Compensation method and device for transmission clearance of surgical instrument and slave end controller

Abstract

The invention discloses a compensation method and device for a transmission gap of a surgical instrument and a slave end controller, and relates to the field of robot control. The method comprises the following steps: receiving an instrument joint instruction of at least one instrument joint transmitted by a master end of the master-slave surgical robot; for any instrument joint, the movement direction of the instrument joint is recognized; determining the movement speed of the instrument joint based on the instrument joint instruction of the current period and the instrument joint instruction of the previous period; based on the movement speed, the movement direction and the compensation proportionality coefficient of the instrument joint and the clearance compensation angle of the instrument joint in the previous period, the clearance compensation angle of the instrument joint in the current period is determined; and determining a target instrument joint instruction based on the instrument joint instruction of the current period and the clearance compensation angle of the current period, and sending the target instrument joint instruction to a joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. The position precision of each instrument joint of the surgical instrument can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a method and device for compensating a transmission gap of a surgical instrument and a slave controller. Background Art

[0002] At present, laparoscopic surgical robots use master-slave control, that is, a mapping relationship between the master and the slave is established, and a corresponding control method is designed based on this mapping relationship to achieve full control of the slave by the master. When the slave receives the instruction from the master, the motor drives each joint to move to the instruction position.

[0003] However, there are some mechanical parts between the motor and the instrument joints, and there are transmission gaps between these mechanical parts, such as interface plate gaps, steel wire elastic gaps, instrument seat gaps, etc. The existence of these transmission gaps will cause the joints of the instrument to be unable to move to the specified position. Summary of the invention

[0004] The present invention provides a method and device for compensating a transmission gap of a surgical instrument and a slave controller, so as to solve the problem that the joints of the instrument cannot move to a specified position due to the existence of the transmission gap.

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

[0006] receiving an instrument joint instruction of at least one instrument joint transmitted by a master end of the master-slave surgical robot;

[0007] For any instrument joint, identifying the movement direction of the instrument joint;

[0008] Determining the movement speed of the instrument joint based on the instrument joint command of the current cycle and the instrument joint command of the previous cycle;

[0009] Determining the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation proportional coefficient and the gap compensation angle of the instrument joint in the previous cycle; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint;

[0010] A target instrument joint instruction is determined based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and the target instrument joint instruction is sent to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move.

[0011] According to another aspect of the present invention, there is provided a compensation device for transmission clearance of a surgical instrument, which is applied to a slave controller of a master-slave surgical robot, comprising:

[0012] An instrument joint instruction receiving module, used to receive an instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot;

[0013] A movement direction identification module, used for identifying the movement direction of any instrument joint;

[0014] A movement speed determination module, used to determine the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle;

[0015] A gap compensation angle determination module is used for determining the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation ratio coefficient and the gap compensation angle of the instrument joint in the previous cycle of the target instrument joint instruction; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint;

[0016] The target instrument joint instruction generation module is used to generate the target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and send the target instrument joint instruction to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move.

[0017] According to another aspect of the present invention, there is provided a slave controller, the slave controller comprising:

[0018] at least one processor; and a memory communicatively coupled to the at least one processor;

[0019] 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 method for compensating the transmission gap of the surgical instrument described in any embodiment of the present invention.

[0020] 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 method for compensating the transmission gap of a surgical instrument described in any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention receives the instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot, and the instrument joint instruction includes the instruction angle of the instrument joint; for any instrument joint, identifies the movement direction of the instrument joint; determines the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle; determines the gap compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient and gap compensation angle of the instrument joint in the previous cycle; determines the target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and sends the target instrument joint instruction to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. The problem that the joints of the instrument cannot move to the specified position due to the transmission gap is solved, and the transmission gap between the joints of the surgical instrument and the motor is compensated, which can effectively improve the position accuracy of the joints of the surgical instrument.

[0022] 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

[0023] 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.

[0024] Figure 1 It is a flow chart of a method for compensating a transmission gap of a surgical instrument provided in Embodiment 1 of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a compensation device for transmission clearance of a surgical instrument provided in a second embodiment of the present invention;

[0026] Figure 3 It is a structural diagram of a slave controller provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first motion direction determination threshold", "second motion direction determination threshold" and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Before 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 mechanical arm, rotating the tool, controlling the force, etc. The sensors (such as position sensors, force sensors, etc.) of the master end capture the operation details of the operator and convert them into electrical signals or digital signals. The master end 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. 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 of the slave end controls the movement of each instrument joint of the surgical instrument according to the decoded instruction. Due to the transmission principle of the instrument, when the joints of the surgical instrument move forward, the deviation between the joint command position and the actual position is called the forward clearance; when the joints of the instrument move in the reverse direction, the deviation between the joint command position and the actual position is called the reverse clearance.

[0030] Embodiment 1

[0031] Figure 1This is a flow chart of a method for compensating for a transmission gap of a surgical instrument provided in the first embodiment of the present invention. This embodiment can be applied to compensating for the transmission gap between each instrument joint and the motor of the surgical instrument at the slave end of the master-slave surgical robot so that the instrument joint of the surgical instrument reaches the target position. The method can be executed by a compensation device for the transmission gap of the surgical instrument. The compensation device for the transmission gap of the surgical instrument can be implemented in the form of hardware and / or software. The compensation device for the transmission gap of the surgical instrument can be configured in an electronic device such as a slave end controller of the master-slave surgical robot. It should be noted that the present invention can be applied to all master-slave surgical robots, such as laparoscopic surgical robots. Figure 1 As shown, the method includes:

[0032] S110, receiving an instrument joint instruction of at least one instrument joint transmitted by a master end of the master-slave surgical robot.

[0033] Among them, the instrument joints include but are not limited to vertical positioning joints, horizontal positioning joints, yaw joints, pitch joints, and insertion joints, which are not limited here. In this embodiment, during the operation, the slave controller receives an instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot. Among them, the instrument joint instruction is an instruction to control the movement of the instrument joint of the surgical instrument.

[0034] S120: For any instrument joint, identify the movement direction of the instrument joint.

[0035] It is understandable that the movement direction of the instrument joint is different, and the compensation direction of the transmission gap between the instrument joint and the corresponding motor is different. In this embodiment, for any instrument joint, it is necessary to first identify the movement direction of the instrument joint so as to compensate for the movement direction of the instrument joint. Among them, the movement direction of the instrument joint includes forward and reverse. It should be noted that the positive and reverse directions of the instrument joint are set by those skilled in the art and are not limited here. For example: if the instrument joint is a rotary joint, the clockwise rotation direction can be set as the forward direction, and the counterclockwise rotation direction can be set as the reverse direction.

[0036] On the basis of the above embodiment, optionally, the instrument joint instruction includes the instruction angle of the instrument joint, and the method for identifying the movement direction of the instrument joint includes: obtaining the instruction angle of the instrument joint for n cycles, and determining the average instruction angle based on the instruction angle of the n cycles; wherein n is an integer greater than 1; determining a first instruction angle difference based on the instruction angle of the current cycle and the average instruction angle; determining a second instruction angle difference based on the instruction angle of a target cycle and the average instruction angle; the target cycle is the nth cycle before the current cycle; and determining the movement direction of the instrument joint based on the first instruction angle difference, the second instruction angle difference and a movement direction determination threshold.

[0037] Among them, the command angle is a parameter in the motion control of the instrument joint, which is used to ensure that the instrument joint can accurately move to the specified position or perform a specific action. In this embodiment, for any instrument joint, the command angle of the instrument joint for n cycles is obtained, and the average of the n command angles is calculated to obtain the average command angle; further, the first command angle difference is determined based on the command angle of the current cycle and the average command angle; wherein the first command angle difference refers to the angle difference between the command angle of the current cycle and the average command angle, that is, the angle difference between the command angle of the current cycle and the average command angle. Further, the second command angle difference is determined based on the command angle of the target cycle and the average command angle; wherein the target cycle is the nth cycle before the current cycle. The second command angle difference refers to the angle difference between the average command angle and the command angle of the target cycle, that is, the difference between the average command angle and the command angle of the target cycle. Further, the direction of the instrument joint is determined based on the first command angle difference, the second command angle difference and the motion direction determination threshold to obtain the motion direction of the instrument joint.

[0038] On the basis of the above embodiment, optionally, the movement direction of the instrument joint is determined based on the first instruction angle difference, the second instruction angle difference and the movement direction determination threshold, including: if the first instruction angle difference and the second instruction angle difference are both greater than the first movement direction determination threshold, then the movement direction of the instrument joint is forward; if the first instruction angle difference and the second instruction angle difference are both less than the first movement direction determination threshold, then the movement direction of the instrument joint is reverse.

[0039] The first motion direction determination threshold is a forward determination threshold, and the second motion direction determination threshold is a reverse determination threshold. Specifically, the first motion direction determination threshold and the second motion direction determination threshold are opposite numbers. For example, if the first motion direction determination threshold is , then the second motion direction determination threshold is In this embodiment, the angle of the instrument joint is determined based on the first instruction angle difference, the second instruction angle difference and the motion direction determination threshold. If the first instruction angle difference and the second instruction angle difference are both greater than the first motion direction determination threshold, the motion direction of the instrument joint is forward; if the first instruction angle difference and the second instruction angle difference are both less than the first motion direction determination threshold, the motion direction of the instrument joint is reverse.

[0040] For example, for any instrument joint, the command angles of the instrument joint in n cycles are accumulated and the average command angle is calculated. If the current cycle ( cycle) instruction angle and The difference is greater than the first motion direction determination threshold ,and With the previous Cycle (No. The difference in the command angle of the first motion direction is greater than the first motion direction determination threshold , then the device joint is in positive motion; if the command angle of the current cycle (tth cycle) is less than the second motion direction determination threshold, and Compared with the previous nth cycle ( cycle) is less than the second motion direction determination threshold, the instrument joint is moving in the reverse direction.

[0041] This embodiment can avoid misjudging the operator's shaking as a subjective movement direction by determining the command angle of the current cycle and the command angle of the target cycle respectively.

[0042] S130, determining the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle.

[0043] In this embodiment, the angle change can be determined based on the command angle in the instrument joint instruction of the previous cycle and the command angle in the instrument joint instruction of the current cycle; further, the movement speed of the instrument joint can be determined based on the angle change and the time interval between the two cycles.

[0044] S140. Determine the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation proportional coefficient and the gap compensation angle of the instrument joint in the previous cycle; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint.

[0045] Specifically, the calculation formula for the gap compensation angle of the current cycle is:

[0046] ;

[0047] in, Indicates the gap compensation angle of the current cycle, Indicates the gap compensation angle of the previous cycle; k indicates the compensation proportional coefficient, Indicates the movement speed of the machine joint, Indicates the direction of movement. If the direction of movement is positive, ; If the direction of movement is reverse, It should be noted that the forward and reverse directions of movement are set by those skilled in the art and are not limited here.

[0048] It can be understood that if the current cycle is the first cycle, the gap compensation angle of the previous cycle is 0.

[0049] In some embodiments, the method further comprises: determining a maximum gap compensation angle based on the movement direction of the instrument joint; wherein the maximum gap compensation angle comprises a maximum positive gap compensation angle and a maximum reverse gap compensation angle.

[0050] Specifically, the joints of the surgical instrument can be controlled to move in the forward direction, and the actual movement angles of the instrument joints can be measured. For any instrument joint, the difference between the forward command angle and the corresponding actual movement is calculated as the maximum positive clearance compensation angle; the joints of the surgical instrument can be controlled to move in the reverse direction. For any instrument joint, the difference between the reverse command angle and the corresponding actual movement angle is calculated as the maximum reverse clearance compensation angle.

[0051] In this embodiment, if the movement direction of the instrument joint is forward, the maximum gap compensation angle is the maximum forward gap compensation angle; if the movement direction of the instrument joint is reverse, the maximum gap compensation angle is the maximum reverse gap compensation angle.

[0052] It should be noted that the gap compensation angle of the current cycle is less than or equal to the maximum gap compensation angle. It is understandable that the maximum gap compensation angle is the maximum angle at which gap compensation can be performed, and the gap compensation angle of the current cycle cannot exceed the maximum gap compensation angle.

[0053] In some embodiments, the method further includes: detecting the gap compensation angle of the current cycle, and if the gap compensation angle of the current cycle is greater than the maximum gap compensation angle, using the maximum gap compensation angle as the gap compensation angle of the current cycle.

[0054] In this embodiment, the gap compensation angle of the current cycle is detected. If the gap compensation angle of the current cycle is greater than the maximum gap compensation angle, it indicates that the calculated gap compensation angle of the current cycle has exceeded the maximum gap compensation angle of the current movement direction, but the gap compensation angle cannot exceed the maximum gap compensation angle. The maximum gap compensation angle is used as the gap compensation angle of the current cycle.

[0055] S150, determining a target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and sending the target instrument joint instruction to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move.

[0056] The target instrument joint instruction refers to the instrument joint instruction after gap compensation. In this embodiment, after determining the gap compensation angle of the current cycle, the gap compensation angle of the instrument joint in the current cycle can be added to the instrument joint instruction of the current cycle to obtain the target instrument joint instruction, and the target instrument joint instruction is sent to the corresponding joint motor so that the motor can drive the instrument joint to move according to the target instruction.

[0057] The technical solution of this embodiment is to receive the instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot; for any instrument joint, identify the movement direction of the instrument joint; determine the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle; determine the gap compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient and gap compensation angle of the instrument joint in the previous cycle; determine the target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and send the target instrument joint instruction to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. The problem that the joints of the instrument cannot move to the specified position due to the transmission gap is solved, and the transmission gap between the joints of the surgical instrument and the motor is compensated, which can effectively improve the position accuracy of the joints of the surgical instrument.

[0058] Embodiment 2

[0059] Figure 2 Schematic diagram of the structure of a compensation device for transmission clearance 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:

[0060] An instrument joint instruction receiving module 210, used to receive an instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot;

[0061] A movement direction identification module 220, for identifying the movement direction of any instrument joint;

[0062] A movement speed determination module 230, for determining the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle;

[0063] The gap compensation angle determination module 240 is used for determining the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation ratio coefficient and the gap compensation angle of the instrument joint in the previous cycle of the target instrument joint instruction; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint;

[0064] The target instrument joint instruction generation module 250 is used to generate a target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and send the target instrument joint instruction to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move.

[0065] The technical solution of this embodiment is to receive the instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot; for any instrument joint, identify the movement direction of the instrument joint; determine the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle; determine the gap compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient and gap compensation angle of the instrument joint in the previous cycle; determine the target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and send the target instrument joint instruction to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. The problem that the joints of the instrument cannot move to the specified position due to the transmission gap is solved, and the transmission gap between the joints of the surgical instrument and the motor is compensated, which can effectively improve the position accuracy of the joints of the surgical instrument.

[0066] Based on the above embodiment, optionally, the motion direction identification module 220 is used to obtain the command angle of n cycles of the instrument joint, and determine the average command angle based on the command angle of the n cycles; wherein n is an integer greater than 1; a first command angle difference is determined based on the command angle of the current cycle and the average command angle; a second command angle difference is determined based on the command angle of the target cycle and the average command angle; the target cycle is the nth cycle before the current cycle; and the motion direction of the instrument joint is determined based on the first command angle difference, the second command angle difference and a motion direction determination threshold.

[0067] Based on the above embodiment, optionally, the motion direction identification module 220 includes a motion direction determination unit, which is used to determine that if the first instruction angle difference and the second instruction angle difference are both greater than a first motion direction determination threshold, the motion direction of the instrument joint is forward; if the first instruction angle difference and the second instruction angle difference are both less than a second motion direction determination threshold, the motion direction of the instrument joint is reverse.

[0068] Based on the above embodiment, optionally, the first motion direction determination threshold and the second motion direction determination threshold are opposite numbers of each other.

[0069] Based on the above embodiment, optionally, the device also includes a maximum gap compensation angle determination module, which is used to determine the maximum gap compensation angle based on the movement direction of the instrument joint; wherein the maximum gap compensation angle includes a maximum positive gap compensation angle and a maximum reverse gap compensation angle.

[0070] Based on the above embodiment, optionally, the gap compensation angle of the current cycle is less than or equal to the maximum gap compensation angle.

[0071] Based on the above embodiment, optionally, the device also includes a gap compensation angle detection module, which is used to detect the gap compensation angle of the current cycle. If the gap compensation angle of the current cycle is greater than the maximum gap compensation angle, the maximum gap compensation angle is used as the gap compensation angle of the current cycle.

[0072] The compensation device for transmission clearance of surgical instruments provided in the embodiment of the present invention can execute the compensation method for transmission clearance of surgical instruments provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0073] Embodiment 3

[0074] 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.

[0075] 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 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.

[0076] 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.

[0077] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special 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 method for compensating a transmission gap of a surgical instrument.

[0078] In some embodiments, the method for compensating the transmission clearance 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 method for compensating the transmission clearance of the surgical instrument described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for compensating the transmission clearance of the surgical instrument in any other appropriate manner (for example, by means of firmware).

[0079] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] The computer program for implementing the method for compensating the transmission clearance 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 a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or the block diagram are implemented. The computer program can be executed completely on the machine, partially on the machine, as a separate software package, partially on the machine and partially on a remote machine, or completely on a remote machine or server.

[0081] Embodiment 4

[0082] 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 transmission gap of a surgical instrument, the method being applied to a slave controller of a master-slave surgical robot, comprising:

[0083] receiving an instrument joint instruction of at least one instrument joint transmitted from a master end of a master-slave surgical robot;

[0084] For any instrument joint, identify the direction of movement of the instrument joint;

[0085] Determine the movement speed of the instrument joint based on the instrument joint command of the current cycle and the instrument joint command of the previous cycle;

[0086] Determine the gap compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient and gap compensation angle of the instrument joint in the previous cycle; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint;

[0087] The target instrument joint command is determined based on the instrument joint command of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and the target instrument joint command is sent to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move.

[0088] 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.

[0089] 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).

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 transmission clearance of a surgical instrument, characterized in that: The slave controller used in the master-slave surgical robot includes: receiving an instrument joint instruction of at least one instrument joint transmitted by a master end of the master-slave surgical robot; For any instrument joint, identifying the movement direction of the instrument joint; Determining the movement speed of the instrument joint based on the instrument joint command of the current cycle and the instrument joint command of the previous cycle; Determining the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation proportional coefficient and the gap compensation angle of the instrument joint in the previous cycle; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint; A target instrument joint instruction is determined based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and the target instrument joint instruction is sent to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move.

2. The method for compensating transmission clearance of surgical instruments according to claim 1, characterized in that: The instrument joint instruction includes an instruction angle of the instrument joint, and the method for identifying the movement direction of the instrument joint includes: Obtaining the command angles of n cycles of the instrument joint, and determining an average command angle based on the command angles of the n cycles; wherein n is an integer greater than 1; Determine a first command angle difference based on the command angle of the current cycle and the average command angle; Determine a second instruction angle difference based on the instruction angle of a target cycle and the average instruction angle; the target cycle is the nth cycle before the current cycle; The movement direction of the instrument joint is determined based on the first command angle difference, the second command angle difference and a movement direction determination threshold.

3. The method for compensating transmission clearance of surgical instruments according to claim 2, characterized in that: The step of determining the movement direction of the instrument joint based on the first instruction angle difference, the second instruction angle difference and a movement direction determination threshold comprises: If the first instruction angle difference and the second instruction angle difference are both greater than the first motion direction determination threshold, the motion direction of the instrument joint is positive; If the first instruction angle difference and the second instruction angle difference are both smaller than a second movement direction determination threshold, the movement direction of the instrument joint is reverse.

4. The method for compensating transmission clearance of surgical instruments according to claim 3, characterized in that: The first motion direction determination threshold and the second motion direction determination threshold are opposite to each other.

5. The method for compensating transmission clearance of surgical instruments according to claim 3, characterized in that: The method further comprises: The maximum gap compensation angle is determined based on the movement direction of the instrument joint; wherein the maximum gap compensation angle includes a maximum positive gap compensation angle and a maximum reverse gap compensation angle.

6. The method for compensating transmission clearance of surgical instruments according to claim 5, characterized in that: The gap compensation angle of the current cycle is less than or equal to the maximum gap compensation angle.

7. The method for compensating transmission clearance of surgical instruments according to claim 6, characterized in that: The method further comprises: The gap compensation angle of the current cycle is detected, and if the gap compensation angle of the current cycle is greater than the maximum gap compensation angle, the maximum gap compensation angle is used as the gap compensation angle of the current cycle.

8. A compensation device for transmission clearance of surgical instruments, characterized in that: The slave controller used in the master-slave surgical robot includes: An instrument joint instruction receiving module, used to receive an instrument joint instruction of at least one instrument joint transmitted by the master end of the master-slave surgical robot; A movement direction identification module, used for identifying the movement direction of any instrument joint; A movement speed determination module, used to determine the movement speed of the instrument joint based on the instrument joint instruction of the current cycle and the instrument joint instruction of the previous cycle; A gap compensation angle determination module is used for determining the gap compensation angle of the instrument joint in the current cycle based on the movement speed of the instrument joint, the movement direction, the compensation ratio coefficient and the gap compensation angle of the instrument joint in the previous cycle of the target instrument joint instruction; the gap compensation angle is used to compensate for the transmission gap corresponding to the instrument joint; The target instrument joint instruction generation module is used to generate the target instrument joint instruction based on the instrument joint instruction of the current cycle and the gap compensation angle of the instrument joint in the current cycle, and send the target instrument joint instruction to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument 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 method for compensating the transmission gap 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 method for compensating the transmission gap of a surgical instrument according to any one of claims 1 to 7 when executed.

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