Device, method and system for correcting stress of instrument

Abstract

The invention relates to a device, method and system for correcting stress of an instrument. The device comprises an acquisition module used for acquiring an operation force, a contact area and an acquisition image of a target object in a process of operating a plurality of operation position points of the target object; the determining module is used for determining the target hardness of the multiple operation position points according to the operation force and the contact area of the multiple operation position points; the correction module is used for determining form information of the target object according to the acquired image; according to the form information and the target hardness at the multiple operation position points, the operation force at the corresponding operation position points is dynamically corrected, and corrected operation force at the multiple operation position points is obtained; and the operation module is used for operating the target object according to the corrected operation force at the multiple operation position points. By adopting the method, the operation efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a device, method and system for correcting the force applied to an instrument. Background Art

[0002] In the process of operating the target object, the state of the target object is an important basis for the operator to formulate an operation strategy in real time. However, in the scenario where the robot is used to operate the target object, the operator cannot intuitively perceive the state of the target object, especially the hardness state.

[0003] Traditionally, the operation of the target object often uses empirical operating force, and the robot completes the operation of the target object according to the empirical operating force. However, this method for correcting the force of the instrument lacks consideration of the state of the target object itself, and is not applicable to the operation of abnormal areas in the target object and special objects. When the operating force is too small, the operation may fail, and when the operating force is too large, the target object may be damaged. Therefore, the traditional method for correcting the force of the instrument has the problem of low operating efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a device, method and system for instrument force correction that can improve operating efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a device for correcting force on an instrument, comprising:

[0006] An acquisition module, used to acquire an operation force, a contact area and a captured image of the target object during an operation on multiple operation positions of the target object;

[0007] A determination module, for determining target hardness at a plurality of operation positions according to the operation forces and contact areas at the plurality of operation positions;

[0008] A correction module is used to determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points;

[0009] The operating module is used to operate the target object according to the corrected operating forces at multiple operating position points.

[0010] In a second aspect, the present application also provides a method for correcting the force of an instrument, comprising:

[0011] Acquire an operating force, a contact area, and a captured image of the target object during an operation on multiple operating positions of the target object;

[0012] determining target hardness at the plurality of operating positions according to the operating forces and contact areas at the plurality of operating positions;

[0013] Determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points;

[0014] The target object is operated according to the corrected operation forces at the plurality of operation position points.

[0015] In a third aspect, the present application also provides a system for correcting the force of an instrument, comprising: an operating instrument for operating multiple operating positions of a target object; an image acquisition device for acquiring images of the target object; a processing device for obtaining the operating force, contact area and the image acquisition device's acquired images of the target object during the operation of the operating instrument on multiple operating positions of the target object; determining the target hardness at the multiple operating positions based on the operating force and contact area at the multiple operating positions; determining the morphological information of the target object based on the acquired images; dynamically correcting the operating force at the corresponding operating position based on the morphological information and the target hardness at the multiple operating positions to obtain the corrected operating force at the multiple operating positions; and controlling the operating instrument to operate the target object according to the corrected operating forces at the multiple operating positions.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0017] Acquire an operating force, a contact area, and a captured image of the target object during an operation on multiple operating positions of the target object;

[0018] determining target hardness at the plurality of operating positions according to the operating forces and contact areas at the plurality of operating positions;

[0019] Determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points;

[0020] The target object is operated according to the corrected operation forces at the plurality of operation position points.

[0021] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0022] Acquire an operating force, a contact area, and a captured image of the target object during an operation on multiple operating positions of the target object;

[0023] determining target hardness at the plurality of operating positions according to the operating forces and contact areas at the plurality of operating positions;

[0024] Determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points;

[0025] The target object is operated according to the corrected operation forces at the plurality of operation position points.

[0026] The above-mentioned device, method, system, storage medium and computer program product for instrument force correction determine the target hardness at multiple operation positions by the operation force and contact area during the operation of multiple operation positions of the target object, and determine the morphological information of the target object based on the captured image of the target object, thereby combining the morphological information and the target hardness at multiple operation positions to dynamically correct the operation force at the corresponding operation positions. Since the corrected operation force at multiple operation positions comprehensively considers the hardness and morphological information of the target object, operating the target object according to the corrected operation force can avoid operation failure caused by too small an operation force or damage to the target object caused by too large an operation force, which is conducive to improving operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a system structure for correcting force on an instrument in one embodiment;

[0029] Figure 2 A schematic diagram of the structure of a slave device in one embodiment;

[0030] Figure 3 A schematic diagram of the structure of an operating device in one embodiment;

[0031] Figure 4 is a schematic diagram of the composition of an image display platform in one embodiment;

[0032] Figure 5 is a structural block diagram of a device for correcting force on an instrument in one embodiment;

[0033] Figure 6A schematic diagram of an operating device operating a target object in one embodiment;

[0034] Figure 7 A schematic diagram of obtaining a captured image in one embodiment;

[0035] Figure 8 A schematic diagram of hardness distribution in one embodiment;

[0036] Fig. 9 is a schematic diagram of the variation of organ stress with the action angle of the instrument in one embodiment;

[0037] Fig.10 is a schematic diagram of an initial operation angle and a real-time operation angle in one embodiment;

[0038] Fig.11 A schematic diagram showing a comparison of organ stresses under two target states in one embodiment;

[0039] Fig.12 is a schematic diagram of a method for determining an operating force in one embodiment;

[0040] Fig.13 A schematic diagram of a method for determining operating force in another embodiment;

[0041] Fig.14 is a flow chart of a method for correcting force on an instrument in one embodiment;

[0042] Fig.15 is a schematic diagram of the overall flow of a method for correcting force on an instrument in one embodiment;

[0043] Fig.16 A schematic diagram of an image display platform displaying reminder information in one embodiment;

[0044] Fig.17 FIG. 4 is a diagram showing the internal structure of a processing device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The device for correcting the force of an instrument provided in the embodiment of the present application can be applied to Figure 1The system for instrument force correction shown in FIG. The system for instrument force correction includes a main operation terminal 101, a slave device terminal 102, an image display platform 103, an instrument library 104, an auxiliary device 105 and a support device 106. The main operation terminal 101 is used to operate the object 107 to remotely operate the surgical robot. The main operation terminal 101 includes a processing device, and the processing device is used to execute the method for instrument force correction. The slave device terminal 102 is used to perform a surgical operation on the target object. Figure 2 FIG. 1 is a schematic diagram of the structure of a slave device in an embodiment. The slave device 102 includes a mechanical arm 108, an operating device 109 and a trolley 110. The mechanical arm 108 is mounted on the trolley 110, and the operating device 109 is mounted at the end of the mechanical arm 108. The operating device 109 is used to operate multiple operating positions of the target object. Figure 3 FIG. 1 is a schematic diagram of the structure of an operating instrument in an embodiment. The operating instrument 109 includes at least two splints 111; one end of at least two splints 111 is connected by a common connecting device. The image acquisition device is used to acquire the image of the target object. The image display platform 103 is used to display the surgical operation area information to the operating object 107. Figure 4 The figure shows a schematic diagram of the composition of an image display platform in one embodiment. The image display platform 103 includes an image display device 112, an image acquisition device 113 and an image processor 114. The image display device 112 is used to display relevant information and acquired images of the target object. The image acquisition device 113 is used to acquire acquired images of the target object. The image processor 114 is used to process image data. The instrument library 104 is used to store surgical instruments. The auxiliary device 105 is used to provide equipment for maintaining the state of the target object. The support device 106 is used to support the target object. Among them, the processing device can be but is not limited to various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc.

[0047] In an exemplary embodiment, Figure 5 As shown, the device 500 for correcting the force of an instrument includes an acquisition module 520 , a determination module 540 , a correction module 560 and an operation module 580 .

[0048] The acquisition module 520 is used to acquire the operation force, the contact area and the captured image of the target object during the operation on multiple operation positions of the target object.

[0049] Among them, an operating instrument is used to operate multiple operating positions of the target object. The operating force refers to the force applied when the operating instrument operates the target object. The contact area refers to the contact area between the splint and the target object during the operation. In some embodiments, the operating instrument can be an instrument with at least two operating terminals, such as pliers, clamps, and scissors. In other embodiments, the operating instrument can also be an instrument with a single operating terminal, such as a hook or a needle. Take the operating instrument as an instrument with two operating terminals as an example, such as Figure 6 The figure shows a schematic diagram of an operating instrument operating a target object in an embodiment. γ represents the clamping degree between two operating terminals.

[0050] The captured image is obtained by shooting the target object with an image acquisition device at a certain shooting angle. The type of image acquisition device can be determined by the type of the target object. The target object can be any object with a certain shape and size. For example, when the target object is an internal organ, the image acquisition device can be an endoscope. When the target object is an external tissue, the image acquisition device can be other external image acquisition devices. Figure 7 The figure shows a schematic diagram of obtaining a captured image in one embodiment. The target object is an organ in the target human body. The poking card 115 is used to punch a hole on the surface of the target human body and penetrate into the vicinity of the target object. The image acquisition device 113 is placed near the target object through the cavity punched by the poking card 115, and the field of view of the image acquisition device 113 at the placement position is adjustable. The target object is within the field of view of the image acquisition device 113, and the image acquisition device 113 shoots the target object to obtain a captured image of the target object.

[0051] The determination module 540 is used to determine the target hardness at the multiple operation positions according to the operation force and the contact area at the multiple operation positions.

[0052] The target object may be an object with uniform hardness or an object with uneven hardness. For example, an organ is used as the target object. When an organ is healthy, the hardness of each part is different. When an organ is diseased, the hardness of the abnormal part of the organ may become harder or softer. Figure 8 The figure shows a schematic diagram of the hardness distribution of the target object in one embodiment. Normal hardness refers to the hardness of the target object under normal conditions, and abnormal hardness refers to the hardness of the target object under conditions such as lesions. Therefore, it is necessary to determine the target hardness of the target object at different operating positions, so as to use different operating forces to operate, so as to avoid failure of operation due to too small an operating force, or damage to the target object due to too large an operating force.

[0053] The method for measuring the hardness of the target object can firstly involve the operating subject operating at multiple operating positions of the target object, and measuring the target hardness at the corresponding operating positions based on the operating force and contact area during the operation.

[0054] The correction module 560 is used to determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at multiple operating position points to obtain the corrected operating force at the multiple operating position points.

[0055] Among them, morphological information is information used to characterize the morphological features of the target object, such as shape, size, etc. Under the field of view of the image acquisition device, the morphological information such as shape and size of the target object in the acquired image is used to obtain the morphological information such as shape and size of the target object in the real space.

[0056] In some embodiments, the image acquisition device is an endoscope, and the punching position of the robot card is used to determine the target position of the robot arm and the endoscope relative to the target object, and the relative positions under the endoscope field of view are obtained according to the robot kinematic calculation. The image segmentation and feature recognition methods are used to process the acquired image, and the morphological information of the target object under the endoscope field of view is obtained in combination with the target positions under the endoscope field of view.

[0057] The morphological information can indicate the type and other characteristics of the target object. For target objects of different types or other characteristics, it is necessary to combine the morphological information and target hardness of the target object and dynamically correct the operating force when measuring the target hardness, so as to determine the appropriate operating force.

[0058] The operation module 580 is used to operate the target object according to the corrected operation forces at multiple operation position points.

[0059] Among them, at multiple operation positions, due to the differences in target hardness and morphological information, a corresponding corrected operation force is used to operate the target object, which is beneficial for having appropriate operation force when operating at various positions of the target object, avoiding the problem of excessive or insufficient operation force.

[0060] In the above-mentioned device for correcting the force of the instrument, the target hardness at multiple operation positions is determined by the operation force and contact area during the operation of multiple operation positions of the target object, and the morphological information of the target object is determined according to the collected image of the target object, so as to dynamically correct the operation force at the corresponding operation position by combining the morphological information and the target hardness at multiple operation positions. Since the corrected operation force at multiple operation positions comprehensively considers the hardness and morphological information of the target object, the target object is operated according to the corrected operation force, which can avoid operation failure caused by too small an operation force or damage to the target object caused by too large an operation force, and is conducive to improving operation efficiency.

[0061] Each module in the above-mentioned device for correcting the force of an instrument can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a processing device in the form of hardware, or can be stored in a memory in a processing device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0062] In an exemplary embodiment, the target hardness at multiple operating positions is determined based on the operating force and contact area at the multiple operating positions, and the determination module 540 is also used to: determine the current deformation at the current operating position for each operating position; determine the Young's modulus at the current operating position based on the current deformation, current operating force and current contact area at the current operating position; determine the target hardness at multiple operating positions based on the Young's modulus at each operating position.

[0063] In the process of measuring the target hardness, the operating object uses a certain operating force and contact area to operate at multiple operating positions of the target object. As the operating device is operated, the target object will produce a certain deformation at each operating position. Take the operating device as an example with two operating terminals. Fig. 9 The figure shows a schematic diagram of the change of organ stress with the action angle of the instrument in one embodiment. It can be seen from the figure that in a section just contacting the target object, the organ stress is basically constant and very small. Then it enters the elastic deformation stage, the organ stress increases sharply, and the elastic deformation range is smaller. Usually, the minimum organ stress in the elastic deformation stage is used as the maximum bearing capacity of the target object. After exceeding the maximum bearing capacity, it will enter the yield stage and the target object will be damaged. The action angle of the instrument refers to the difference between the initial operating angle when the operating instrument initially contacts the target object and the real-time operating angle. Fig.10The figure shows a schematic diagram of the initial operation angle and the real-time operation angle in one embodiment. α represents the initial operation angle, and β represents the real-time operation angle. β is less than α, indicating that the operation angle is decreasing continuously. When β is greater than α, the control operating device stops operating the target object.

[0064] Within a certain operating angle range after the operating device contacts the target object, the deformation amount at the operating position point of the target object increases with the increase of the operating angle. After reaching a certain operating angle, the operating force that the target object can withstand reaches the maximum. If the operating angle continues to increase, it will cause damage to the target object. For an operating device with at least two operating terminals, the current deformation amount at each operating position point can be determined by the current operating angle at the current operating position point.

[0065] In other embodiments, for an operating instrument having one operating terminal, the current deformation amount at each operating position point can be obtained by robot kinematics calculation.

[0066] Young's modulus is a physical quantity that characterizes the tensile or compressive resistance of a target object within the elastic limit. Young's modulus and organ hardness have a preset mapping relationship, and Young's modulus can be used to characterize the target hardness. At each operating position point, the Young's modulus is first determined based on the current deformation, current operating force, and current contact area, and then the preset mapping relationship is searched to determine the target hardness corresponding to the Young's modulus, thereby obtaining the target hardness at each operating position point.

[0067] In this embodiment, in the process of measuring the target hardness, the deformation corresponding to the current operation position point is first determined, and then the Young's modulus is determined in combination with the operation force and the contact area, and then the target deformation at each operation position point is determined. This method of traversing each operation position point of the target object and determining the target hardness of each part of the target object according to the operation information at each operation position point is conducive to obtaining an operation force that meets the hardness of the target object.

[0068] In an exemplary embodiment, an operating device for operating a target object includes at least two clamps; one end of the at least two clamps is connected by a common connecting device;

[0069] Determine the current deformation amount at the current operation position point, and the determination module 540 is also used to: obtain the current operation angle during the operation of the current operation position point, the initial operation angle when at least two splints are in contact with the surface of the target object, and the target distance from any target point on the target splint of at least two splints to the connecting device; determine the current deformation amount at the current operation position point based on the initial operation angle, the target distance and the current operation angle.

[0070] The operating device includes at least two clamps, and the at least two clamps are the operating terminals of the operating device. The operating device may include two clamps or multiple clamps. The operating device is described by taking two clamps as an example. The operating angle refers to the angle between any two clamps in the operating device. The initial operating angle refers to the angle between the two clamps when both clamps are in contact with the surface of the target object. As the clamping operation on the target object is performed, the operating angle remains unchanged and decreases.

[0071] In some embodiments, the shape amount determination formula may be:

[0072]

[0073] Among them, X represents the deformation, α represents the initial operation angle, θ represents the current operation angle, and L represents the target distance.

[0074] Accordingly, the Young's modulus at the current operation position is determined according to the current deformation, current operation force and current contact area at the current operation position. Specifically, the Young's modulus determination formula can be used to determine the Young's modulus at each operation position.

[0075] In some embodiments, the Young's modulus determination formula may be:

[0076]

[0077] Wherein, E represents Young's modulus, F represents the current operating force, and S represents the current contact area.

[0078] In this embodiment, the deformation amount at each operation position point is determined by combining the state information and property information of the splint during the operation of the operating instrument, which is helpful to determine the accurate hardness of the target object.

[0079] In other embodiments, the case where the operating instrument has a single terminal is described. The initial posture of the manipulator arm when the operating terminal initially contacts the current operating position point, and the final posture of the manipulator arm after the manipulator arm stops moving are obtained, and the displacement of the manipulator arm is determined by the initial posture of the manipulator arm and the final posture of the manipulator arm. The displacement of the manipulator arm is calculated by robot kinematics to obtain the displacement of the operating instrument. The displacement of the operating instrument is combined with the operating force and the contact area to obtain the current deformation at the current operating position point.

[0080] In an exemplary embodiment, the operating force at the corresponding operating position point is dynamically corrected according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points. The correction module 560 is also used to: determine the target state of the target object at the multiple operating position points according to the morphological information and the target hardness at the multiple operating position points; dynamically correct the operating force at the corresponding operating position point according to the target state at the multiple operating position points to obtain the corrected operating force at the multiple operating position points.

[0081] Among them, according to the hardness change of the target object under different conditions, the target state includes a normal state, a hardened state and a softened state. The normal state refers to the standard state of the target object under normal conditions. The hardened state refers to the state in which the hardness of the target part of the target object increases. The softened state refers to the state in which the hardness of the target part of the target object decreases.

[0082] In some embodiments, the color of the target part in the target object becomes lighter and the hardness increases, indicating that the target part is in a hardened state. The color of the target part becomes darker and the hardness decreases, indicating that the target part is in a softened state. The color and hardness of the target part are consistent with the standard color and standard hardness, indicating that the target part is in a normal state.

[0083] By referring to the target states at multiple operation positions of the target object, dynamically correcting the operation force when measuring the target hardness will help ensure that the target object is operated with a suitable operation force at each operation position.

[0084] In this embodiment, the target state at each operation position is first determined through morphological information and target hardness, so that the operation force at the corresponding operation position is dynamically corrected. This can avoid operation failure caused by too small an operation force or damage to the target object caused by too large an operation force, and is conducive to improving operation efficiency.

[0085] In an exemplary embodiment, the morphological information includes size information, posture information and color information; the target state of the target object at multiple operation positions is determined based on the morphological information and the target hardness at multiple operation positions, and the correction module 560 is also used to: determine the tissue type of the target object based on the size information and posture information; determine the reference hardness at each operation position based on the tissue type; for any operation position, determine the first hardness difference between the target hardness at the current operation position and the reference hardness at the corresponding position, and the second hardness difference between the target hardness at the current operation position and the target hardness at the remaining operation positions; determine the target state of the target object at the current operation position based on the first hardness difference at the current operation position, each second hardness difference and the color information.

[0086] The reference hardness refers to the standard hardness of the target object under normal circumstances.

[0087] The tissue type is used to characterize the type of the target object. It can be determined by size information, posture information or other information. Take the determination of tissue type based on size information and posture information as an example. For example, based on the size and posture, it can be determined that the tissue type of the target object is lung. Find the preset hardness information and determine the reference hardness at each operation position of the lung.

[0088] The target state can be determined based on the difference between the target hardness at each operating position and the reference hardness, the difference between the target hardness at the current operating position and the target hardness at the remaining operating positions, to determine the hardness change at each operating position, and combine the color information to comprehensively determine the target state. For example, if the target hardness at the current operating position is greater than the reference hardness, and the target hardness at the current operating position is greater than the target hardness at the remaining operating positions, it indicates that the target hardness at the current operating position has increased. If the target hardness at the current operating position is less than the reference hardness, and the target hardness at the current operating position is less than the target hardness at the remaining operating positions, it indicates that the target hardness at the current operating position has decreased.

[0089] In this embodiment, the tissue type of the target object is first determined by the size information and posture information in the morphological information, and then the reference hardness at each operation position is determined. The target hardness at the current position is compared with the reference hardness and the target hardness at the remaining positions, combined with the color information, which is conducive to improving the accuracy of the determined target state.

[0090] In an exemplary embodiment, according to the first hardness difference value, each second hardness difference value and color information at the current operation position point, the target state of the target object at the current operation position point is determined, and the correction module 560 is further used to:

[0091] When the color information indicates that the color is abnormal, the first hardness difference is greater than the first preset hardness, and all the second hardness differences are greater than the second preset hardness, it is determined that the target state at the current operation position point is a hardened state; the first preset hardness and the second preset hardness are positive numbers;

[0092] When the color information indicates that the color is abnormal, the first hardness difference is less than the third preset hardness, and all the second hardness differences are less than the fourth preset hardness, it is determined that the target state at the current operation position point is a softened state; the third preset hardness and the fourth preset hardness are negative numbers;

[0093] When the first hardness difference is between the third preset hardness and the first preset hardness, and the second hardness difference is between the fourth preset hardness and the second preset hardness, it is determined that the target state at the current operation position point is a normal state.

[0094] Wherein, when the color information is inconsistent with the standard color of the target object at the corresponding operation position point, the color information indicates that the color is abnormal. When the color information is consistent with the standard color of the target object at the corresponding operation position point, the color information indicates that the color is normal.

[0095] If the first hardness difference is greater than the first preset hardness, and all second hardness differences are greater than the second preset hardness, and the first preset hardness and the second preset hardness are positive numbers, it indicates that the target hardness at the current operation position point increases. If the color information indicates an abnormal color, and the target hardness increases, the target state at the corresponding operation position point is determined to be a hardened state.

[0096] When the first hardness difference is less than the third preset hardness, and all the second hardness differences are less than the fourth preset hardness, and the third preset hardness and the fourth preset hardness are negative numbers, the target hardness at the current operation position of the surface decreases. When the color information indicates an abnormal color and the target hardness decreases, the target state at the corresponding operation position is determined to be a softened state.

[0097] When the first hardness difference is between the third preset hardness and the first preset hardness, and the second hardness difference is between the fourth preset hardness and the second preset hardness, and the color information indicates that the color is abnormal or normal, the target state at the current operation position point is normal.

[0098] In this embodiment, by determining the target state under corresponding conditions when the color information, the first hardness difference value, and each second hardness difference value are different, it is helpful to improve the accuracy of the determined target state.

[0099] In an exemplary embodiment, according to the target states at multiple operation positions, the operation forces at corresponding operation positions are dynamically corrected to obtain the corrected operation forces at multiple operation positions. The correction module 560 is also used to: for each operation position, determine the friction coefficient between the target object and the splint and the maximum pressure that the target object can withstand according to the target state; determine the minimum operation force according to the friction coefficient and the minimum operation friction force; determine the maximum operation force according to the maximum pressure and the splint area; determine the operation range according to the minimum operation force and the maximum operation force; according to the operation range, dynamically correct the operation force at the corresponding operation position to obtain the corrected operation forces at multiple operation positions.

[0100] The maximum operating force is used to characterize the maximum operating force that the target object can withstand. If the operating force provided by the operating device exceeds the maximum operating force, damage will be caused to the target object.

[0101] The minimum operating force is used to characterize the minimum operating force that can operate the target object. If the operating force provided by the operating device is less than the minimum operating force, the target object cannot be operated.

[0102] The friction coefficient μ refers to the friction coefficient between the splint of the operating device and the target object. The viscosity coefficient of the target object in different target states is different, and the friction coefficient is different. The minimum operating friction force f is the minimum friction force for operating the target object. In some embodiments, the minimum operating force can be the quotient f / μ of the minimum operating friction force f and the friction coefficient μ.

[0103] The maximum pressure P refers to the maximum pressure that the target object can withstand. In some embodiments, the maximum operating force can be the product of the maximum pressure P and the splint area S, P*S.

[0104] The minimum operating force is used as the minimum boundary value of the operating range, and the maximum operating force is used as the maximum boundary value of the operating range. Within the operating range, the operating force is dynamically corrected to ensure that the corrected operating force is within the operating range. For example, when the operating force is greater than the maximum operating force, the operating force is reduced until the corrected operating force is within the operating range. When the operating force is less than the minimum operating force, the operating force is increased until the corrected operating force is within the operating range.

[0105] In this embodiment, the minimum operating force is determined based on the friction coefficient and the minimum operating friction force, and the maximum operating force is determined based on the maximum pressure and the splint area, thereby determining the operating range. The operating force at the corresponding operating position point is dynamically corrected within the operating range to obtain the corrected operating force. This can ensure that the corrected operating force is within the operating range, which is beneficial to avoid operation failure caused by too small an operating force or damage to the target object caused by too large an operating force, thereby improving operating efficiency.

[0106] In an exemplary embodiment, the device 500 for correcting the force of an instrument also includes a reminder module, which is used to: when the minimum operating force is greater than the maximum operating force, generate an inoperable reminder and stop operating the target object; when the operating force at any operating position point is greater than the maximum operating force, generate an excessive operating force reminder; when the operating force at any operating position point is less than the minimum operating force, generate a too small operating force reminder; when the operating force at any operating position point is between the minimum operating force and the maximum operating force, generate a normal operating force reminder.

[0107] In the process of operating the target object by using the operating force, corresponding reminder information may be generated to remind the operating object of the real-time operating status of the operating instrument on the target object.

[0108] The minimum operating force is greater than the maximum operating force, indicating that the target object will be damaged when the minimum operating force that can operate the target object is used. It is necessary to avoid continuing to operate the target object in this case. The processing device generates an inoperable reminder and stops operating the target object. Fig.11 The figure shows a schematic diagram of organ stress comparison under two target states. The left figure shows the hardened state, where the minimum operating force is greater than the maximum bearing force. The right figure shows the softened state, where the minimum operating force is greater than the maximum bearing force. The maximum bearing force of the target object is the maximum support force.

[0109] When the operating force at any operating position is greater than the maximum operating force, it indicates that the operating force here is too large and may cause damage to the target object. The processing device will generate a reminder of excessive operating force, which is convenient for the operator to manually adjust the operating force according to the reminder, which is beneficial to avoid damage to the target object.

[0110] If the operating force at any operating position is less than the minimum operating force, it indicates that the operating force here is too small and the target object may not be able to be operated. The processing device will generate a reminder that the operating force is too small, so that the operator can manually adjust the operating force according to the reminder, which is helpful to avoid failure in operating the target object.

[0111] In some embodiments, the processing device sends each generated reminder information to the image display platform, thereby dynamically displaying each reminder information.

[0112] In this embodiment, corresponding reminder information is generated according to different operating forces, so as to remind the operator to adopt appropriate adjustment measures, thereby improving operating efficiency.

[0113] In an exemplary embodiment, with respect to acquisition of the operating force at each operating position point, the acquisition module 520 is also used to: acquire the instrument type of the operating instrument and the transmission force of the transmission wire at each operating position point; determine the instrument construction parameters according to the instrument type; and determine the operating force at each operating position point according to the transmission force and the instrument construction parameters.

[0114] The operating instrument completes the operation of different operating instruments under the transmission of the transmission wire. The operating instruments of different instrument types have different instrument structures and corresponding instrument structural parameters. At different operating positions, the transmission force of the transmission wire is different. Based on the transmission force and the instrument structural parameters, the operating force at the corresponding operating position can be determined.

[0115] In some embodiments, the device configuration parameters include a first distance d1 between the connection point between the transmission wire and the splint and the first rotation axis, and a second distance d2 between the splint fixed point and the first rotation axis. Fig.12 FIG. 1 is a schematic diagram of a method for determining an operating force in an embodiment, wherein BB' represents a first rotation axis, AA' represents a second rotation axis, F2 represents an operating force, and 116 represents a transmission wire.

[0116] According to the static moment theorem: F1*d1=F2*d2, where F1 represents the transmission force, then the operating force F2=F1*d1 / d2.

[0117] In this embodiment, the operating force at each operating position is determined based on the transmission force of the transmission wire at each operating position and the instrument structural parameters of the operating instrument, which is conducive to improving the accuracy of the determined operating force.

[0118] In an exemplary embodiment, with respect to acquisition of transmission force, the acquisition module 520 is also used to: acquire the driving current of the driving motor, the motor torque constant and the pulley radius of the fixed pulley of the decoupler; the driving motor is used to drive the fixed pulley of the decoupler to drive the transmission wire to operate, and the transmission wire is used to provide operating force to the operating device; the transmission force is determined based on the driving current, the motor torque constant and the pulley radius.

[0119] The transmission force of the transmission wire can be determined according to the current in the driving device. Fig.13 FIG. 1 is a schematic diagram of a method for determining operating force in another embodiment. D1 represents the pulley radius. The driving device includes a driving motor, a decoupler fixed pulley and a transmission wire. The driving motor is used to drive the decoupler fixed pulley to drive the transmission wire to operate, and the transmission wire is used to provide operating force to the operating device.

[0120] The formula for determining the transmission force is as follows: F1 = K*I / D1, where K represents the motor torque constant and I represents the drive current. Substitute the drive current, motor torque constant and pulley radius into the transmission force formula to obtain the transmission force.

[0121] In other embodiments, a strain gauge is attached to the transmission wire, and the strain force collected by the strain gauge is used as the transmission force of the transmission wire.

[0122] In this embodiment, the transmission force is determined by the driving current, the motor torque constant and the pulley radius, which is helpful to improve the accuracy of the transmission force at the determination location.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a method for correcting the force of an instrument used in the device for correcting the force of an instrument involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above-mentioned device, so the specific limitations in one or more embodiments of the method for correcting the force of an instrument provided below can refer to the limitations of the device for correcting the force of an instrument above, and will not be repeated here.

[0124] In an exemplary embodiment, Fig.14 As shown, a method for correcting the force of an instrument is provided, comprising:

[0125] Step 1402 is used to obtain the operating force, contact area and captured image of the target object during the operation process on multiple operating positions of the target object;

[0126] Step 1404, for determining target hardness at multiple operating positions according to the operating forces and contact areas at the multiple operating positions;

[0127] Step 1406 is used to determine the morphological information of the target object according to the collected image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points;

[0128] Step 1408 is used to operate the target object according to the corrected operation forces at the multiple operation position points.

[0129] The above-mentioned method for correcting the force of the instrument determines the target hardness at multiple operation positions by the operation force and contact area during the operation of multiple operation positions of the target object, and determines the morphological information of the target object based on the captured image of the target object, thereby combining the morphological information and the target hardness at multiple operation positions to dynamically correct the operation force at the corresponding operation positions. Since the corrected operation force at multiple operation positions comprehensively considers the hardness and morphological information of the target object, operating the target object according to the corrected operation force can avoid operation failure caused by too small an operation force, or damage to the target object caused by too large an operation force, which is conducive to improving operation efficiency.

[0130] In one embodiment, target hardnesses at multiple operating positions are determined based on operating forces and contact areas at the multiple operating positions, including: for each operating position, determining a current deformation amount at a current operating position; determining a Young's modulus at a current operating position based on the current deformation amount, current operating force and current contact area at the current operating position; and determining target hardnesses at multiple operating positions based on the Young's modulus at each operating position.

[0131] In one embodiment, an operating device for operating a target object comprises at least two splints; one end of at least two splints are connected by a common connecting device; determining a current deformation amount at a current operating position point comprises: obtaining a current operating angle during operation on the current operating position point, an initial operating angle when at least two splints are in contact with the surface of the target object, and a target distance from any target point on a target splint of at least two splints to the connecting device; determining the current deformation amount at the current operating position point according to the initial operating angle, the target distance and the current operating angle.

[0132] In one embodiment, the operating force at the corresponding operating position points is dynamically corrected according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points, including: determining the target state of the target object at the multiple operating position points according to the morphological information and the target hardness at the multiple operating position points; dynamically correcting the operating force at the corresponding operating position points according to the target state at the multiple operating position points to obtain the corrected operating force at the multiple operating position points.

[0133] In one embodiment, the morphological information includes size information, posture information and color information; the target state of the target object at multiple operation positions is determined based on the morphological information and the target hardness at multiple operation positions, including: determining the tissue type of the target object based on the size information and the posture information; determining the reference hardness at each operation position based on the tissue type; for any operation position, determining a first hardness difference between the target hardness at the current operation position and the reference hardness at the corresponding position, and a second hardness difference between the target hardness at the current operation position and the target hardness at the remaining operation positions; determining the target state of the target object at the current operation position based on the first hardness difference at the current operation position, each second hardness difference and the color information.

[0134] In one embodiment, the target state of the target object at the current operation position is determined based on the first hardness difference, each second hardness difference and color information at the current operation position, including: when the color information indicates color abnormality, the first hardness difference is greater than the first preset hardness, and all the second hardness differences are greater than the second preset hardness, the target state at the current operation position is determined to be a hardened state; the first preset hardness and the second preset hardness are positive numbers; when the color information indicates color abnormality, the first hardness difference is less than the third preset hardness, and all the second hardness differences are less than the fourth preset hardness, the target state at the current operation position is determined to be a softened state; the third preset hardness and the fourth preset hardness are negative numbers; when the first hardness difference is between the third preset hardness and the first preset hardness, and the second hardness difference is between the fourth preset hardness and the second preset hardness, the target state at the current operation position is determined to be a normal state.

[0135] In one embodiment, according to the target states at multiple operation positions, the operation forces at corresponding operation positions are dynamically corrected to obtain corrected operation forces at multiple operation positions, including: for each operation position, according to the target state, determining the friction coefficient between the target object and the splint and the maximum pressure that the target object can withstand; determining the minimum operation force according to the friction coefficient and the minimum operation friction force; determining the maximum operation force according to the maximum pressure and the splint area; determining the operation range according to the minimum operation force and the maximum operation force; and dynamically correcting the operation force at corresponding operation positions according to the operation range to obtain corrected operation forces at multiple operation positions.

[0136] In one embodiment, the method for correcting the force of the instrument also includes: when the minimum operating force is greater than the maximum operating force, generating an inoperable reminder and stopping the operation on the target object; when the operating force at any operating position point is greater than the maximum operating force, generating an excessive operating force reminder; when the operating force at any operating position point is less than the minimum operating force, generating a too small operating force reminder; when the operating force at any operating position point is between the minimum operating force and the maximum operating force, generating a normal operating force reminder.

[0137] In one embodiment, the step of acquiring the operating force at each operating position point, the method for instrument force correction also includes: acquiring the instrument type of the operating instrument and the transmission force of the transmission wire at each operating position point; determining the instrument construction parameters according to the instrument type; determining the operating force at each operating position point according to the transmission force and the instrument construction parameters.

[0138] In one embodiment, the step of obtaining the transmission force, the method for correcting the force of the instrument also includes: obtaining the driving current of the driving motor, the motor torque constant and the pulley radius of the fixed pulley of the decoupler; the driving motor is used to drive the fixed pulley of the decoupler to drive the transmission wire to operate, and the transmission wire is used to provide operating force to the operating instrument; the transmission force is determined according to the driving current, the motor torque constant and the pulley radius.

[0139] In order to explain in detail the method and effect of the force correction of the device in this solution, a most detailed embodiment is described below:

[0140] In the scenario of laparoscopic surgery robot performing laparoscopic surgery, the target object is the internal organs of the human body. The method for instrument force correction is applied to the system for instrument force correction, and the system for instrument force correction includes a master operation end, a slave device end, an image display platform, an instrument library, an auxiliary device and a support device. Among them, the master operation end is used for the operation object to remotely operate the surgical robot. The master operation end includes a processing device, and the processing device is used to execute the method for instrument force correction. The slave device end is used to perform surgery on the target object. Among them, the slave device end includes a mechanical arm, an operating instrument and a trolley. The mechanical arm is installed on the trolley, and the operating instrument is installed at the end of the mechanical arm. The operating instrument is used to operate multiple operating positions of the target object. Among them, the operating instrument can be an instrument with at least two operating terminals, and can also be an instrument with a single terminal. Taking the operating instrument as an instrument with at least two operating terminals as an example, the operating instrument includes at least two splints; one end of the at least two splints is connected by a common connecting device. The image acquisition device is used to acquire the acquisition image of the target object. The image display platform is used to display the surgical operation area information to the operation object. The image display platform includes an image display device, an image acquisition device and an image processor. The image display device is used to display relevant information of the target object and acquire images. The image acquisition device is used to acquire images of the target object. The image processor is used to process image data. The instrument library is used to store surgical instruments. The auxiliary equipment is used to provide equipment for maintaining the state of the target object. The support device is used to support the target object.

[0141] like Fig.15 The figure shows a schematic diagram of the overall process of a method for instrument force correction in one embodiment. In the process of operating the target object using an operating device, the instrument type of the operating instrument is first obtained. The operating force is calculated by reading the driving current. Alternatively, the transmission force of the transmission wire is determined by detecting the strain gauge attached to the transmission wire, and the operating force is calculated from the transmission force. Then, the target hardness of the target object is calculated based on the operating force, operating angle and contact area of ​​the operating instrument. The size information, shape information and robot arm posture information of the target object in the captured image are combined with the target hardness to determine the target state of the target object in the current endoscope field of view. Combined with the target hardness and the target state, the organ state is determined, thereby dynamically adjusting the operating range of the current operating force, dynamically correcting the operating force, and reminding the operating object whether the state of the target object is normal and whether the operating force is appropriate.

[0142] The processing device obtains the operation angle, operation force, contact area and the captured image of the target object during the operation on multiple operation positions of the target object.

[0143] Among them, the method for obtaining the operating force at each operating position point is: obtain the instrument type of the operating instrument and the transmission force of the transmission wire at each operating position point, determine the instrument construction parameters according to the instrument type, and determine the operating force at each operating position point according to the transmission force and the instrument construction parameters.

[0144] Among them, the transmission force can be obtained by using the driving current method and the strain gauge method.

[0145] Driving current method: Obtain the driving current of the driving motor, the motor torque constant and the pulley radius of the fixed pulley of the decoupler. The driving motor is used to drive the fixed pulley of the decoupler to drive the transmission wire to operate, and the transmission wire is used to provide operating force to the operating device. Determine the transmission force based on the driving current, motor torque constant and pulley radius.

[0146] Strain gauge method: A strain gauge is attached to the transmission wire, and the strain force collected on the strain gauge is used as the transmission force of the transmission wire.

[0147] The processing device determines the target hardness at multiple operating positions according to the operating angles, operating forces and contact areas at the multiple operating positions. The specific determination process of the target hardness is as follows:

[0148] For each operation position point, the initial operation angle when at least two splints are in contact with the surface of the target object and the target distance from any target point on the target splint of at least two splints to the connecting device are obtained, and the current deformation at the current operation position point is determined according to the initial operation angle, the target distance and the current operation angle. The Young's modulus at the current operation position point is determined according to the current deformation, the current operation force and the current contact area at the current operation position point, and the target hardness at multiple operation position points is determined according to the Young's modulus at each operation position point.

[0149] According to the acquired image, the morphological information of the target object is determined, and the morphological information includes size information, posture information and color information. According to the size information and posture information, the tissue type of the target object is determined, and according to the tissue type, the reference hardness at each operation position point is determined. For any operation position point, the first hardness difference between the target hardness at the current operation position point and the reference hardness at the corresponding position point, and the second hardness difference between the target hardness at the current operation position point and the target hardness at the remaining operation position points are determined. In the case where the color information indicates that the color is abnormal, the first hardness difference is greater than the first preset hardness, and all the second hardness differences are greater than the second preset hardness, the target state at the current operation position point is determined to be a hardened state, and the first preset hardness and the second preset hardness are positive numbers. In the case where the color information indicates that the color is abnormal, the first hardness difference is less than the third preset hardness, and all the second hardness differences are less than the fourth preset hardness, the target state at the current operation position point is determined to be a softened state, and the third preset hardness and the fourth preset hardness are negative numbers. In the case where the first hardness difference is between the third preset hardness and the first preset hardness, and the second hardness difference is between the fourth preset hardness and the second preset hardness, the target state at the current operation position point is determined to be a normal state.

[0150] For each operation position point, the friction coefficient between the target object and the splint and the maximum pressure that the target object can withstand are determined according to the target state. The minimum operation force is determined according to the friction coefficient and the minimum operation friction force, and the maximum operation force is determined according to the maximum pressure and the splint area. The operation range is determined according to the minimum operation force and the maximum operation force, and the operation force at the corresponding operation position point is dynamically corrected according to the operation range to obtain the corrected operation force at multiple operation position points. The target object is operated according to the corrected operation forces at multiple operation position points.

[0151] In addition, during the operation, various reminder messages can be generated, and the reminder messages can be displayed on the image display platform. For example, when the minimum operating force is greater than the maximum operating force, an inoperable reminder is generated, and the operation of the target object is stopped. When the operating force at any operating position is greater than the maximum operating force, an excessive operating force reminder is generated. When the operating force at any operating position is less than the minimum operating force, a too small operating force reminder is generated. When the operating force at any operating position is between the minimum operating force and the maximum operating force, a normal operating force reminder is generated. Fig.16The figure shows a schematic diagram of an image display platform displaying reminder information in one embodiment. Among them, 1602 represents the acquisition image display area in the image display platform, 1604 represents the left-hand operation instrument operation force reminder area in the image display platform, and 1606 represents the right-hand operation instrument operation force reminder area in the image display platform. When the operation force is too large, the operation force reminder area is displayed in the first color, when the operation force is too small, the operation force reminder area is displayed in the second color, and when the operation force is in the operation range, the operation force reminder area is displayed in the third color. In other embodiments, a corresponding reminder sound can also be played in the sound reminder device.

[0152] The above-mentioned method for instrument force correction determines the target hardness at multiple operation positions by the operation force and contact area during the operation of multiple operation positions of the target object, and determines the morphological information of the target object according to the collected image of the target object, thereby combining the morphological information and the target hardness at multiple operation positions to dynamically correct the operation force at the corresponding operation positions. Since the corrected operation force at multiple operation positions comprehensively considers the hardness and morphological information of the target object, the target object is operated according to the corrected operation force, which can avoid operation failure caused by too small operation force or damage to the target object caused by too large operation force, which is conducive to improving operation efficiency. At the same time, when the operating instrument is blocked and difficult to observe with the naked eye, the identification of the operation force can be displayed on the image display platform. The target state of the target object is judged in real time to avoid calculation errors in the operation interval, and according to the target state, the operating object is assisted to obtain more target object information. The operating object can grasp the size of the operating force of the operating instrument in real time to avoid misoperation such as the needle falling off, dislocation, and crushing the target object. By detecting the target state of the target object in real time, dynamically calculating the operation interval, and dynamically correcting the operation force, the operation of the operator is assisted to avoid accidents caused by misoperation of the operating object and protect the target object.

[0153] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0154] In an exemplary embodiment, a system for correcting the force of an instrument is provided, comprising: an operating instrument for operating multiple operating positions of a target object; an image acquisition device for acquiring an image of the target object; a processing device, which may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.17 As shown. The processing device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the processing device is used to provide computing and control capabilities. The memory of the processing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the processing device is used to exchange information between the processor and an external device. The communication interface of the processing device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for correcting the force of an instrument is implemented.

[0155] Those skilled in the art will understand that Fig.17 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the system to which the scheme of the present application is applied. The specific system may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0156] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0157] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0158] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0159] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0160] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A device for correcting the force of an instrument, characterized in that: The device comprises: An acquisition module, used to acquire an operation force, a contact area and a captured image of the target object during an operation on multiple position points of the target object; A determination module, for determining target hardness at a plurality of operation positions according to the operation forces and contact areas at the plurality of operation positions; A correction module, configured to determine the morphological information of the target object according to the acquired image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points, to obtain the corrected operating force at the multiple operating position points; The operating module is used to operate the target object according to the corrected operating forces at multiple operating position points.

2. The device according to claim 1, characterized in that The target hardness at the multiple operation positions is determined according to the operation force and the contact area at the multiple operation positions, and the determination module is further used for: For each operation position point, determining a current deformation amount at the current operation position point; Determining the Young's modulus at the current operation position point according to the current deformation amount, the current operation force and the current contact area at the current operation position point; According to the Young's modulus at each operating position, the target hardness at the plurality of operating positions is determined.

3. The device according to claim 2, characterized in that The operating device for operating the target object comprises at least two clamps; one end of the at least two clamps is connected by a common connecting device; the current deformation amount at the current operating position point is determined, and the determination module is also used to: Acquire a current operation angle during operation of the current operation position point, an initial operation angle when at least two clamps are in contact with the surface of the target object, and a target distance from any target point on a target clamp of at least two clamps to the connection device; The current deformation amount at the current operation position point is determined according to the initial operation angle, the target distance and the current operation angle.

4. The device according to claim 1, characterized in that According to the morphological information and the target hardness at the multiple operation positions, the operation force at the corresponding operation position is dynamically corrected to obtain the corrected operation force at the multiple operation position points, and the correction module is further used for: determining a target state of the target object at the plurality of operation positions according to the morphological information and the target hardness at the plurality of operation positions; According to the target states at the multiple operation positions, the operation forces at the corresponding operation positions are dynamically corrected to obtain the corrected operation forces at the multiple operation positions.

5. The device according to claim 4, characterized in that The morphological information includes size information, posture information and color information; the target state of the target object at the multiple operation positions is determined according to the morphological information and the target hardness at the multiple operation positions, and the correction module is further used to: Determining the tissue type of the target object according to the size information and the posture information; Determining a reference hardness at each operation position according to the tissue type; For any operation position point, determine a first hardness difference between a target hardness at a current operation position point and a reference hardness at a corresponding position point, and a second hardness difference between the target hardness at the current operation position point and the target hardness at the remaining operation position points respectively; The target state of the target object at the current operation position is determined according to the first hardness difference value, each second hardness difference value and the color information at the current operation position.

6. The device according to claim 5, characterized in that The target state of the target object at the current operation position is determined according to the first hardness difference value, each second hardness difference value and the color information at the current operation position, and the correction module is further used to: In the case where the color information indicates that the color is abnormal, the first hardness difference is greater than the first preset hardness, and all the second hardness differences are greater than the second preset hardness, determining that the target state at the current operation position point is a hardened state; The first preset hardness and the second preset hardness are positive numbers; In the case where the color information indicates that the color is abnormal, the first hardness difference is less than the third preset hardness, and all the second hardness differences are less than the fourth preset hardness, determining that the target state at the current operation position point is a softened state; The third preset hardness and the fourth preset hardness are negative numbers; When the first hardness difference is between the third preset hardness and the first preset hardness, and the second hardness difference is between the fourth preset hardness and the second preset hardness, it is determined that the target state at the current operation position point is a normal state.

7. The device according to claim 5, characterized in that According to the target states at the multiple operation positions, the operation forces at the corresponding operation positions are dynamically corrected to obtain the corrected operation forces at the multiple operation positions. The correction module is also used for: For each operation position point, according to the target state, determining the friction coefficient between the target object and the clamping plate and the maximum pressure that the target object can withstand; Determining a minimum operating force according to the friction coefficient and the minimum operating friction force; Determining a maximum operating force according to the maximum pressure and the clamping plate area; determining an operation range according to the minimum operation force and the maximum operation force; According to the operation range, the operation force at the corresponding operation position point is dynamically corrected to obtain the corrected operation force at the plurality of operation position points.

8. The device according to claim 1, characterized in that In terms of acquiring the operating force at each operating position point, the acquisition module is also used to: Obtaining the instrument type of the operating instrument and the transmission force of the transmission wire at each operating position point; Determining device construction parameters according to the device type; The operating force at each operating position point is determined according to the transmission force and the device construction parameters.

9. A method for correcting the force of an instrument, characterized in that: The method comprises: Acquire an operating force, a contact area, and a captured image of the target object during an operation on multiple operating positions of the target object; determining target hardness at the plurality of operating positions according to the operating forces and contact areas at the plurality of operating positions; Determine the morphological information of the target object according to the acquired image; dynamically correct the operating force at the corresponding operating position point according to the morphological information and the target hardness at the multiple operating position points to obtain the corrected operating force at the multiple operating position points; The target object is operated according to the corrected operation forces at a plurality of operation position points.

10. A system for correcting force on an instrument, characterized in that: The system comprises: An operating device for operating multiple operating position points of a target object; An image acquisition device, used to acquire an image of the target object; A processing device is used to obtain the operating force, contact area and the captured image of the target object by the image capture device during the operation of the operating instrument on multiple operating positions of the target object; determine the target hardness at the multiple operating positions according to the operating force and contact area at the multiple operating positions; determine the morphological information of the target object according to the captured image; dynamically correct the operating force at the corresponding operating position according to the morphological information and the target hardness at the multiple operating positions to obtain the corrected operating force at the multiple operating positions; and control the operating instrument to operate the target object according to the corrected operating force at the multiple operating positions.

Images