Surgical instrument precision compensation method, device, equipment, medium and product

Abstract

The invention discloses a surgical instrument precision compensation method, device and equipment, a medium and a product. The method comprises the steps that in the process that a to-be-processed surgical instrument connected with a surgical robot carries out clamping operation on a to-be-clamped object, target currents corresponding to multiple moments of a target motor controlling the to-be-processed surgical instrument to carry out the clamping operation are obtained, and instrument angles corresponding to the multiple moments of the to-be-processed surgical instrument are obtained; according to the instrument angles corresponding to the to-be-processed surgical instrument at the multiple moments and the target current, determining a target instrument angle corresponding to the to-be-processed surgical instrument at the target moment; according to the target instrument angle, the clamping clearance compensation amount is determined, and angle compensation is conducted on the basis of the clamping clearance compensation amount under the condition that the to-be-treated surgical instrument executes clamping operation. According to the technical scheme, under the condition that external equipment is not used, the clamping clearance compensation amount of the surgical instrument is accurately determined, and the effect of accurately compensating the surgical instrument is achieved.

Description

Technical Field

[0001] The present invention relates to the field of surgical robot control technology, and in particular to a surgical instrument precision compensation method, device, equipment, medium and product. Background Art

[0002] As an important breakthrough in modern medical technology, surgical robots have gradually become an indispensable part of surgical operations. Surgical instruments are important tools for medical staff during surgery, and their accuracy directly affects the success of the operation. Most existing instruments are transmitted by wire ropes, which are used frequently. However, as the length of use and the number of times used increase, the wire ropes will slowly lengthen, and the movement accuracy is difficult to guarantee.

[0003] In the related art, the accuracy compensation of surgical instruments is usually performed by installing sensors on the mechanical arm, and then detecting the accuracy compensation amount based on the sensors, and then performing accuracy compensation based on the accuracy compensation amount detected. However, this accuracy compensation method requires the use of external sensor equipment, which may have the problem of complicated operation process, time-consuming and labor-intensive, and thus low accuracy compensation efficiency. In addition, there may also be a problem of low accuracy in compensation amount detection, which in turn affects the accuracy of accuracy compensation. Summary of the invention

[0004] The present invention provides a surgical instrument accuracy compensation method, device, equipment, medium and product to achieve the effect of accurately determining the clamping gap compensation amount of the surgical instrument without the aid of external equipment, so as to accurately compensate the surgical instrument.

[0005] According to one aspect of the present invention, a method for compensating the accuracy of a surgical instrument is provided, the method comprising:

[0006] In the process of a surgical instrument to be processed connected to a surgical robot performing a clamping operation on an object to be clamped, the target current corresponding to a target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple moments is obtained, and the instrument angle corresponding to the surgical instrument to be processed at multiple moments is obtained; wherein the surgical instrument to be processed includes a clamp; the multiple moments at least include moments corresponding to when the surgical instrument to be processed is in a clamping state; the clamping state is a state corresponding to when the surgical instrument to be processed clamps the object to be clamped;

[0007] Determining a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles corresponding to the surgical instrument to be processed at the plurality of times and the target current;

[0008] Determining a clamping gap compensation amount according to the target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs the clamping operation;

[0009] The clamping gap compensation amount is the amount of motion gap that needs to be compensated when the surgical instrument to be processed performs the clamping operation.

[0010] According to another aspect of the present invention, there is provided a surgical instrument accuracy compensation device, the device comprising:

[0011] A current acquisition module is used to acquire the target current corresponding to the target motor controlling the surgical instrument to be processed to perform the clamping operation at multiple moments, and to acquire the instrument angle corresponding to the surgical instrument to be processed at multiple moments, during the process in which the surgical instrument to be processed connected to the surgical robot performs the clamping operation on the object to be clamped; wherein the surgical instrument to be processed includes a clamp; the multiple moments at least include the moment corresponding to when the surgical instrument to be processed is in a clamping state; the clamping state is the state corresponding to when the surgical instrument to be processed clamps the object to be clamped;

[0012] An instrument angle determination module, used to determine a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles corresponding to the surgical instrument to be processed at a plurality of times and the target current;

[0013] A gap compensation amount determination module is used to determine the clamping gap compensation amount according to the target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs the clamping operation; wherein the clamping gap compensation amount is the motion gap amount required to be compensated when the surgical instrument to be processed performs the clamping operation.

[0014] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical instrument accuracy compensation method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument accuracy compensation method described in any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for compensating for surgical instrument accuracy described in any embodiment of the present invention is implemented.

[0020] The technical solution of the embodiment of the present invention is to obtain the target current corresponding to the target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple times, and obtain the instrument angle corresponding to the surgical instrument to be processed at multiple times during the process of the surgical instrument to be processed connected to the surgical robot performing the clamping operation on the object to be clamped; further, determine the target instrument angle corresponding to the surgical instrument to be processed at the target time according to the instrument angle and the target current corresponding to the surgical instrument to be processed at multiple times; further, determine the clamping gap compensation amount according to the target instrument angle, so that when the surgical instrument to be processed performs the clamping operation, angle compensation is performed based on the clamping gap compensation amount, thereby solving the problems of the precision compensation method in the related art that the operation process is complicated, time-consuming and labor-intensive, and the precision compensation efficiency and accuracy are low, and the effect of accurately determining the clamping gap compensation amount of the surgical instrument without the aid of external equipment is achieved, thereby achieving precision compensation for the surgical instrument when performing the clamping operation, so that the precision of the surgical instrument after precision compensation when performing the clamping operation is effectively improved, and the complexity of the precision compensation operation of the surgical instrument and the precision compensation cost are reduced.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a surgical instrument accuracy compensation method provided according to Embodiment 1 of the present invention;

[0024] Figure 2is a flow chart of a surgical instrument accuracy compensation method provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a structural schematic diagram of a surgical instrument accuracy compensation device provided according to Embodiment 3 of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the surgical instrument accuracy compensation method according to an embodiment of the present invention. DETAILED DESCRIPTION

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

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

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a surgical instrument accuracy compensation method provided by the first embodiment of the present invention. This embodiment is applicable to the case where the accuracy of the surgical instrument is compensated before the surgical instrument is controlled to perform a clamping operation. The method can be performed by a surgical instrument accuracy compensation device, which can be implemented in the form of hardware and / or software, and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0031] S110. During the process of a surgical instrument to be processed connected to a surgical robot performing a clamping operation on an object to be clamped, the target current corresponding to a target motor for controlling the surgical instrument to be processed to perform the clamping operation at multiple times is obtained, and the instrument angle corresponding to the surgical instrument to be processed at multiple times is obtained.

[0032] Among them, the surgical robot is a new type of medical device that integrates multidisciplinary technologies, and is mainly used to assist medical staff in performing surgical operations. Exemplarily, the surgical robot is a laparoscopic surgical robot. It can be understood that the surgical robot includes a console, a robotic arm and / or a video imaging system, etc. The console can be used to manipulate the robotic arm to perform surgical operations. The end of the robotic arm can be connected to surgical instruments to complete various surgical operations. The video imaging system is an image processing device of the surgical robot, which captures the surgical field of view through a camera and displays it on a display screen in real time to provide clear and enlarged surgical images. The surgical instrument to be processed can be an instrument connected to the end of the robotic arm for performing surgical operations. In this embodiment, the surgical instrument to be processed can be used to perform a clamping operation. The surgical instrument to be processed can include any surgical instrument capable of performing a clamping operation, and optionally, the surgical instrument to be processed at least includes a clamp. The surgical instrument to be processed can also include surgical forceps and a needle holder, etc. The clamping operation can be understood as using a surgical instrument to fix an object from both sides or around for further operation or processing. The execution process of the clamping operation may include starting from the surgical instrument to be processed being in an open state until the surgical instrument to be processed is in a clamped state. When the surgical instrument to be processed is in a clamped state, the object can be clamped and fixed on the surgical instrument to be processed. The target motor may be a motor that controls the movement of the surgical instrument to be processed. In this embodiment, the surgical instrument to be processed may be controlled by the target motor to perform an opening operation, a closing operation, a clamping operation, etc., and the surgical instrument to be processed may also be controlled to move in different directions. The multiple moments may be moments included in the process of the surgical instrument to be processed performing the clamping operation. The multiple moments at least include the moments corresponding to when the surgical instrument to be processed is in a clamped state. The clamped state is the state corresponding to when the surgical instrument to be processed clamps the object to be clamped. The object to be clamped may be an object clamped by the surgical instrument. The object to be clamped may be an object required during the operation and clamped by the surgical instrument. Optionally, the object to be clamped includes suture needles, dressings, and any other objects that need to be clamped by the surgical instrument. The instrument angle may be the instrument angle corresponding to the surgical instrument to be processed at the corresponding moment. Generally speaking, when the surgical instrument to be processed is a clamp, the midline of the clamp can be taken as the 0-degree line. When the clamp is in an open state, the instrument angle of the clamp can be the angle between the left and right clamp arms. The angle between the left and right clamp arms can be determined based on the angle between the left clamp arm and the 0-degree line and the angle between the right clamp arm and the 0-degree line.

[0033] It can be understood that the target motor can be used to control the surgical instrument to be processed to perform a clamping operation. The clamping operation can be a process in which the surgical instrument to be processed changes from an open state to a closed state and then to a clamped state. When the surgical instrument to be processed is in an open state, it can approach the object to be clamped and gradually close on both sides or around the object to be clamped. Further, when the surgical instrument to be processed is in a closed state, no clamping force is applied to the object to be clamped, and the object to be clamped cannot be clamped. Further, when the target motor is used to control the surgical instrument to be processed to apply a clamping force to the object to be clamped, the object to be clamped can be clamped and fixed. At this time, the surgical instrument to be processed is in a clamped state.

[0034] It should be noted that the number of target motors can be one or two. When the number of target motors is one, the motor current of the target motor obtained can be directly used as the target current. When there are two target motors, they are a first motor for controlling the first component of the surgical instrument to be processed and a second motor for controlling the second component of the surgical instrument to be processed. During the clamping operation of the surgical instrument to be processed, the first motor current corresponding to the first motor at multiple moments and the second motor current corresponding to the second motor at multiple moments can be collected respectively. Furthermore, for multiple moments, the current sum of the first motor current and the second motor current can be used as the target current corresponding to the target motor at that moment.

[0035] As an optional implementation of this embodiment, when the number of target motors is one, the surgical instrument to be processed can be connected to the end of the robotic arm on the surgical robot. Further, when the surgical instrument to be processed is connected to the end of the robotic arm, the surgical instrument to be processed can be controlled to perform a clamping operation to clamp the object to be clamped based on the surgical instrument to be processed. Further, in the process of the surgical instrument to be processed performing the clamping operation, the motor current corresponding to the target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple moments can be collected to obtain the target current corresponding to the target motor at multiple moments. And, the instrument angle corresponding to the surgical instrument to be processed at multiple moments can be collected to obtain the instrument angle corresponding to the surgical instrument to be processed at multiple moments.

[0036] As another optional implementation of this embodiment, when the number of target motors is two, the clamping operation can be performed by controlling the first part of the surgical instrument to be processed by the first motor and the second part of the surgical instrument to be processed by the second motor. Further, in the process of performing the clamping operation on the surgical instrument to be processed, the first motor current corresponding to the first motor at multiple moments and the second motor current corresponding to the second motor at multiple moments can be collected respectively. Further, for multiple moments, the first motor current and the second motor current corresponding to the surgical instrument to be processed at the moment are added, and the sum of the currents obtained by the addition is used as the target current corresponding to the surgical instrument to be processed at the moment. In addition, the instrument angle corresponding to the surgical instrument to be processed at multiple moments can be collected to obtain the instrument angle corresponding to the surgical instrument to be processed at multiple moments.

[0037] S120, determining a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles and target currents corresponding to the surgical instrument to be processed at multiple time points.

[0038] The target time may be a time that satisfies the preset gap compensation standard among multiple times. The target time may be a time corresponding to when the surgical instrument to be processed just enters the clamping state. The target instrument angle may be an instrument angle corresponding to the surgical instrument to be processed at the target time.

[0039] It should be noted that, in general, most surgical instruments to be processed are driven by wire ropes, that is, when the target motor is used to control the surgical instrument to be processed to perform a clamping operation, the force and movement of the target motor are transmitted to the surgical instrument to be processed through the wire rope, and the wire rope is first pulled by the target motor, and the surgical instrument to be processed will be driven to move only when the wire rope is in a tensioned state. However, as the use time and the number of times of use increase, the wire rope will be slowly stretched, which will lead to a certain gap. When the target motor is used to control the surgical instrument to be processed to perform a clamping operation, the force of the target motor will first act on the gap to tighten the wire rope, and then, after the entire gap is completed, the force of the target motor can actually act on the surgical instrument to be processed to control the surgical instrument to be processed in a clamped state. Furthermore, when determining the clamping gap compensation amount of the surgical instrument to be processed, the corresponding moment when the surgical instrument to be processed just enters the clamping state can be determined, and the clamping gap compensation amount can be determined according to the instrument angle corresponding to the moment.

[0040] In this embodiment, after obtaining the instrument angle and target current corresponding to the surgical instrument to be processed at multiple moments, the moment corresponding to the sudden change of the current can be determined according to the multiple target currents, and the moment can be used as the target moment, and then the instrument angle corresponding to the target moment can be used as the target instrument angle. The moment corresponding to the sudden change of the current can be understood as the moment when the target motor suddenly works to apply force to the surgical instrument to be processed.

[0041] It should be noted that there may be multiple methods for determining the target moment based on multiple target currents. Optionally, the current change parameters corresponding to each moment may be determined based on multiple target currents, and the moment corresponding to the minimum current change parameter may be used as the target moment; or, the current change curve may be determined based on multiple target currents, and the moment corresponding to the inflection point of the current change curve may be used as the target moment.

[0042] Optionally, based on the instrument angles and target currents corresponding to the surgical instrument to be processed at multiple moments, a target instrument angle corresponding to the target moment of the surgical instrument to be processed is determined, including: for multiple moments, determining the current change rate corresponding to the current moment based on the target current corresponding to the current moment and the target current corresponding to the moment before the current moment, and determining the current change parameter corresponding to the current moment based on the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment; determining the minimum current change parameter from multiple current change parameters, taking the moment corresponding to the minimum current change parameter as the target moment, and taking the instrument angle corresponding to the surgical instrument to be processed at the target moment as the target instrument angle.

[0043] Among them, the current change rate can be used to indicate the change trend of the current over time. The current change parameter can be used to indicate the change trend of the current change rate over time. The current change parameter can be used to describe the acceleration or deceleration rate of the current change.

[0044] As an optional implementation of this embodiment, for multiple moments, the current difference between the target current corresponding to the current moment and the target current corresponding to the previous moment of the current moment can be determined, and the moment difference between the current moment and the previous moment can be determined. Further, the ratio between the current difference and the moment difference can be determined, and the ratio is used as the current change rate corresponding to the current moment. Further, after obtaining the current change rate corresponding to each moment, for multiple moments, the change rate difference between the current change rate corresponding to the current moment and the current change rate corresponding to the previous moment of the current moment can be determined, and the moment difference between the current moment and the previous moment can be determined. Further, the ratio between the change rate difference and the moment difference can be determined, and the ratio is used as the current change parameter corresponding to the current moment. Further, after obtaining the current change parameter corresponding to each moment, the minimum current change parameter can be determined from the multiple current change parameters, and the moment corresponding to the minimum current change parameter can be used as the target moment. Furthermore, the instrument angle corresponding to the surgical instrument to be processed at the target moment can be used as the target instrument angle.

[0045] Optionally, based on the instrument angles and target currents corresponding to the surgical instrument to be processed at multiple moments, a target instrument angle corresponding to the surgical instrument to be processed at the target moment is determined, including: fitting the target currents corresponding to the multiple moments to obtain a current change curve; determining the second-order derivative corresponding to the current change curve, and obtaining the inflection point of the current change curve at the point where the second-order derivative is equal to zero: taking the moment corresponding to the inflection point of the curve as the target moment, and taking the instrument angle corresponding to the target moment as the target instrument angle.

[0046] S130. Determine a clamping gap compensation amount according to a target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs a clamping operation.

[0047] The clamping gap compensation amount is the amount of motion gap that needs to be compensated when the surgical instrument to be processed performs a clamping operation. The clamping gap compensation amount can be understood as the compensation amount required to eliminate or reduce the error caused by the gap when performing the clamping operation. In this embodiment, the clamping gap compensation amount is only used for precision compensation when the surgical instrument to be processed performs a clamping operation, and there is no need to use the clamping gap compensation amount for precision compensation when the surgical instrument to be processed performs other operations.

[0048] In this embodiment, when the target instrument angle corresponding to the surgical instrument to be processed at the target time is obtained, the clamping gap compensation amount can be determined according to the target instrument angle. Furthermore, when the surgical instrument to be processed performs a clamping operation, angle compensation can be performed according to the clamping gap compensation amount.

[0049] Optionally, when the number of target motors is one, the surgical instrument to be processed can be directly controlled as a whole based on the target motor. Further, determining the clamping gap compensation amount according to the target instrument angle includes: using the target instrument angle as the clamping gap compensation amount.

[0050] As an optional implementation of this embodiment, when the number of the target motor is one, after the target device angle is obtained, the target device angle can be used as the clamping gap compensation amount.

[0051] Optionally, when there are two target motors, the first part of the surgical instrument to be processed can be controlled based on the first motor and the second part of the surgical instrument to be processed can be controlled based on the second motor. Further, the clamping gap compensation amount is determined according to the target instrument angle, including: determining a first gap compensation amount corresponding to the first motor according to the target instrument angle, and determining a second gap compensation amount corresponding to the second motor according to the target instrument angle, and using the first gap compensation amount and the second gap compensation amount as the clamping gap compensation amount.

[0052] As another optional implementation of this embodiment, when the number of target motors is two, the product between the target device angle and the preset first preset parameter corresponding to the first motor can be determined, and the product is used as the first gap compensation amount corresponding to the first motor; and the product between the target device angle and the preset second preset parameter corresponding to the second motor is determined, and the product is used as the second gap compensation amount corresponding to the second motor. Further, the first gap compensation amount and the second gap compensation amount can be used as the clamping gap compensation amount.

[0053] In this embodiment, after the clamping gap compensation amount is determined, angle compensation can be performed based on the clamping gap compensation amount when the surgical instrument to be processed performs a clamping operation.

[0054] Optionally, when the surgical instrument to be processed performs a clamping operation, angle compensation is performed based on the clamping gap compensation amount, including: when a control device that controls the surgical instrument to be processed receives an instrument execution angle corresponding to the clamping operation, a target execution angle is determined based on the instrument execution angle and the clamping gap compensation amount, so as to control the surgical instrument to be processed to perform the clamping operation according to the target execution angle.

[0055] Among them, the control device can be a device that receives the control instructions sent by the console and controls the operation of the motor based on the control instructions. The instrument execution angle can be understood as the instrument angle corresponding to the final state when the surgical instrument to be processed performs the clamping operation, which is determined based on the console. The instrument execution angle is determined based on the clamping control information input by the user through the control handle. The user can be an object that manipulates the surgical instrument on the console. The control handle can be a key component on the console, which allows the user to perform remote and precise operations during the operation. The clamping control information can be understood as information input through the control handle for controlling the surgical instrument to be processed to perform the clamping operation. The clamping control information can be any information that can characterize the clamping operation. Optionally, the clamping control information can be the displacement change of the control handle. Generally, the clamping control information input by the user can be received through the control handle, and further, the instrument clamping angle input by the user on the console can be determined according to the clamping control information. Afterwards, the instrument execution angle corresponding to the surgical instrument to be processed can be determined according to the instrument clamping angle and the proportional information corresponding to the surgical instrument to be processed, and the instrument execution angle can be sent to the control device that controls the surgical instrument to be processed in the form of a control instruction.

[0056] In this embodiment, when the control device for controlling the surgical instrument to be processed receives the instrument execution angle corresponding to the clamping operation, the instrument execution angle and the clamping gap compensation amount can be added, and the added angle is used as the target execution angle. Further, the surgical instrument to be processed can be controlled to perform the clamping operation according to the target execution angle.

[0057] The technical solution of the embodiment of the present invention is to obtain the target current corresponding to the target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple times, and obtain the instrument angle corresponding to the surgical instrument to be processed at multiple times during the process of the surgical instrument to be processed connected to the surgical robot performing the clamping operation on the object to be clamped; further, determine the target instrument angle corresponding to the surgical instrument to be processed at the target time according to the instrument angle and the target current corresponding to the surgical instrument to be processed at multiple times; further, determine the clamping gap compensation amount according to the target instrument angle, so that when the surgical instrument to be processed performs the clamping operation, angle compensation is performed based on the clamping gap compensation amount, thereby solving the problems of the precision compensation method in the related art that the operation process is complicated, time-consuming and labor-intensive, and the precision compensation efficiency and accuracy are low, and the effect of accurately determining the clamping gap compensation amount of the surgical instrument without the aid of external equipment is achieved, thereby achieving precision compensation for the surgical instrument when performing the clamping operation, so that the precision of the surgical instrument after precision compensation when performing the clamping operation is effectively improved, and the complexity of the precision compensation operation of the surgical instrument and the precision compensation cost are reduced.

[0058] Embodiment 2

[0059] Figure 2 This is a flow chart of a surgical instrument accuracy compensation method provided by Embodiment 2 of the present invention. On the basis of the above-mentioned embodiment, the target motor includes a first motor for controlling a first part of the surgical instrument to be processed and a second motor for controlling a second part of the surgical instrument to be processed. Furthermore, in the case where the target motor includes a first motor and a second motor, the target current is determined according to a first motor current corresponding to the first motor and a second motor current corresponding to the second motor, respectively. Furthermore, the first clamping gap compensation amount corresponding to the first motor and the second clamping gap compensation amount corresponding to the second motor can be determined respectively according to the target instrument angle. The specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above-mentioned embodiments are not repeated here.

[0060] like Figure 2 As shown, the method includes:

[0061] S210. During the process of a surgical instrument to be processed connected to a surgical robot performing a clamping operation on an object to be clamped, obtain the first motor current corresponding to the first motor that controls the first component of the surgical instrument to be processed to perform the clamping operation at multiple moments and the second motor current corresponding to the second motor that controls the second component of the surgical instrument to be processed to perform the clamping operation at multiple moments.

[0062] Wherein, the first component and the second component are components used to directly clamp the object to be clamped in the surgical instrument to be processed. The first component can be a component used to clamp the object in the surgical instrument to be processed. Optionally, the first component can be a left clamp arm or a right clamp arm in the surgical instrument to be processed. The first motor can be a motor that controls the movement of the first component. The second component can be a component used to clamp the object in the surgical instrument to be processed. Optionally, the first component can be a left clamp arm or a right clamp arm in the surgical instrument to be processed. The second motor can be a motor that controls the movement of the second component. In this embodiment, when the first component is the left clamp arm of the surgical instrument to be processed, the second component can be the right clamp arm of the surgical instrument to be processed.

[0063] As an optional implementation of this embodiment, during the process of the surgical instrument to be processed performing the clamping operation, the first motor current corresponding to the first motor that controls the first part of the surgical instrument to be processed to perform the clamping operation at multiple moments can be collected respectively, and the second motor current corresponding to the second motor that controls the second part of the surgical instrument to be processed to perform the clamping operation at multiple moments can be collected.

[0064] S220. For multiple moments, add the first motor current and the second motor current corresponding to the moment, use the sum of the currents as the target current corresponding to the surgical instrument to be processed at the moment, and obtain the instrument angles corresponding to the surgical instrument to be processed at multiple moments.

[0065] In this embodiment, when the first motor current and the second motor current corresponding to the surgical instrument to be processed at multiple moments are obtained, the first motor current and the second motor current corresponding to the moment to be processed at the current moment can be added for multiple moments, and the sum of the currents obtained after the addition is used as the target current corresponding to the surgical instrument to be processed at the current moment. In addition, the instrument angle corresponding to the surgical instrument to be processed at multiple moments can be collected to obtain the instrument angle corresponding to the surgical instrument to be processed at multiple moments.

[0066] S230, determining a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles and target currents corresponding to the surgical instrument to be processed at multiple time points.

[0067] S240, determining a clamping gap compensation amount according to a target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs a clamping operation.

[0068] In this embodiment, when the target motor includes the first motor and the second motor, the clamping gap compensation amount includes the first clamping gap compensation amount and the second clamping gap compensation amount. Furthermore, when the target device angle is determined, the first clamping gap compensation amount and the second clamping gap compensation amount can be determined respectively according to the target device angle.

[0069] Optionally, the clamping gap compensation amount is determined according to the target device angle, including: determining the first clamping gap compensation amount according to the target device angle and a predetermined first compensation parameter corresponding to the first motor; determining the second clamping gap compensation amount according to the target device angle and a predetermined second compensation parameter corresponding to the second motor.

[0070] Among them, the first compensation parameter can be a predetermined compensation amount corresponding to the first motor. Exemplarily, the first compensation parameter can be 0.68. The second compensation parameter can be a predetermined compensation amount corresponding to the second motor. Exemplarily, the second compensation parameter can be 0.32. It should be noted that when determining the clamping gap compensation amount, the target device angle is divided by the first compensation parameter and the second compensation parameter, and then the parameter sum between the first compensation parameter and the second compensation parameter can be a preset value. Optionally, the preset value can be 1.

[0071] In this embodiment, after the target machine angle is obtained, the first clamping gap compensation amount corresponding to the first motor can be determined according to the target machine angle and the first compensation parameter. Also, the second clamping gap compensation amount corresponding to the second motor can be determined according to the target machine angle and the second compensation parameter.

[0072] Optionally, determining a first clamping gap compensation amount based on a target device angle and a predetermined first compensation parameter corresponding to the first motor includes: determining the product between the target device angle and the first compensation parameter as the first clamping gap compensation amount corresponding to the first motor.

[0073] As an optional implementation of this embodiment, after obtaining the target machine angle, the product between the target machine angle and the first compensation parameter can be determined, and the product is used as the first clamping gap compensation amount corresponding to the first motor. Also, the product between the target machine angle and the second compensation parameter can be determined, and the product is used as the second clamping gap compensation amount corresponding to the second motor.

[0074] In this embodiment, when the first clamping gap compensation amount and the second clamping gap compensation amount are obtained, when the control device for controlling the surgical instrument to be processed receives the instrument execution angle corresponding to the clamping operation, the instrument execution angle may include the first execution angle of the first component and the second execution angle of the second component. Further, the first clamping gap compensation amount and the first execution angle may be added, and the angle obtained after the addition may be used as the first target execution angle of the first component. Also, the second clamping gap compensation amount and the second execution angle may be added, and the angle obtained after the addition may be used as the second target execution angle of the second component. Further, the first component of the surgical instrument to be processed may be controlled to perform a clamping operation according to the first target execution angle and the second component may be controlled to perform a clamping operation according to the second target execution angle.

[0075] The technical solution of the embodiment of the present invention is to obtain, during the process of performing a clamping operation on a surgical instrument to be processed connected to a surgical robot, a first motor current corresponding to a first motor controlling a first part of the surgical instrument to be processed to perform a clamping operation at multiple moments and a second motor current corresponding to a second motor controlling a second part of the surgical instrument to be processed to perform a clamping operation at multiple moments; further, for multiple moments, the first motor current and the second motor current corresponding to each moment are added, and the sum of the added currents is used as the target current corresponding to the surgical instrument to be processed at each moment, and the instrument angle corresponding to the surgical instrument to be processed at multiple moments is obtained; further, according to the surgical instrument to be processed, The target instrument angle corresponding to the surgical instrument to be processed at the target moment is determined by combining the instrument angles and target currents corresponding to the surgical instrument at multiple moments; further, the clamping gap compensation amount is determined according to the target instrument angle, so that when the surgical instrument to be processed performs a clamping operation, angle compensation is performed based on the clamping gap compensation amount, thereby achieving the effect of accurately determining the clamping gap compensation amount of the surgical instrument without the aid of external equipment, and further, achieving precision compensation for the surgical instrument when performing the clamping operation, so that the precision of the surgical instrument after precision compensation when performing the clamping operation is effectively improved, and the complexity of the precision compensation operation of the surgical instrument and the precision compensation cost are reduced.

[0076] Embodiment 3

[0077] Figure 3 Schematic diagram of the structure of a surgical instrument accuracy compensation device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: a current acquisition module 310, an instrument angle determination module 320 and a gap compensation amount determination module 330.

[0078] Among them, the current acquisition module 310 is used to obtain the target current corresponding to the target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple moments, and obtain the instrument angle corresponding to the surgical instrument to be processed at multiple moments during the process of the surgical instrument to be processed connected to the surgical robot performing the clamping operation on the object to be clamped; wherein the surgical instrument to be processed includes a clamp; the multiple moments at least include the moments corresponding to when the surgical instrument to be processed is in a clamping state; the clamping state is the state corresponding to when the surgical instrument to be processed clamps the object to be clamped; the instrument angle determination module 320 is used to determine the target instrument angle corresponding to the surgical instrument to be processed at the target moment according to the instrument angle corresponding to the surgical instrument to be processed at multiple moments and the target current; the gap compensation amount determination module 330 is used to determine the clamping gap compensation amount according to the target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs the clamping operation; wherein the clamping gap compensation amount is the motion gap amount required to be compensated when the surgical instrument to be processed performs the clamping operation.

[0079] The technical solution of the embodiment of the present invention is to obtain the target current corresponding to the target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple times, and obtain the instrument angle corresponding to the surgical instrument to be processed at multiple times during the process of the surgical instrument to be processed connected to the surgical robot performing the clamping operation on the object to be clamped; further, determine the target instrument angle corresponding to the surgical instrument to be processed at the target time according to the instrument angle and the target current corresponding to the surgical instrument to be processed at multiple times; further, determine the clamping gap compensation amount according to the target instrument angle, so that when the surgical instrument to be processed performs the clamping operation, angle compensation is performed based on the clamping gap compensation amount, thereby solving the problems of the precision compensation method in the related art that the operation process is complicated, time-consuming and labor-intensive, and the precision compensation efficiency and accuracy are low, and the effect of accurately determining the clamping gap compensation amount of the surgical instrument without the aid of external equipment is achieved, thereby achieving precision compensation for the surgical instrument when performing the clamping operation, so that the precision of the surgical instrument after precision compensation when performing the clamping operation is effectively improved, and the complexity of the precision compensation operation of the surgical instrument and the precision compensation cost are reduced.

[0080] Optionally, the instrument angle determination module 320 includes: a current change parameter determination unit and an instrument angle determination unit.

[0081] a current change parameter determination unit, for determining, for a plurality of the moments, a current change rate corresponding to the current moment according to a target current corresponding to the current moment and a target current corresponding to a moment before the current moment, and determining a current change parameter corresponding to the current moment according to the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment;

[0082] The instrument angle determination unit is used to determine the minimum current change parameter from the multiple current change parameters, take the moment corresponding to the minimum current change parameter as the target moment, and take the instrument angle corresponding to the surgical instrument to be processed at the target moment as the target instrument angle.

[0083] Optionally, the gap compensation amount determination module 330 is specifically configured to use the target instrument angle as the clamping gap compensation amount.

[0084] Optionally, the gap compensation amount determination module 330 includes: an angle compensation unit.

[0085] An angle compensation unit is used to determine a target execution angle according to the instrument execution angle and the clamping gap compensation amount when the control device controlling the surgical instrument to be processed receives an instrument execution angle corresponding to the clamping operation, so as to control the surgical instrument to be processed to perform the clamping operation according to the target execution angle; wherein the instrument execution angle is determined based on the clamping control information input by the user through the control handle.

[0086] Optionally, the target motor includes a first motor for controlling a first component of the surgical instrument to be processed and a second motor for controlling a second component of the surgical instrument to be processed; the first component and the second component are components in the surgical instrument to be processed used to directly clamp the object to be clamped; the current acquisition module 310 includes: a motor current acquisition unit and a target current determination unit.

[0087] A motor current acquisition unit, used to acquire a first motor current corresponding to a first motor controlling a first part of the surgical instrument to be processed to perform the clamping operation at multiple moments and a second motor current corresponding to a second motor controlling a second part of the surgical instrument to be processed to perform the clamping operation at multiple moments;

[0088] The target current determination unit is used to add the first motor current and the second motor current corresponding to the multiple moments, and use the sum of the added currents as the target current corresponding to the surgical instrument to be processed at the moment.

[0089] Optionally, the clamping gap compensation amount includes a first clamping gap compensation amount and a second clamping gap compensation amount; the gap compensation amount determination module 330 includes: a first compensation amount determination unit and a second compensation amount determination unit.

[0090] a first compensation amount determination unit, configured to determine a first clamping gap compensation amount according to the target device angle and a predetermined first compensation parameter corresponding to the first motor;

[0091] The second compensation amount determination unit is used to determine a second clamping gap compensation amount according to the target device angle and a preset second compensation parameter corresponding to the second motor.

[0092] Optionally, the first compensation amount determination unit is specifically used to determine the product between the target device angle and the first compensation parameter as a first clamping gap compensation amount corresponding to the first motor.

[0093] The surgical instrument precision compensation device provided in the embodiment of the present invention can execute the surgical instrument precision compensation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0094] Embodiment 4

[0095] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0096] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a surgical instrument accuracy compensation method.

[0099] In some embodiments, the surgical instrument precision compensation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the surgical instrument precision compensation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the surgical instrument precision compensation method in any other appropriate manner (e.g., by means of firmware).

[0100] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0102] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0104] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0107] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical instrument accuracy compensation method, characterized in that: include: In the process of a surgical instrument to be processed connected to a surgical robot performing a clamping operation on an object to be clamped, the target current corresponding to a target motor that controls the surgical instrument to be processed to perform the clamping operation at multiple moments is obtained, and the instrument angle corresponding to the surgical instrument to be processed at multiple moments is obtained; wherein the surgical instrument to be processed includes a clamp; the multiple moments at least include moments corresponding to when the surgical instrument to be processed is in a clamping state; the clamping state is a state corresponding to when the surgical instrument to be processed clamps the object to be clamped; Determining a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles corresponding to the surgical instrument to be processed at the plurality of times and the target current; Determining a clamping gap compensation amount according to the target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs the clamping operation; The clamping gap compensation amount is the amount of motion gap that needs to be compensated when the surgical instrument to be processed performs the clamping operation.

2. The surgical instrument accuracy compensation method according to claim 1, characterized in that: Determining a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles corresponding to the surgical instrument to be processed at a plurality of times and the target current includes: For the plurality of moments, determining a current change rate corresponding to the current moment according to a target current corresponding to the current moment and a target current corresponding to a moment before the current moment, and determining a current change parameter corresponding to the current moment according to the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment; A minimum current change parameter is determined from the multiple current change parameters, the moment corresponding to the minimum current change parameter is used as the target moment, and the instrument angle of the surgical instrument to be processed corresponding to the target moment is used as the target instrument angle.

3. The surgical instrument accuracy compensation method according to claim 1, characterized in that: Determining the clamping gap compensation amount according to the target instrument angle includes: The target tool angle is used as the clamping gap compensation amount.

4. The surgical instrument accuracy compensation method according to claim 1, characterized in that: When the surgical instrument to be processed performs the clamping operation, angle compensation is performed based on the clamping gap compensation amount, including: When the control device controlling the surgical instrument to be processed receives an instrument execution angle corresponding to the clamping operation, a target execution angle is determined according to the instrument execution angle and the clamping gap compensation amount to control the surgical instrument to be processed to perform the clamping operation according to the target execution angle; wherein the instrument execution angle is determined based on the clamping control information input by the user through the control handle.

5. The surgical instrument accuracy compensation method according to claim 1, characterized in that: The target motor includes a first motor that controls a first component of the surgical instrument to be processed and a second motor that controls a second component of the surgical instrument to be processed; the first component and the second component are components of the surgical instrument to be processed that are used to directly clamp the object to be clamped; The step of obtaining target currents corresponding to the target motor at multiple moments for controlling the surgical instrument to be processed to perform the clamping operation includes: Acquire a first motor current corresponding to a first motor that controls a first part of the surgical instrument to be processed to perform the clamping operation at multiple times and a second motor current corresponding to a second motor that controls a second part of the surgical instrument to be processed to perform the clamping operation at multiple times; For the plurality of moments, the first motor current and the second motor current corresponding to the moment are added together, and the sum of the added currents is used as the target current corresponding to the surgical instrument to be processed at the moment.

6. The surgical instrument accuracy compensation method according to claim 5, characterized in that: The clamping gap compensation amount includes a first clamping gap compensation amount and a second clamping gap compensation amount; Determining the clamping gap compensation amount according to the target instrument angle includes: determining a first clamping gap compensation amount according to the target machine angle and a predetermined first compensation parameter corresponding to the first motor; A second clamping gap compensation amount is determined according to the target machine angle and a preset second compensation parameter corresponding to the second motor.

7. The surgical instrument accuracy compensation method according to claim 5, characterized in that: The determining of a first clamping gap compensation amount according to the target device angle and a predetermined first compensation parameter corresponding to the first motor includes: A product between the target machine angle and the first compensation parameter is determined as a first clamping gap compensation amount corresponding to the first motor.

8. A surgical instrument accuracy compensation device, characterized in that: include: A current acquisition module is used to acquire the target current corresponding to the target motor controlling the surgical instrument to be processed to perform the clamping operation at multiple moments, and to acquire the instrument angle corresponding to the surgical instrument to be processed at multiple moments, during the process in which the surgical instrument to be processed connected to the surgical robot performs the clamping operation on the object to be clamped; wherein the surgical instrument to be processed includes a clamp; the multiple moments at least include the moment corresponding to when the surgical instrument to be processed is in a clamping state; the clamping state is the state corresponding to when the surgical instrument to be processed clamps the object to be clamped; An instrument angle determination module, used to determine a target instrument angle corresponding to the surgical instrument to be processed at a target time according to the instrument angles corresponding to the surgical instrument to be processed at a plurality of times and the target current; a gap compensation amount determination module, used to determine a clamping gap compensation amount according to the target instrument angle, so as to perform angle compensation based on the clamping gap compensation amount when the surgical instrument to be processed performs the clamping operation; The clamping gap compensation amount is the amount of motion gap that needs to be compensated when the surgical instrument to be processed performs the clamping operation.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical instrument accuracy compensation method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument accuracy compensation method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the surgical instrument accuracy compensation method according to claims 1-7.

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