A compensation method, device and slave controller for the transmission clearance of a surgical instrument

Abstract

The present invention discloses a compensation method, device and slave end controller for the transmission clearance of surgical instruments, relating to the field of robot control. The method includes: receiving instrument joint commands of at least one instrument joint transmitted by the 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 clearance compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient of the instrument joint and the clearance compensation angle of the instrument joint in the previous cycle; determining the target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the current cycle, and sending the target instrument joint command to the joint motor corresponding to the instrument joint so that the joint motor drives the instrument joint to move. The present invention can effectively improve the position accuracy of each instrument joint of the surgical instrument.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and particularly to a method and device for compensating for transmission gaps of surgical instruments and a slave controller. Background Art

[0002] Currently, 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. After the slave end obtains the instruction from the master end, the motor drives each joint to move each joint to the instruction position.

[0003] However, there are some mechanical components between the motor and the instrument joints, and there are transmission gaps between these mechanical components. For example: interface board gap, wire elastic gap, instrument seat gap, etc. Due to the existence of these transmission gaps, the instrument joints cannot move to the specified position. Summary of the Invention

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

[0005] According to one aspect of the present invention, there is provided a method for compensating for transmission gaps of surgical instruments, which is applied to the slave controller of a master-slave surgical robot, and includes:

[0006] Receiving instrument joint instructions of at least one instrument joint transmitted by the 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 instruction of the current cycle and the instrument joint instruction 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 ratio 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] 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.

[0011] According to another aspect of the present invention, there is provided a device for compensating for transmission gaps of surgical instruments, which is applied to the slave controller of a master-slave surgical robot, and includes:

[0012] An instrument joint command receiving module, configured to receive instrument joint commands of at least one instrument joint transmitted by a master end of the master-slave surgical robot;

[0013] A motion direction recognition module, configured to recognize a motion direction of any instrument joint;

[0014] A motion speed determination module, configured to determine a motion speed of the instrument joint based on an instrument joint command of a current cycle and an instrument joint command of a previous cycle;

[0015] A clearance compensation angle determination module, configured to determine a clearance compensation angle of the instrument joint in the current cycle based on the motion speed of the instrument joint, the motion direction, a compensation ratio coefficient, and a clearance compensation angle of the instrument joint in the previous cycle; the clearance compensation angle is used to compensate for a transmission clearance corresponding to the instrument joint;

[0016] A target instrument joint command generation module, configured to generate a target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command to a 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, a slave controller is provided, and the slave controller includes:

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

[0019] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the compensation method for the transmission clearance of the surgical instrument according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the compensation method for the transmission clearance of the surgical instrument according to any embodiment of the present invention when executed by a processor.

[0021] The technical solution of the embodiment of the present invention is as follows: by receiving at least one instrument joint command transmitted from the master end of the master-slave surgical robot, the instrument joint command includes the command angle of the instrument joint; 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 command of the current cycle and the instrument joint command of the previous cycle; determine the clearance compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient of the instrument joint, and the clearance compensation angle of the instrument joint in the previous cycle; determine the target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. This solves the problem that the instrument joints cannot move to the specified positions due to the transmission clearance, compensates for the transmission clearance between each instrument joint of the surgical instrument and the motor, and can effectively improve the position accuracy of each instrument joint of the surgical instrument.

[0022] 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

[0023] 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.

[0024] Figure 1 is a flowchart of a method for compensating the transmission clearance of a surgical instrument provided in Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic structural diagram of a device for compensating the transmission clearance of a surgical instrument provided in Embodiment 2 of the present invention;

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

[0027] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying 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 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", etc. in the specification, claims and above-mentioned accompanying drawings of the present invention are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data 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.

[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), 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 master end 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. 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 movement of each instrument joint of the surgical instrument according to the decoded instructions. Due to the transmission principle of the instrument, when each joint of the surgical instrument moves in the forward direction, the deviation between the joint command position and the actual position is called the forward clearance; when each joint of the instrument moves 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 1The figure is a flowchart of a method for compensating the transmission gap of a surgical instrument according to Embodiment 1 of the present invention. This embodiment is applicable to compensating the transmission gap between each instrument joint of the slave surgical instrument of the master-slave surgical robot and the motor, so as to enable the instrument joint of the surgical instrument to reach the target position. This 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, and the compensation device for the transmission gap of the surgical instrument can be configured in an electronic device such as the slave controller of the master-slave surgical robot; it should be noted that the present invention is applicable to all master-slave surgical robots, such as laparoscopic surgical robots. As Figure 1 shown, the method includes:

[0032] S110. Receive the instrument joint commands of at least one instrument joint transmitted from the 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, probing joints, etc., which are not limited here. In this embodiment, during the surgical process, the slave controller receives the instrument joint commands of at least one instrument joint transmitted from the master end of the master-slave surgical robot. Among them, the instrument joint command is a command for controlling 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 can be understood that when the movement direction of the instrument joint is different, 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 perform compensation according to 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 forward and reverse of the instrument joint direction are set by those skilled in the art and are not limited here. For example: if the instrument joint is a rotating 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] Based on the above embodiment, optionally, the instrument joint command includes the command angle of the instrument joint. The method for identifying the movement direction of the instrument joint includes: obtaining the command angles of the instrument joint in n periods, and determining the average command angle based on the command angles of the n periods; where n is an integer greater than 1; determining the first command angle difference based on the command angle of the current period and the average command angle; determining the second command angle difference based on the command angle of the target period and the average command angle; the target period is the nth period before the current period; determining the movement direction of the instrument joint based on the first command angle difference, the second command angle difference, and the movement direction determination threshold.

[0037] Among them, the command angle is a parameter in the movement control of the instrument joint, which is used to ensure that the instrument joint can accurately move to a specified position or perform a specific action. In this embodiment, for any instrument joint, the command angles of the instrument joint in n cycles are obtained, and the average value of the n command angles is calculated to obtain the average command angle; further, a 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 angular difference between the command angle of the current cycle and the average command angle, that is, the angular difference between the command angle of the current cycle - the average command angle. Further, a 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 angular difference between the average command angle and the command angle of the target cycle, that is, the difference between the average command angle - 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, and the motion direction of the instrument joint is obtained.

[0038] On the basis of the above embodiment, optionally, determining the motion direction of the instrument joint based on the first command angle difference, the second command angle difference, and the motion direction determination threshold includes: if the first command angle difference and the second command angle difference are both greater than the first motion direction determination threshold, the motion direction of the instrument joint is forward; if the first command angle difference and the second command angle difference are both less than the second motion direction determination threshold, the motion direction of the instrument joint is reverse.

[0039] Among them, the first motion direction determination threshold is the forward determination threshold, and the second motion direction determination threshold is the reverse determination threshold. Specifically, the first motion direction determination threshold and the second motion direction determination threshold are opposite numbers to each other. 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 command angle difference, the second command angle difference, and the motion direction determination threshold. If the first command angle difference and the second command angle difference are both greater than the first motion direction determination threshold, the motion direction of the instrument joint is forward; if the first command angle difference and the second command angle difference are both less than the second motion direction determination threshold, the motion direction of the instrument joint is reverse.

[0040] Exemplarily, for any instrument joint, by accumulating the command angles of the instrument joint in n cycles and calculating the average command angle . If the command angle of the current cycle (the cycle) and The difference is greater than the first motion direction determination threshold , and with the previous cycle (the cycle) the difference between the command angles is greater than the first motion direction determination threshold , then the joint of the instrument is in forward motion; if the command angle of the current cycle (the t-th cycle) the difference is less than the second motion direction determination threshold, and with the previous n-th cycle (the cycle) the difference between the command angles is less than the second motion direction determination threshold, then the joint of the instrument is in reverse motion.

[0041] In this embodiment, by respectively determining the command angle of the current cycle and the command angle of the target cycle, it is possible to avoid misjudging the operator's jitter as the subjective motion direction.

[0042] S130. Determine the motion speed of the joint of the instrument based on the command of the joint of the instrument in the current cycle and the command of the joint of the instrument in the previous cycle.

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

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

[0045] Specifically, the calculation formula for the clearance compensation angle in the current cycle is:

[0046] ;

[0047] wherein, represents the clearance compensation angle in the current cycle, represents the clearance compensation angle in the previous cycle; k represents the compensation ratio coefficient, represents the motion speed of the joint of the instrument, represents the motion direction, if the motion direction is forward, ; if the motion direction is reverse, . It should be noted that the forward and reverse directions of the motion direction 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 clearance compensation angle of the previous cycle is 0.

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

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

[0051] In this embodiment, if the movement direction of the instrument joint is positive, the maximum clearance compensation angle is the maximum positive clearance compensation angle; if the movement direction of the instrument joint is negative, the maximum clearance compensation angle is the maximum negative clearance compensation angle.

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

[0053] In some embodiments, the method further includes: detecting the clearance compensation angle of the current cycle. If the clearance compensation angle of the current cycle is greater than the maximum clearance compensation angle, the maximum clearance compensation angle is used as the clearance compensation angle of the current cycle.

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

[0055] S150. Determine a target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move.

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

[0057] The technical solution of this embodiment is to receive the instrument joint commands of at least one instrument joint transmitted from 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 command of the current cycle and the instrument joint command of the previous cycle; determine the clearance compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient of the instrument joint and the clearance compensation angle of the instrument joint in the previous cycle; determine the target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. It solves the problem that the instrument joints cannot move to the specified position due to the transmission clearance, compensates the transmission clearance between each instrument joint of the surgical instrument and the motor, and can effectively improve the position accuracy of each instrument joint of the surgical instrument.

[0058] Embodiment 2

[0059] Figure 2 is a schematic structural diagram of a compensation device for the transmission clearance of a surgical instrument provided by 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:

[0060] An instrument joint command receiving module 210, configured to receive the instrument joint commands of at least one instrument joint transmitted from the master end of the master-slave surgical robot;

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

[0062] A movement speed determination module 230, configured to 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;

[0063] A clearance compensation angle determination module 240, configured to determine the clearance compensation angle of the instrument joint in the current cycle based on the movement speed, the movement direction, the compensation ratio coefficient of the instrument joint and the clearance compensation angle of the instrument joint in the previous cycle for the target instrument joint command; the clearance compensation angle is used to compensate the transmission clearance corresponding to the instrument joint;

[0064] The target instrument joint command generation module 250 is configured to generate a target instrument joint command based on the instrument joint command in the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command 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 receives the instrument joint commands of at least one instrument joint transmitted from the master end of the master-slave surgical robot; 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 command in the current cycle and the instrument joint command in the previous cycle; determines the clearance compensation angle of the instrument joint in the current cycle based on the movement speed, movement direction, compensation ratio coefficient of the instrument joint and the clearance compensation angle of the instrument joint in the previous cycle; determines the target instrument joint command based on the instrument joint command in the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and sends the target instrument joint command to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move. This solves the problem that the instrument joints cannot move to the specified positions due to transmission clearance, compensates for the transmission clearance between each instrument joint of the surgical instrument and the motor, and can effectively improve the position accuracy of each instrument joint of the surgical instrument.

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

[0067] Based on the above embodiment, optionally, the movement direction identification module 220 includes a movement direction determination unit, configured to if the first command angle difference and the second command 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 command angle difference and the second command angle difference are both less than the second movement direction determination threshold, then the movement direction of the instrument joint is reverse.

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

[0069] Based on the above embodiments, optionally, the device further includes a maximum clearance compensation angle determination module, configured to determine a maximum clearance compensation angle based on the movement direction of the instrument joint; wherein, the maximum clearance compensation angle includes a maximum forward clearance compensation angle and a maximum reverse clearance compensation angle.

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

[0071] Based on the above embodiments, optionally, the device further includes a clearance compensation angle detection module, configured to detect the clearance compensation angle of the current cycle. If the clearance compensation angle of the current cycle is greater than the maximum clearance compensation angle, the maximum clearance compensation angle is used as the clearance compensation angle of the current cycle.

[0072] The compensation device for the transmission clearance of the surgical instrument provided by the embodiment of the present invention can execute the compensation method for the transmission clearance 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.

[0073] Embodiment III

[0074] Figure 3 FIG. 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 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 claimed herein.

[0075] As Figure 3 shown, the slave controller 10 includes at least one processor 11, and a memory communicatively connected to 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 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.

[0076] 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.

[0077] 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 transmission clearance of the surgical instrument.

[0078] In some embodiments, the compensation method for 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 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 transmission clearance 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 transmission clearance of the surgical instrument in any other suitable manner (e.g., by means of firmware).

[0079] 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, which can be executed and / or interpreted on a programmable system including at least one programmable processor, and the programmable processor can be a special or general programmable processor, receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting the 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 compensation method of 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 the processors of general-purpose computers, special-purpose computers, or other programmable data processing devices, so that when the computer programs are executed by the processors, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0081] Embodiment 4

[0082] Embodiment 4 of the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a processor to execute a method for compensating the transmission clearance of a surgical instrument. The method is applied to the slave controller of a master-slave surgical robot and includes:

[0083] Receiving instrument joint commands of at least one instrument joint transmitted from the master end of the master-slave surgical robot;

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

[0085] 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;

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

[0087] Determining a target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and sending the target instrument joint command 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 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.

[0089] 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) by 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).

[0090] 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 by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0091] 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 client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0092] It should be understood that various forms of the 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 made herein.

[0093] 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 transmission clearance 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 instrument joint commands of at least one instrument joint transmitted from the master end of the master-slave surgical robot; A motion direction recognition module, configured to recognize the motion direction of any instrument joint; A motion speed determination module, configured to determine the motion speed of the instrument joint based on the instrument joint commands of the current cycle and the instrument joint commands of the previous cycle; A clearance compensation angle determination module, configured to determine the clearance compensation angle of the instrument joint in the current cycle based on the motion speed of the instrument joint, the motion direction, a compensation ratio coefficient, and the clearance compensation angle of the instrument joint in the previous cycle; the clearance compensation angle is used to compensate for the transmission clearance corresponding to the instrument joint; A target instrument joint command generation module, configured to generate a target instrument joint command based on the instrument joint command of the current cycle and the clearance compensation angle of the instrument joint in the current cycle, and send the target instrument joint command to the joint motor corresponding to the instrument joint, so that the joint motor drives the instrument joint to move; Wherein, the instrument joint command includes the command angle of the instrument joint, and the motion direction recognition module is configured to: Obtain the command angles of the instrument joint in n cycles, and determine an average command angle based on the command angles in 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 command angle difference 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; Determine the motion direction of the instrument joint based on the first command angle difference, the second command angle difference, and a motion direction determination threshold.

2. The compensation device for the transmission clearance of the surgical instrument according to claim 1, wherein The motion direction recognition module includes a motion direction determination unit, configured to: If the first command angle difference and the second command angle difference are both greater than a first motion direction determination threshold, the motion direction of the instrument joint is forward; If the first command angle difference and the second command angle difference are both less than a second motion direction determination threshold, the motion direction of the instrument joint is reverse.

3. The compensation device for the transmission clearance of the surgical instrument according to claim 2, wherein, The first motion direction determination threshold and the second motion direction determination threshold are opposite numbers to each other.

4. The compensation device for the transmission clearance of the surgical instrument according to claim 2, wherein The device further includes a maximum clearance compensation angle determination module, configured to: Determine a maximum clearance compensation angle based on the motion direction of the instrument joint; wherein, the maximum clearance compensation angle includes a maximum forward clearance compensation angle and a maximum reverse clearance compensation angle.

5. The compensation device for the transmission clearance of the surgical instrument according to claim 4, characterized in that, The clearance compensation angle of the current cycle is less than or equal to the maximum clearance compensation angle.

6. The compensation device for the transmission clearance of the surgical instrument according to claim 5, wherein, The device further includes a maximum clearance compensation angle determination module, configured to: Detect the clearance compensation angle of the current cycle, and if the clearance compensation angle of the current cycle is greater than the maximum clearance compensation angle, use the maximum clearance compensation angle as the clearance compensation angle of the current cycle.

7. 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; Among them, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the compensation device for the transmission clearance of the surgical instrument according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the compensation device for the transmission clearance of the surgical instrument according to any one of claims 1-6 when the computer instructions are executed by a processor.

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