detection module, configured to: Compare the pitch compensation angle of the current cycle with the maximum compensation angle of the current cycle, and if the pitch compensation angle of the current cycle is greater than the maximum compensation angle of the current cycle, use the maximum compensation angle of the current cycle as the pitch compensation angle of the current cycle.

6. A slave controller, characterized in that, The slave controller includes: At least one processor; and a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the compensation device for the pitch joint of the surgical instrument according to any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing, when executed by a processor, the compensation device for the pitching joint of the surgical instrument according to any one of claims 1-5.

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