Master-slave control method, electronic device and storage medium for surgical system

Abstract

The present application provides a master-slave control method for a surgical system, wherein a posture sensor and an opening and closing angle sensor are provided on a gripping structure, and the control method comprises: obtaining first position information and first posture information of the posture sensor at a first preset moment and second position information and second posture information at a second preset moment; determining target posture information of a terminal instrument according to the first posture information and the second posture information; determining displacement variation of the gripping structure according to the first position information and the second position information; obtaining target displacement information of the terminal instrument through scaling factor mapping according to the displacement variation; sending target displacement information, target posture information and the opening and closing angle of the gripping structure obtained by the opening and closing angle sensor to the terminal instrument to control the movement of the terminal instrument. The problem of singularity in the master-slave mapping of the existing surgical system due to the solution of the rotation matrix can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a master-slave control method, electronic equipment and storage medium of a surgical system. Background Art

[0002] At present, the surgical system is equipped with a surgical operating chair. The operator sits on the surgical operating chair and obtains the posture information of the gripping structure connected to the surgical operating chair through a magnetic field generator. The operator's control intention is calculated by combining the sensors and buttons on the foot pedal and the gripping structure. The spatial posture mapping of the gripping structure and the end instrument is realized through processor control, thereby controlling the movement of the end instrument. However, it has the following defects:

[0003] (1) The existing gripping structure is connected to the operating chair using a mechanical link, which greatly limits the range of motion of the gripping structure and restricts the operator's movements when using it.

[0004] (2) The existing gripping structure uses mechanical sensors such as potentiometers or encoders to obtain the motion parameters of the gripping structure, which are mechanically worn during use, resulting in performance degradation, short life, and unstable performance.

[0005] (3) The master-slave mapping in existing surgical systems is solved by rotating the matrix, which leads to singularity problems and affects the movement of the end instrument. Summary of the invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a master-slave control method for a surgical system to solve the problems of limited movement of the gripping structure of the existing surgical system, singularities in the master-slave mapping, and unstable performance and short life of the gripping structure.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions:

[0008] A master-slave control method for a surgical system, the surgical system comprising an end instrument and a gripping structure for controlling the movement of the end instrument, the gripping structure being provided with a posture sensor and an opening and closing angle sensor, the control method comprising: obtaining first position information and first posture information of the posture sensor at a first preset moment and second position information and second posture information at a second preset moment; determining target posture information of the end instrument according to the first posture information and the second posture information; determining a displacement change of the gripping structure according to the first position information and the second position information; obtaining target displacement information of the end instrument by scaling factor mapping according to the displacement change; and sending the target displacement information, target posture information and the opening and closing angle of the gripping structure obtained by the opening and closing angle sensor to the end instrument to control the movement of the end instrument.

[0009] Furthermore, the displacement change of the holding structure is determined based on the first position information and the second position information, including: determining the third position information of the holding structure at a first preset moment based on the first position information; determining the fourth position information of the holding structure at a second preset moment based on the second position information; and determining the displacement change of the holding structure based on the third position information and the fourth position information.

[0010] Furthermore, the surgical system also includes a magnetic field generator connected to the posture sensor, which is used to receive position information transmitted by the posture sensor and transmit it to the processor, and determine the third position information of the holding structure at the first preset moment based on the first position information, including: determining the third position information of the base point of the holding structure at the first preset moment based on the first position information and the position vector of the posture sensor in the coordinate system of the holding structure relative to the base point of the holding structure at the first preset moment and the rotation transformation matrix of the coordinate system of the holding structure to the coordinate system of the magnetic field generator.

[0011] Furthermore, the surgical system also includes a magnetic field generator connected to the posture sensor, which is used to receive position information transmitted by the posture sensor and transmit it to the processor, and determine the fourth position information of the holding structure at the second preset moment based on the second position information, including: determining the fourth position information of the base point of the holding structure at the second preset moment based on the second position information and the position vector of the posture sensor in the coordinate system of the holding structure relative to the base point of the holding structure at the second preset moment and the rotation transformation matrix of the coordinate system of the holding structure to the coordinate system of the magnetic field generator.

[0012] Furthermore, the first posture information includes a first rotation angle, the second posture information includes a second rotation angle, and the target posture information includes a target rotation angle. Based on the first posture information and the second posture information, the target posture information of the end device is determined, including: obtaining the target rotation angle by calculating the difference between the second rotation angle and the first rotation angle.

[0013] Furthermore, the surgical system also includes a magnetic field generator, which is connected to the posture sensor and is used to receive posture information transmitted by the posture sensor and transmit it to the processor. The target posture information includes a target pitch angle. According to the first posture information and the second posture information, the target posture information of the terminal instrument is determined, including: according to the rotation matrix of the terminal instrument relative to the magnetic field generator at the first preset moment, the rotation matrix of the preset holding structure rotating around the first direction, and the first column matrix, the first plane normal vector of the holding structure in the second direction after the rotation at the first preset moment is calculated; according to the rotation matrix of the terminal instrument relative to the magnetic field generator at the second preset moment and the first column matrix, the second plane normal vector of the holding structure in the second direction at the second preset moment is calculated; and the target pitch angle is obtained by calculating the angle between the first plane normal vector and the second plane normal vector.

[0014] Furthermore, the surgical system also includes a magnetic field generator, which is connected to the posture sensor and is used to receive posture information transmitted by the posture sensor and transmit it to the processor. The target posture information includes a target deflection angle. According to the first posture information and the second posture information, the target posture information of the terminal instrument is determined, including: according to the rotation matrix of the terminal instrument relative to the magnetic field generator at the first preset moment, the rotation matrix of the preset holding structure rotating around the first direction, and the second column matrix, a first direction vector of the holding structure in the third direction after the rotation at the first preset moment is calculated; according to the rotation matrix of the terminal instrument relative to the magnetic field generator at the second preset moment and the second column matrix, a second direction vector of the holding structure in the third direction at the second preset moment is calculated; and the target deflection angle is obtained by calculating the angle between the first direction vector and the second direction vector.

[0015] Furthermore, a holding sensor is provided on the holding structure for detecting the capacitance value of the holding structure, and the control method includes: obtaining the ground plane capacitance value and receiving the capacitance value; calculating the capacitance difference between the capacitance value and the ground plane capacitance value; judging whether the holding structure is in a normal holding state according to the relationship between the capacitance difference and the preset capacitance value; when judging that the holding structure is not in the normal holding state, calculating and outputting the acceleration according to the n position information of the holding structure in the second direction detected by the posture sensor; judging whether the holding structure has fallen according to the relationship between the acceleration and the preset acceleration, and according to the judgment result, controlling the surgical system to continue working or enter the standby state.

[0016] Furthermore, based on the relationship between the capacitance difference and the preset capacitance value, it is determined whether the holding structure is in a normal holding state, including: if the capacitance difference is greater than the preset capacitance value, it is determined that the holding structure is in a normal holding state; if the capacitance difference is less than the preset capacitance value, it is determined that the holding structure is not in a normal holding state.

[0017] Furthermore, based on the relationship between the acceleration and the preset acceleration, it is determined whether the holding structure has fallen, including: if the acceleration is greater than the preset acceleration, it is determined that the holding structure has fallen, and the surgical system is controlled to enter a standby state; if the acceleration is less than or equal to the preset acceleration, it is determined that the holding structure has not fallen, and the surgical system is controlled to continue working.

[0018] Furthermore, the surgical system also includes a first motor and a second motor arranged in the end instrument, and a clamping indicator light is arranged on the holding structure. The control method includes: obtaining a first encoder value in the first motor and a second encoder value in the second motor; calculating a first difference between the first encoder value and the second encoder value; judging whether the end instrument performs a clamping operation based on a relationship between the first difference and a preset motor encoder value; and controlling the clamping indicator light to light up or remain off based on the judgment result.

[0019] Furthermore, based on the relationship between the first difference and the preset motor encoder value, it is determined whether the end device performs a clamping operation, including: if the first difference is less than the motor encoder value, determining that the end device does not perform a clamping operation; if the first difference is not less than the motor encoder value, receiving a first output torque sent by the first motor and a second output torque sent by the second motor; calculating a second difference between the first output torque and the second output torque; and based on the relationship between the second difference and the preset output torque value, determining whether the end device performs a clamping operation.

[0020] Further, judging whether the end device performs a clamping operation based on the relationship between the second difference and the preset output torque value includes: if the second difference is less than the preset output torque value, determining that the end device does not perform a clamping operation; if the second difference is not less than the preset output torque value, determining that the end device performs a clamping operation.

[0021] An embodiment of the present application also provides an electronic device, the electronic device comprising: a processor, and a memory for storing instructions executable by the processor; wherein the processor is configured to execute any one of the above-mentioned master-slave control methods for a surgical system.

[0022] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program can be executed by a processor to implement any of the above-mentioned master-slave control methods for a surgical system.

[0023] The beneficial effects of the embodiments of the present application are:

[0024] First, an embodiment of the present application provides a master-slave control method for a surgical system, by arranging a posture sensor on a holding structure, detecting position information and posture information through the posture sensor, and calculating target posture information and displacement change according to the position information and posture information, and obtaining the target displacement information of the terminal instrument through scaling factor mapping, and solving the above position information and posture information through spatial geometry solution, that is, solving the spatial position relationship between the position information at a first preset moment and the position information at a second preset moment, and between the posture information at the first preset moment and the posture information at the second preset moment, to obtain the corresponding target position information and target posture information, which can avoid the problem of singularities in the master-slave mapping of the surgical system due to the overlap of rotation angles caused by the rotation matrix solution method, that is, the problem of losing one or more degrees of freedom due to the occurrence of special points.

[0025] Secondly, the embodiments of the present application use posture sensors and opening and closing angle sensors to detect position and posture, which can avoid the problem of sensors being easily worn out after long-term use and causing performance degradation, thereby extending the service life of the sensors, that is, extending the service life of the surgical system.

[0026] Finally, the embodiment of the present application can collect operation data through various sensors installed in the holding structure, so the holding structure does not need to be installed on the seat armrest through a mechanical connecting rod. The movement of the mechanical connecting rod is converted into the control command of the end device, which can solve the problem of limited movement space of the existing holding structure, increase the range of motion of the holding structure, and make the operation more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the embodiment of the present application, the figure marks required to be used in the embodiment of the present application are briefly introduced below.

[0028] Figure 1 is a schematic diagram of a surgical system provided in an embodiment of the present application;

[0029] Figure 2 yes Figure 1 The structural schematic diagram of the surgical operation chair 11 is shown;

[0030] Figure 3 yes Figure 2 Schematic diagram of the mid-grip structure;

[0031] Figure 4 It is a main flow diagram of the master-slave control method of the surgical system provided by the embodiment of the present application;

[0032] Figure 5 It is a schematic diagram of the position and posture change of the holding structure from a first preset moment to a second preset moment in the master-slave control method of the surgical system provided by an embodiment of the present application;

[0033] Figure 6 is a flowchart of sub-steps of step S120 of the master-slave control method of a surgical system provided by an embodiment of the present application;

[0034] Figure 7 is a structural schematic diagram of a first plane normal vector and a second plane normal vector of a master-slave control method of a surgical system provided in an embodiment of the present application;

[0035] Figure 8 is a flowchart of sub-steps of step S120 of a master-slave control method for a surgical system provided by another embodiment of the present application;

[0036] Fig. 9 It is a structural schematic diagram of a first direction vector and a second direction vector of a master-slave control method of a surgical system provided in an embodiment of the present application;

[0037] Fig.10 It is a flowchart of determining whether the holding structure is in a normal holding state in the master-slave control method of the surgical system provided in an embodiment of the present application;

[0038] Fig.11 A schematic diagram of a flow chart of determining whether a gripping structure performs a clamping operation in a master-slave control method of a surgical system provided in an embodiment of the present application.

[0039] Figure numerals: holding structure 1; magnetic field generator 2; posture sensor 3; opening and closing angle sensor 4; end instrument 5; end gimbal 6; hand rest 7; processor 9; surgical operation seat 11; surgical execution device 12; holding sensor 13; clamping indicator light 14. DETAILED DESCRIPTION

[0040] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] Figure 1 Schematic diagram of the surgical system provided in the embodiment of the present application. Figure 1 As shown, the surgical system includes a surgical operating chair 11 and a surgical execution device 12. Wired or wireless transmission is used between the surgical operating chair 11 and the surgical execution device 12. The surgical execution device 12 includes a terminal pan-tilt table 6 and a terminal instrument 5 connected to the terminal pan-tilt table 6.

[0042] Figure 2 yes Figure 1 The structural diagram of the surgical operation chair 11 is shown in FIG. Figure 2 As shown, the surgical operation chair 11 includes a chair, a gripping structure 1, hand rests 7 located on both sides of the chair, a magnetic field generator 2 located under the seat cushion, and a processor 9. The magnetic field generator 2 is connected to the gripping structure 1, and the magnetic field generator 2 is connected to the processor 9 to receive data information sent by the gripping structure 1 and transmit it to the processor 9.

[0043] Figure 3 yes Figure 2 Schematic diagram of the grip structure. Figure 3 As shown, a posture sensor 3, an opening and closing angle sensor 4, a holding sensor 13 and a clamping indicator light 14 are provided in the holding structure. The posture sensor 3 is used to detect the position information and the posture information of the holding structure 1, the opening and closing angle sensor 4 is used to detect the opening and closing angle of the holding structure, the holding sensor 13 is used to obtain the capacitance value of the holding structure 1, and the clamping indicator light 14 is used to be controlled by the processor 9 to keep it off or lit.

[0044] Figure 4 Schematic diagram of the main process of the master-slave control method of the surgical system provided by the embodiment of the present application. Figure 4 As shown, the control method may include steps S110 to S150, wherein there is no sequence between step S120 and step S130 to S140, and they may be performed synchronously or in an adjusted order. The master-slave control method may be executed by the processor 9 of the surgical system. Figure 4 As shown:

[0045] Step S110: Acquire the first position information and first posture information of the position and posture sensor 3 at the first preset moment and the second position information and second posture information at the second preset moment.

[0046] The magnetic field generator 2 and the posture sensor 3 of the holding structure 1 can be connected by wire or wirelessly. The posture sensor 3 transmits the detected first position information and first posture information, second position information and second posture information and other data to the magnetic field generator 2, and the magnetic field generator 2 sends it to the processor 9 of the surgical system.

[0047] Among them, the first position information is the position of the posture sensor 3 in the X, Y, and Z axis directions of the coordinate system of the holding structure 1 at the first preset moment, the second position information is the position of the posture sensor 3 in the X, Y, and Z axis directions of the coordinate system of the holding structure 1 at the second preset moment, the first posture information is the first deflection angle, the first pitch angle, and the first rotation angle in the coordinate system of the holding structure 1 at the first preset moment, and the second posture information is the second deflection angle, the second pitch angle, and the second rotation angle in the coordinate system of the holding structure 1 at the second preset moment.

[0048] Step S120: Determine the target posture information of the end device 5 according to the first posture information and the second posture information.

[0049] In one embodiment, the first posture information includes a first rotation angle, the second posture information includes a second rotation angle, and the target posture information includes a target rotation angle.

[0050] In another embodiment, the target attitude information includes the target pitch angle.

[0051] In other embodiments, the target posture information includes a target deflection angle.

[0052] In this embodiment, the wrist structure of the end instrument 5 is different from the configuration of the holding structure 1, so the posture information of the holding structure 1 cannot be directly used as the target posture information of the end instrument 5 to control the end instrument 5 to perform corresponding posture changes.

[0053] Therefore, the embodiment of the present application calculates the posture information of the holding structure 1 separately to obtain the target rotation angle, target pitch angle and target deflection angle of the corresponding end instrument 5, thereby avoiding the problem of master-slave mapping of the existing surgical system that causes the loss of one or more degrees of freedom due to the occurrence of special points due to the use of rotation matrix solution.

[0054] Step S130: determining the displacement change of the gripping structure 1 according to the first position information and the second position information.

[0055] Step S140: According to the displacement variation, the target displacement information of the end instrument 5 is obtained by scaling factor mapping.

[0056] In this embodiment, the displacement change of the holding structure 1 is mapped to the target displacement information of the end device 5 by setting the scaling coefficient, so that the target displacement information can be obtained by adjusting the scaling coefficient according to the actual situation, making the master-slave control method of the embodiment of the present application flexible and practical.

[0057] Step S150: sending the target displacement information, the target posture information and the opening and closing angle of the gripping structure 1 acquired by the opening and closing angle sensor 4 to the end device 5 to control the movement of the end device 5.

[0058] In one embodiment, the opening and closing angle of the holding structure 1 sent to the end device 5 is the second opening and closing angle of the holding structure 1 at the second preset moment.

[0059] The embodiment of the present application obtains the above-mentioned target displacement information and target posture information by performing spatial geometry solution in the form of a coordinate system, which can avoid the problem of special points causing the loss of one or more target posture information and target displacement information, thereby improving the stability and accuracy of the surgical system operation.

[0060] The existing holding structure 1 uses mechanical sensors such as potentiometers or encoders to obtain the motion parameters of the holding structure 1, which are mechanically worn during use, resulting in performance degradation, short life, and unstable performance. In the embodiment of the present application, the holding structure 1 uses a posture sensor 3 and an opening and closing angle sensor 4 to detect the position and posture, which can avoid the problem that the sensor is easily worn after long-term use and leads to performance degradation, thereby extending the service life of the sensor, that is, extending the service life of the surgical system.

[0061] The embodiment of the present application can collect operation data through various sensors installed in the holding structure 1, so the holding structure 1 does not need to be installed on the seat armrest through a mechanical connecting rod. The movement of the mechanical connecting rod is converted into a control instruction of the end device 5, which can solve the problem of limited movement space of the existing holding structure 1, increase the range of movement of the holding structure 1, and make the operation more flexible.

[0062] Figure 5 It is a schematic diagram of the position and posture changes of the holding structure from a first preset moment to a second preset moment in the master-slave control method of the surgical system provided in an embodiment of the present application.

[0063] like Figure 5 As shown, is the first position information of the posture sensor at the first preset moment, is the second position information of the posture sensor at the second preset time, is the first position information of the opening and closing angle sensor at the first preset moment, It is the second position information of the opening and closing angle sensor at the second preset moment.

[0064] is the first deflection angle of the holding structure 1 at the first preset moment, is the first pitch angle of the holding structure 1 at the first preset moment, It is the first rotation angle of the holding structure 1 at the first preset moment.

[0065] and is the second deflection angle of the holding structure 1 at the second preset moment, is the second pitch angle of the holding structure 1 at the second preset moment, It is the second rotation angle of the holding structure 1 at the second preset moment.

[0066] is the first opening and closing angle of the holding structure 1 at the first preset moment, It is the second opening and closing angle of the holding structure 1 at the second preset moment.

[0067] In one embodiment, if Figure 5 As shown, the above step S120 specifically includes: obtaining the target rotation angle by calculating the difference between the second rotation angle and the first rotation angle. The above step S120 can be calculated using the following formula:

[0068]

[0069] in, is the target rotation angle.

[0070] Figure 6 is a flowchart of sub-steps of step S120 of the master-slave control method of a surgical system provided by an embodiment of the present application; Figure 7 It is a structural schematic diagram of the first plane normal vector and the second plane normal vector of the master-slave control method of the surgical system provided in an embodiment of the present application.

[0071] In one embodiment, in combination Figure 5 ,like Figure 6-7As shown, the above step S120 specifically includes sub-steps S121 to S123.

[0072] Sub-step S121: Based on the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the first preset moment, the preset rotation matrix of the holding structure 1 rotating around the first direction, and the first column matrix, calculate the first plane normal vector of the holding structure 1 in the second direction after the first preset moment rotates.

[0073] In one embodiment, the above sub-step S121 can be calculated using the following formula:

[0074]

[0075] in, is the first plane normal vector, is the rotation matrix of the end instrument 5 relative to the magnetic field generator 2, is the first column of the matrix.

[0076] It is a rotation matrix of the holding structure 1 rotating around the first direction at a preset first preset moment.

[0077] in, It is the first rotation angle of the holding structure 1 at the first preset moment.

[0078] In the above embodiment, the first direction is the X-axis direction in the coordinate system of the holding structure 1, and the second direction is the Z-axis direction in the coordinate system of the holding structure 1. The coordinate system of the holding structure 1 is a three-dimensional coordinate system used to describe the position and posture of the holding structure 1.

[0079] Sub-step S122: Calculate the second plane normal vector of the holding structure 1 in the second direction at the second preset moment according to the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the second preset moment and the first column matrix.

[0080] In one embodiment, sub-step S122 can be specifically calculated using the following formula:

[0081]

[0082] in, represents the second plane normal vector of the gripping structure 1 at the second preset moment, which is equal to the plane normal vector of the gripping structure 1 after all rotation transformations. Consistent, therefore is the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the second preset moment, is the second column of the matrix.

[0083] Sub-step S123: Obtain the target pitch angle by calculating the angle between the first plane normal vector and the second plane normal vector.

[0084] In one embodiment, sub-step S123 can be specifically calculated using the following formula:

[0085]

[0086] in, Indicates the target pitch angle, because the pitch angle of the gripping structure 1 will not change by more than 90° within a certain preset time (e.g., 10ms~20ms), Used to indicate that the angle between the first plane normal vector and the second plane normal vector is less than 90°.

[0087] Figure 8 is a flowchart of sub-steps of step S120 of a master-slave control method for a surgical system provided by another embodiment of the present application; Fig. 9 It is a structural schematic diagram of the first direction vector and the second direction vector of the master-slave control method of the surgical system provided in an embodiment of the present application.

[0088] In one embodiment, in combination Figure 5 ,like Figure 8-9 As shown, the above step S120 also includes sub-steps S124 to S126, wherein sub-steps S124 to S126 have no chronological order with sub-steps S121 to S123 in the above another embodiment.

[0089] Sub-step S124: Calculate the first direction vector of the holding structure 1 after the rotation in the third direction at the first preset moment based on the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the first preset moment, the rotation matrix of the holding structure 1 rotating around the first direction and the second column matrix.

[0090] In one embodiment, the above step S124 can be calculated using the following formula:

[0091]

[0092] in, represents the first direction vector, is the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the first preset time, which can be obtained by searching a preset database.

[0093] is the second column of the matrix.

[0094] It is a rotation matrix of the holding structure 1 rotating around the first direction at a preset first preset moment.

[0095] in, It is the first rotation angle of the holding structure 1 at the first preset moment.

[0096] The third direction is the Y-axis direction in the coordinate system of the holding structure 1 .

[0097] Sub-step S125: Calculate the second direction vector of the holding structure 1 in the third direction at the second preset moment according to the rotation matrix and the second column matrix of the end instrument 5 relative to the magnetic field generator 2 at the second preset moment.

[0098] In one embodiment, the above sub-step S125 can be calculated using the following formula:

[0099]

[0100] in, represents the second direction vector, is the rotation matrix of the end instrument 5 relative to the magnetic field generator 2 at the second preset time, is the second column of the matrix.

[0101] Sub-step S126: Obtain the target deflection angle by calculating the angle between the first direction vector and the second direction vector.

[0102] In one embodiment, the above sub-step S126 can be calculated using the following formula:

[0103]

[0104] in, represents the included angle between the first direction vector and the second direction vector, ie, the target deflection angle of the end instrument 5 .

[0105] Because the change of the deflection angle of the gripping structure 1 will not exceed 90° within a certain preset time (for example, 10ms to 20ms), It is used to indicate that the angle between the first direction vector and the second direction vector is less than 90°.

[0106] In one embodiment, in combination Figure 5 The above step S130 specifically includes sub-steps S131 to S133.

[0107] Sub-step S131: determining the third position information of the holding structure 1 at the first preset time according to the first position information.

[0108] Specifically, it includes: determining the third position information of the base point of the holding structure 1 at the first preset moment based on the first position information and the position vector of the posture sensor 3 in the coordinate system of the holding structure 1 at the first preset moment relative to the base point of the holding structure 1 and the rotation transformation matrix of the coordinate system of the holding structure 1 to the coordinate system of the magnetic field generator 2.

[0109] In one embodiment, the third position information is obtained by calculating the sum of the product of the position vector of the posture sensor 3 in the coordinate system of the holding structure 1 at the first preset moment relative to the base point of the holding structure 1 and the rotation transformation matrix of the coordinate system of the holding structure 1 to the coordinate system of the magnetic field generator 2 and the first position information.

[0110] In one embodiment, the above sub-step S131 can be specifically calculated using the following formula:

[0111]

[0112]

[0113]

[0114] in, represents the position of the posture sensor 3 at the first preset moment, that is, the first position information at the first preset moment, is the rotation transformation matrix of the coordinate system of the holding structure 1 at the first preset moment transformed to the coordinate system of the magnetic field generator 2, It is the position vector of the posture sensor 3 relative to the base point of the holding structure 1 in the coordinate system of the holding structure 1 at the first preset moment.

[0115] The opening and closing angle sensor 4 is located at the base of the thumb when a person holds the holding structure 1 , and this position is used as the base point of the holding structure 1 .

[0116] Sub-step S132: determining fourth position information of the holding structure 1 at a second preset time according to the second position information.

[0117] In one embodiment, the fourth position information of the base point of the holding structure 1 at the second preset moment is determined based on the second position information, the position vector of the posture sensor 3 in the coordinate system of the holding structure 1 relative to the base point of the holding structure 1 at the second preset moment, and the rotation transformation matrix of the coordinate system of the holding structure 1 to the coordinate system of the magnetic field generator 2.

[0118] In one embodiment, the fourth position information is obtained by calculating the sum of the product of the position vector of the posture sensor 3 in the coordinate system of the holding structure 1 at the second preset moment relative to the base point of the holding structure 1 and the rotation transformation matrix of the coordinate system of the holding structure 1 to the coordinate system of the magnetic field generator 2 and the second position information.

[0119] In one embodiment, the above sub-step S122 can be specifically calculated using the following formula:

[0120]

[0121]

[0122]

[0123] in, is the second location information, is the rotation transformation matrix from the coordinate system of the holding structure 1 to the coordinate system of the magnetic field generator 2, is the position vector of the position sensor 3 relative to the base point of the grip structure 1 in the coordinate system of the grip structure 1 at the second preset moment. The opening and closing angle sensor 4 is located at the base of the thumb when the human hand holds the grip structure 1, and this position is used as the base point of the grip structure 1.

[0124] Sub-step S133: determining the displacement change of the gripping structure 1 according to the third position information and the fourth position information.

[0125] In one embodiment, the displacement change of the holding structure 1 is obtained by calculating the difference between the fourth position information and the third position information. .

[0126] In one embodiment, the above step S140 obtains the target displacement information of the end device 5 by mapping the displacement change calculated in step S130 through the scaling factor, which can be calculated specifically by the following formula:

[0127] Right now .

[0128] in, They respectively represent the position information of the terminal pan / tilt table (not shown in the figure) of the surgical system relative to the magnetic field generator 2 in the X, Y, and Z axis directions at the first preset moment, They respectively represent the position information of the terminal pan-tilt table of the surgical system relative to the magnetic field generator 2 in the X, Y, and Z axis directions at the second preset moment. The terminal instrument 5 is connected to the terminal pan-tilt table, and the displacement information of the terminal pan-tilt table is equal to the target displacement information of the terminal instrument 5. Therefore, the displacement information of the above-mentioned terminal pan-tilt table is used to represent the target displacement information.

[0129] Fig.10 It is a flowchart of determining whether the holding structure is in a normal holding state in the master-slave control method of the surgical system provided in an embodiment of the present application.

[0130] In one embodiment, the surgical system has a drop detection function for detecting whether the holding structure 1 falls off from the operator's hand.

[0131] The gripping sensor 13 provided on the gripping structure 1 may be located 3 to 4 cm above the posture sensor 3. The gripping sensor 13 detects the capacitance value of the gripping structure 1, and generates a capacitance signal from the capacitance value detected in real time and sends it to the processor 9 of the surgical system. The signal processing unit in the processor 9 performs filtering to determine whether the gripping structure 1 is in a normal gripping state.

[0132] Specifically, the control method includes:

[0133] Step S810: Obtain the ground plane capacitance value, receiving the capacitance value;

[0134] Step S820: Calculate the capacitance difference between the capacitance value and the ground plane capacitance value. The specific calculation formula is as follows:

[0135]

[0136] in, is the capacitance value detected by the grip sensor 13, is the ground plane capacitance.

[0137] The ground plane capacitance is the real-time capacitance of the holding sensor 13 to the ground plane when the hand holds the holding structure 1 .

[0138] Step S830: judging whether the holding structure 1 is in a normal holding state according to the relationship between the capacitance difference and the preset capacitance value.

[0139] In one embodiment, if the capacitance difference is greater than a preset capacitance value, it is determined that the holding structure 1 is in a normal holding state; if the capacitance difference is less than or equal to the preset capacitance value, it is determined that the holding structure 1 is not in a normal holding state.

[0140] Right now When , the holding structure 1 is in a normal holding state; ≤ , the holding structure 1 is not in a normal holding state.

[0141] in, Indicates the preset capacitance value.

[0142] Step S840: When it is determined that the holding structure 1 is not in the normal holding state, the acceleration is calculated and output according to the n position information of the holding structure 1 in the second direction detected by the posture sensor 3.

[0143] In one embodiment, the posture sensor 3 detects the position in the Z-axis direction and records the value in n reading cycles. , by calculating the output acceleration, the specific calculation formula is as follows:

[0144]

[0145] in, is the second-order derivative of the position information of the holding structure 1 in the Z-axis direction, for The acceleration of the holding structure 1 in the Z-axis direction at all times.

[0146] Step S850: judging whether the holding structure 1 falls according to the relationship between the acceleration and the preset acceleration.

[0147] In one embodiment, Indicates the preset acceleration.

[0148] If the acceleration is greater than or equal to the preset acceleration, , it is determined that the gripping structure 1 falls; if the acceleration is less than the preset acceleration, that is, , it is determined that the holding structure 1 has not fallen.

[0149] Step S860: Based on the determination result, the surgical system is controlled to continue working or enter a standby state.

[0150] When it is determined that the holding structure 1 has fallen, the surgical system is controlled to enter a standby state; when it is determined that the holding structure 1 has not fallen, the surgical system is controlled to continue working.

[0151] The surgical system of the embodiment of the present application is provided with a holding sensor 13 to detect whether the holding structure 1 is in a normal holding state. If the holding sensor 13 recognizes the operator's hand contact signal, that is, the holding structure 1 is in a normal holding state, the control operation of the surgical system can be performed. If the hand contact signal is not detected, that is, the holding structure 1 is not in a normal holding state, the control operation cannot be performed. The accuracy of the control operation of the surgical system can be improved to avoid the problem of misoperation when the holding structure 1 falls off.

[0152] Fig.11 A schematic diagram of a flow chart of determining whether a gripping structure performs a clamping operation in a master-slave control method of a surgical system provided in an embodiment of the present application.

[0153] In one embodiment, the surgical system includes a first motor and a second motor arranged on the end instrument 5, and the end instrument 5 is provided with at least two clamps, including a first clamp and a second clamp. The first motor is located on the first clamp, and the second motor is located on the second clamp. The first motor and the second motor can feedback the output torque in real time. By controlling the difference in the output torque of the clamping first motor and the second motor and the difference in the values ​​of the encoders in the first motor and the second motor, it can be determined whether the end instrument 5 performs a clamping operation.

[0154] The holding structure 1 is also provided with a clamping indicator light 14 connected to the processor 9 .

[0155] The control method includes steps S910 to S940.

[0156] Step S910: Acquire a first encoder value in the first motor and a second encoder value in the second motor.

[0157] Step S920: Calculate the first difference between the first encoder value and the second encoder value. In one embodiment, the above step S920 can be specifically calculated using the following formula:

[0158]

[0159] In one embodiment, represents the first difference, can represent the first encoder value, A second encoder value may be represented.

[0160] Step S930: judging whether the end instrument 5 performs a clamping operation according to the relationship between the first difference and the preset motor encoder value.

[0161] Step S940: Control the clamping indicator light to light up or remain off according to the judgment result.

[0162] If the end instrument 5 performs a clamping operation, the clamping indicator light 14 is controlled to light up.

[0163] If the end instrument 5 does not perform a clamping operation, the clamping indicator light 14 is controlled to remain off.

[0164] In one embodiment, step S930 may specifically include sub-steps S931 to S935.

[0165] Sub-step S931: Determine whether the first difference is less than the preset motor encoder value, that is, .

[0166] Sub-step S932: If yes, it is determined that the end instrument 5 is not performing a clamping operation, and the clamping indicator light 14 is controlled to remain off.

[0167] Sub-step S933: If not, receiving the first output torque sent by the first motor and the second output torque sent by the second motor.

[0168] Among them, when , it indicates that the first clamp head and the second clamp head are in the closing process.

[0169] In the above sub-step S933, when the first and second clamps of the end instrument 5 are in the process of closing, it is impossible to determine whether the end instrument 5 has performed a clamping operation, and therefore the first output torque and the second output torque are required to assist in the determination.

[0170] Step S934: Calculate the second difference between the first output torque and the second output torque. In one embodiment, the above step S934 can be calculated using the following formula:

[0171]

[0172] In one embodiment, represents the second difference, can represent the first output torque, The second output torque can be represented.

[0173] Step S935: judging whether the end instrument 5 performs a clamping operation according to the relationship between the second difference and the preset output torque value.

[0174] In one embodiment, step S935 may specifically include sub-steps S9351 to S9353.

[0175] Sub-step S9351: Determine whether the second difference is less than the preset output torque value, that is, .

[0176] Sub-step S9352: If yes, it is determined that the end instrument 5 is not performing a clamping operation, and the clamping indicator light 14 is controlled to remain off.

[0177] Step S9353: If not, When , it indicates that the two clamp heads are subject to resistance to opening outward, and it is determined that the end instrument 5 is performing a clamping operation, and the clamping indicator light 14 is controlled to light up.

[0178] The embodiment of the present application sets a clamping indicator light 14 and a control method involving the clamping indicator light 14, so as to accurately determine whether the end instrument 5 performs a clamping operation, thereby improving the accuracy of the operation of the end instrument 5 and improving the user experience of the operator.

[0179] In one embodiment, a button (not shown in the figure) may be provided on the holding structure 1, and the button is connected to the processor 9, which can be used to enable, turn on or off the filter of the surgical system and perform a gear switching function.

[0180] The present invention also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the master-slave control method of the surgical system when executing the computer program.

[0181] The present invention also provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program can be executed by a processor to complete the master-slave control method of the surgical system of the above embodiment. In the embodiments provided in the present application, it should be understood that the disclosed control system and method can also be implemented in other ways. The control system embodiments described above are only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the control system, method and computer program product according to the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and combinations of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0182] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0183] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0184] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A master-slave control device for a surgical system, characterized in that: The master-slave control device of the surgical system includes a magnetic field generator, an end instrument, and a holding structure for controlling the movement of the end instrument. The holding structure is provided with a posture sensor and an opening and closing angle sensor. The magnetic field generator is connected to the posture sensor to receive posture information transmitted by the posture sensor and transmit it to a processor. The processor is used to: Acquire first position information and first posture information of the position and posture sensor at a first preset time and second position information and second posture information at a second preset time; Determine the target posture information of the end device according to the first posture information and the second posture information; determining a displacement change of the holding structure according to the first position information and the second position information; According to the displacement change, target displacement information of the end device is obtained by scaling factor mapping; Sending the target displacement information, the target posture information and the opening and closing angle of the gripping structure acquired by the opening and closing angle sensor to the end device to control the movement of the end device; Wherein, the target posture information includes a target pitch angle, and determining the target posture information of the end device according to the first posture information and the second posture information includes: Calculate a first plane normal vector of the holding structure after the holding structure rotates in the second direction at the first preset moment according to the rotation matrix of the end instrument relative to the magnetic field generator at the first preset moment, the preset rotation matrix of the holding structure rotating around the first direction, and the first column matrix; Calculate a second plane normal vector of the holding structure in the second direction at the second preset moment according to the rotation matrix of the end instrument relative to the magnetic field generator at the second preset moment and the first column matrix; The target pitch angle is obtained by calculating the angle between the first plane normal vector and the second plane normal vector.

2. The master-slave control device of the surgical system according to claim 1, characterized in that: The determining the displacement change of the holding structure according to the first position information and the second position information includes: Determining third position information of the holding structure at a first preset moment according to the first position information; Determining fourth position information of the holding structure at a second preset moment according to the second position information; The displacement change amount of the holding structure is determined according to the third position information and the fourth position information.

3. The master-slave control device of the surgical system according to claim 2, characterized in that: The master-slave control device of the surgical system further includes a magnetic field generator connected to the posture sensor, for receiving position information transmitted by the posture sensor and transmitting the position information to the processor, and determining the third position information of the holding structure at the first preset time according to the first position information, including: Based on the first position information and the position vector of the posture sensor in the coordinate system of the holding structure relative to the base point of the holding structure at the first preset moment, and the rotation transformation matrix of the coordinate system of the holding structure to the coordinate system of the magnetic field generator, the third position information of the base point of the holding structure at the first preset moment is determined.

4. The master-slave control device of the surgical system according to claim 2, characterized in that: The master-slave control device of the surgical system further includes a magnetic field generator connected to the posture sensor, for receiving position information transmitted by the posture sensor and transmitting the position information to the processor, and determining fourth position information of the holding structure at a second preset time according to the second position information, including: Based on the second position information and the position vector of the posture sensor in the coordinate system of the holding structure relative to the base point of the holding structure at the second preset moment, and the rotation transformation matrix of the coordinate system of the holding structure to the coordinate system of the magnetic field generator, the fourth position information of the base point of the holding structure at the second preset moment is determined.

5. The master-slave control device of the surgical system according to claim 1, characterized in that: The first posture information includes a first rotation angle, the second posture information includes a second rotation angle, the target posture information includes a target rotation angle, and determining the target posture information of the end device according to the first posture information and the second posture information includes: The target rotation angle is obtained by calculating the difference between the second rotation angle and the first rotation angle.

6. The master-slave control device of the surgical system according to claim 1, characterized in that: The target posture information also includes a target deflection angle, and determining the target posture information of the end device according to the first posture information and the second posture information includes: Calculate a first direction vector of the holding structure in a third direction after the holding structure rotates at the first preset moment according to the rotation matrix of the end instrument relative to the magnetic field generator at the first preset moment, the preset rotation matrix of the holding structure rotating around the first direction, and the second column matrix; Calculating a second direction vector of the holding structure in the third direction at the second preset moment according to the rotation matrix and the second column matrix of the end instrument relative to the magnetic field generator at the second preset moment; The target deflection angle is obtained by calculating the angle between the first direction vector and the second direction vector.

7. The master-slave control device of the surgical system according to claim 1, characterized in that: The holding structure is provided with a holding sensor for detecting a capacitance value of the holding structure, and the processor is further used for: Obtaining a ground plane capacitance value, receiving the capacitance value; Calculating a capacitance difference between the capacitance value and the ground plane capacitance value; judging whether the holding structure is in a normal holding state according to a relationship between the capacitance difference and a preset capacitance value; When it is determined that the holding structure is not in a normal holding state, calculating and outputting the acceleration according to the n position information of the holding structure in the second direction detected by the posture sensor; According to the relationship between the acceleration and the preset acceleration, it is determined whether the holding structure has fallen, and according to the determination result, the surgical system is controlled to continue working or enter a standby state.

8. The master-slave control device of the surgical system according to claim 7, characterized in that: The determining whether the holding structure is in a normal holding state according to the relationship between the capacitance difference and the preset capacitance value includes: If the capacitance difference is greater than the preset capacitance value, it is determined that the holding structure is in a normal holding state; If the capacitance difference is less than the preset capacitance value, it is determined that the holding structure is not in a normal holding state.

9. The master-slave control device of the surgical system according to claim 7, characterized in that: The determining, based on the relationship between the acceleration and the preset acceleration, whether the holding structure has fallen includes: If the acceleration is greater than the preset acceleration, it is determined that the holding structure has fallen, and the surgical system is controlled to enter a standby state; If the acceleration is less than or equal to the preset acceleration, it is determined that the holding structure has not fallen, and the surgical system is controlled to continue working.

10. The master-slave control device of the surgical system according to claim 1, characterized in that: The surgical system further includes a first motor and a second motor disposed on the end instrument, a clamping indicator light is disposed on the holding structure, and the processor is further used for: Obtaining a first encoder value in the first motor and a second encoder value in the second motor; calculating a first difference between the first encoder value and the second encoder value; Determining whether the end device performs a clamping operation according to a relationship between the first difference and a preset motor encoder value; The clamping indicator light is controlled to light up or remain off according to the judgment result.

11. The master-slave control device of the surgical system according to claim 10, characterized in that: The step of judging whether the end device performs a clamping operation according to a relationship between the first difference and a preset motor encoder value includes: If the first difference is less than the motor encoder value, it is determined that the end instrument is not performing a clamping operation; If the first difference is not less than the motor encoder value, receiving a first output torque sent by the first motor and a second output torque sent by the second motor; calculating a second difference between the first output torque and the second output torque; According to the relationship between the second difference and the preset output torque value, it is determined whether the end instrument performs a clamping operation.

12. The master-slave control device of the surgical system according to claim 11, characterized in that: The step of judging whether the end device performs a clamping operation according to the relationship between the second difference and the preset output torque value includes: If the second difference is less than the preset output torque value, it is determined that the end instrument is not performing a clamping operation; If the second difference is not less than the preset output torque value, it is determined that the end instrument performs a clamping operation.

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