Medical equipment executing mechanism and control method thereof

Abstract

The invention provides a medical equipment executing mechanism and a control method thereof, and belongs to the technical field of medical instruments. The executing mechanism comprises a first assembly and a second assembly. The method comprises the following steps: controlling the first component and / or the second component to relatively move to a first limit position; and controlling the first assembly and the second assembly at the first limit position to relatively move to a preset position, and determining the preset position as an initialization position of the first assembly and the second assembly. According to the technical scheme, initialization positioning and stroke self-checking of the medical equipment executing mechanism are achieved, and meanwhile the position precision of the executing mechanism during component resetting is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a medical device actuator and a control method thereof. Background Art

[0002] Some medical devices have multiple components that can move relative to each other. After the medical device is started, the multiple components need to be initialized, positioned, and self-checked. For example, the main end of an interventional surgical robot has a slidable operating handle. After startup, the operating handle needs to be initialized, positioned, and self-checked. Specifically, the operating handle is driven to slide by a motor, and the linear encoder can slide with the operating handle. When the operating handle slides to the extreme position, the motor is blocked, and the position of the linear encoder is recorded. Then, the initialization position of the operating handle is calculated by the position of the sensor relative to the linear encoder. However, the motor is prone to abnormal noise when it is blocked, and the operating position of the operating handle is calculated by the position of the sensor relative to the linear encoder. Due to installation errors of the components, it is easy to cause deviations in the calculated initialization position. Summary of the invention

[0003] The embodiments of the present application provide a medical device actuator and a control method thereof, which are intended to achieve initialization positioning and stroke self-checking of the medical device actuator, while improving the position accuracy of the actuator components during resetting.

[0004] In a first aspect, an embodiment of the present application provides a control method for an actuator of a medical device, wherein the actuator includes a first component and a second component;

[0005] The control method comprises:

[0006] Controlling the first component and / or the second component to move relatively to a first extreme position;

[0007] The first component and the second component at the first extreme position are controlled to move relatively to a preset position, and the preset position is determined as an initialization position of the first component and the second component.

[0008] Optionally, the control method further comprises: controlling the first component and the second component at the preset position to move relative to each other to a second extreme position;

[0009] The first component and the second component at the second extreme position are controlled to move relatively to the initialization position.

[0010] Optionally, the step of controlling the first component and the second component to move relative to each other to a first extreme position comprises:

[0011] Controlling the first component and the second component to move relative to each other to a reference position;

[0012] A first preset distance is calculated according to the reference position, and the first component and / or the second component is controlled to move the first preset distance so that the first component and the second component move relative to each other to the first extreme position.

[0013] Optionally, the step of controlling the first component and the second component to move relative to a reference position comprises:

[0014] Determining relative position information between the first component and the second component;

[0015] According to the relative position information of the first component and the second component, the first component and the second component are controlled to move relative to each other to the reference position.

[0016] Optionally, the step of controlling the first component and the second component to move relative to each other to the reference position according to the relative position information between the first component and the second component, wherein the relative position information includes signal jump information, comprises:

[0017] According to the signal jump information, the first component and the second component are controlled to move relative to each other.

[0018] Optionally, the step of controlling the first component and the second component at the first extreme position to move relative to a preset position, and determining the preset position as an initialization position of the first component and the second component includes:

[0019] Controlling the first component at the first extreme position to move relative to the second component to a preset stop position;

[0020] Stop controlling the movement of the first component and / or the second component, and one of the first component and the second component guides the movement of the other, so that the first component and the second component are relatively stable and stationary at the preset position.

[0021] Optionally, the control method further includes:

[0022] Calculate a second preset distance according to the preset stop position, and control the first component and / or the component to move the second preset distance, so that the first component at the preset position and the second component move relative to each other to a second extreme position;

[0023] The first component and the second component at the second extreme position are controlled to move relatively to the initialization position.

[0024] Optionally, the first component and the second component controlled at the first extreme position move relative to each other to a preset stop position, comprising:

[0025] Controlling the first component and the second component to move relative to each other to a reference position;

[0026] A third preset distance is calculated according to the reference position, and the first component and / or the second component are controlled to move the third preset distance, so that the first component and the second component move relative to each other to the preset stop position.

[0027] In a second aspect, an embodiment of the present application provides a medical device actuator, including:

[0028] First component;

[0029] Second component;

[0030] A driving assembly, the driving assembly being drivingly connected to the first assembly and / or the second assembly;

[0031] A processor is used to execute the steps of the control method described in any one of the above embodiments.

[0032] Optionally, the first component includes a first positioning member;

[0033] The second component is provided with a second positioning member, and the second positioning member abuts against the first positioning member;

[0034] The driving component is transmission-connected to the first positioning member, and the driving component can drive the first component to slide relative to the second component.

[0035] An embodiment of the present application provides a medical device actuator and a control method thereof. In the embodiment of the present application, at least one of the first component and the second component is controlled to move so that the first component and the second component move relative to each other to a first extreme position to perform a stroke self-inspection of the first component and / or the second component. Thereafter, the first component and the second component at the first extreme position are controlled to move relative to each other to a preset position again, and the preset position is determined as the initialization position of the first component and the second component without inferring the initialization position through the relative positions of different detection devices. This is beneficial to improving the accuracy of initialization positioning and reducing the deviation between the determined initialization position and the theoretical initialization position. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1A flowchart of a control method for an actuator of a medical device provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of an actuator provided in an embodiment of the present application;

[0039] Figure 3 A front view of an actuator provided in an embodiment of the present application;

[0040] Figure 4 A top view of an actuator (partial structure omitted) provided in an embodiment of the present application in one state;

[0041] Figure 5 for Figure 4 An enlarged view of point A of the actuator;

[0042] Figure 6 for Figure 4 An enlarged view of the actuator at point A in another state;

[0043] Figure 7 A partial schematic diagram of a first positioning member and a second positioning member provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of the mounting support, the elastic member and the second positioning member provided in the embodiment of the present application;

[0045] Fig. 9 for Figure 4 A top view of the actuator (partial structure omitted) in another state.

[0046] Description of main reference numerals:

[0047] 10. Driving assembly; 11. Driving motor; 12. Gear; 13. Rack; 20. First assembly; 21. First positioning member; 211. Groove; 211a. First guide section; 211b. Positioning section; 211c. Second guide section; 22. Handle; 30. Second assembly; 31a. Limiting groove; 311. Mounting base; 312. Mounting support; 32. Second positioning member; 321. Connecting shaft; 322. Roller; 33. Elastic member; 34. First limiting member; 35. Second limiting member; 40. Displacement sensor; 50. In-situ detection device; 51. Photoelectric sensor; 52. Light blocking member. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0050] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0051] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0052] First, please refer to Figure 1 The embodiment of the present application provides a control method for an actuator of a medical device. The control method for the actuator includes steps S100 to S200.

[0053] Step S100: Control the first component 20 and the second component 30 to move relative to each other to a first extreme position.

[0054] Step S200 : Controlling the first component 20 and the second component 30 at the first extreme position to move relative to a preset position, and determining the preset position as the initialization position of the first component 20 and the second component 30 .

[0055] Exemplarily, the medical device includes an interventional surgical device, and the actuator of the medical device includes a main-end actuator of the interventional surgical device. The control method can be applied to the main-end actuator of the interventional surgical device.

[0056] like Figure 2 As shown, the medical device actuator includes a first component 20 and a second component 30. The actuator control method includes steps S100 to S200.

[0057] Wherein, step S100: controlling the first component 20 and the second component 30 to move relative to each other to a first extreme position.

[0058] It can be understood that the relative movement between the first component 20 and the second component 30 can be specifically expressed as: the second component 30 is stationary, and the first component 20 moves relative to the second component 30; or, the first component 20 is stationary, and the second component 30 moves relative to the first component 20; or, both the first component 20 and the second component 30 move.

[0059] Exemplarily, the first component 20 and the second component 30 can slide or rotate relative to each other to achieve relative movement of the first component 20 and the second component 30. For ease of understanding, the present application embodiment is mainly described by taking the second component 30 as being stationary and the first component 20 as being able to slide relative to the second component 30 in a straight line direction.

[0060] In some embodiments, the actuator includes a driving component 10 , which can drive the first component 20 and / or the second component 30 to move, so that the first component 20 and the second component 30 move relative to each other.

[0061] For example, Figure 2 and Figure 3 As shown, the driving assembly 10 may include a driving motor 11, a gear 12 and a rack 13, wherein the gear 12 is sleeved on the outer circumference of the output shaft of the driving motor 11. The rack 13 may be provided on the first assembly 20 and meshed with the gear 12, so that the driving motor 11 can drive the first assembly 20 to slide relative to the second assembly 30 through the gear 12 and the rack 13, so that the first assembly 20 and the second assembly 30 can move relative to each other.

[0062] It can be understood that the first component 20 and the second component 30 have an effective movement range when they move relative to each other, and the first limit position is an extreme position of the effective movement range of the first component 20 and the second component 30. Exemplarily, the second component 30 is stationary, the first component 20 can move relative to the second component 30, and the first limit position is an extreme position of the effective movement range of the first component 20 on the second component 30.

[0063] In some embodiments, step S100, ie, the step of controlling the first component 20 and the second component 30 to move relative to each other to a first extreme position, includes steps S101 to S102.

[0064] S101: Control the first component 20 and the second component 30 to move relative to each other to a reference position.

[0065] S102: Calculate a first preset distance according to the reference position, and control the first component 20 and / or the second component 30 to move the first preset distance, so that the first component 20 and the second component 30 move relative to each other to the first extreme position.

[0066] It can be understood that the reference position can be a non-limit position within the effective moving range of the first component 20 and the second component 30 .

[0067] Exemplarily, the first component 20 can be relative to the second component 30 in a straight line direction (eg, Figure 2 The reference position is located between the first limit position and the second limit position.

[0068] Wherein, S102: calculate a first preset distance according to the reference position, and control the first component 20 and / or the second component 30 to move the first preset distance, so that the first component 20 and the second component 30 move relative to each other to the first extreme position.

[0069] It can be understood that the reference position is a known position. With the reference position as a reference, the first preset distance that the first component 20 and / or the second component 30 need to move when the first component 20 and the second component 30 at the reference position move relative to the first limit position is determined, and then the first component 20 and / or the second component 30 are controlled to move the first preset distance, so that the first component 20 and the second component 30 move relative to the first limit position, and the stroke self-check is realized to ensure that the actuator can operate normally. By controlling the first component 20 and / or the second component 30 to move the first preset distance to determine the relative movement of the first component 20 and the second component 30 to the first limit position, it is not necessary to determine it by the collision of the first component 20 and / or the second component 30, which can reduce the damage to the first component 20, the second component 30 and the drive component. For example, when the drive motor is used to control the movement of the first component 20 and / or the second component 30, the occurrence of the drive motor stalling can be reduced, and the abnormal sound can be reduced.

[0070] Exemplarily, the second component 30 is stationary and the first component 20 is able to move relative to the second component 30. The reference position is the reference position of the first component 20 on the second component 30, and the first limit position is the first limit position of the first component 20 on the second component 30. The first component 20 is controlled to move a first preset distance relative to the second component 30 from the reference position to move the first component 20 to the first limit position of the second component 30, thereby realizing the relative movement of the first component 20 and the second component 30 to the first limit position.

[0071] It is worth noting that when the first component 20 and the second component 30 are controlled to move relative to each other, the first component 20 and / or the second component 30 move along a first preset direction by a first preset distance. For example, taking the second component 30 being stationary and the first component 20 being slidably connected to the second component 30 as an example, the first component 20 can slide along a straight line direction between a first extreme position and a second extreme position relative to the second component 30, and the direction from the first extreme position to the second extreme position is the positive direction of the straight line direction (for example, Figure 4 The direction from the second extreme position to the first extreme position is the opposite direction of the straight line direction (for example Figure 4 If the reference position is between the first limit position and the second limit position, the first component 20 is controlled to slide relative to the second component 30 to the reference position, and then the first component 20 is controlled to slide in the reverse direction of the linear direction by a first preset distance, so that the first component 20 slides to the first limit position of the second component 30, and the first component 20 and the second component 30 are moved relative to each other to the first limit position. At this time, the reverse direction of the linear direction can be the first preset direction.

[0072] Furthermore, step S101, ie, the step of controlling the first component 20 and the second component 30 to move relative to a reference position, includes steps S1011 to S1012.

[0073] S1011: Determine relative position information between the first component 20 and the second component 30.

[0074] S1012: According to the relative position information of the first component 20 and the second component 30, control the first component 20 and the second component 30 to move relative to each other to the reference position.

[0075] It can be understood that when the first component 20 and the second component 30 move relative to each other to the reference position, the relative position of the first component 20 and the second component 30 is determined, so that the first component 20 and / or the second component 30 can be controlled according to the relative position information of the first component 20 and the second component 30, so that the first component 20 and the second component 30 move relative to each other to the reference position.

[0076] In some embodiments, the actuator also includes an in-position detection device 50, which can be used to detect the relative position of the first component 20 and the second component 30 and output a signal, determine the relative position information of the first component 20 and the second component 30 based on the signal output by the in-position detection device 50, and control the relative movement of the first component 20 and the second component 30 based on the relative position information of the first component 20 and the second component 30, so that the first component 20 and the second component 30 move relative to each other to the reference position.

[0077] Exemplarily, the presence detection device 50 includes, but is not limited to, a photoelectric sensor 51 , an electromagnetic sensor or a capacitive sensor.

[0078] In some embodiments, the relative position information includes signal jump information. Step S1012, i.e., the step of controlling the first component 20 and the second component 30 to move relative to the reference position according to the relative position information of the first component 20 and the second component 30, includes: controlling the first component 20 and the second component 30 to move relative to each other according to the signal jump information. It can be understood that when the signal jump information is obtained, it can be determined that the first component 20 and the second component 30 have currently moved relative to the reference position according to the signal jump information, so that the first component 20 and / or the second component 30 can be further controlled to move the first preset distance based on the reference position, so that the first component 20 and the second component 30 can move relative to the first extreme position; and when the signal jump information is not obtained, the first component 20 and / or the second component 30 is controlled to move until the signal jump information is obtained.

[0079] For example, Figures 2 to 4 As shown, the in-position detection device 50 includes a photoelectric sensor 51 and a light blocking member 52. The light blocking member 52 is arranged on the first component 20, and the photoelectric sensor 51 is arranged on the second component 30. The second component 30 is stationary. The first component 20 can drive the light blocking member 52 to slide relative to the second component 30 along the Y0-Y1 direction, so that the light blocking member 52 can switch between a light-transmitting state that allows light to enter the photoelectric sensor 51 and a light-blocking state that blocks the photoelectric sensor 51. When the light blocking member 52 is in the light-transmitting state, the photoelectric sensor 51 can output a first signal. When the light blocking member 52 is in the light-blocking state, the photoelectric sensor 51 can output a second signal. Then, the first component 20 drives the light blocking member 52 to slide, so that the light blocking member 52 switches from the light-transmitting state to the light-blocking state, or when the light blocking member 52 switches from the light-blocking state to the light-transmitting state, the signal output by the photoelectric sensor 51 jumps to obtain signal jump information, so that the relative movement of the first component 20 and the second component 30 to the reference position can be determined according to the signal jump information.

[0080] In some embodiments, the state of the light blocking member 52 is switched only when the first component 20 moves to the reference position relative to the second component 30. Step S1012 includes: determining a preset moving direction according to the signal output by the light sensor, and controlling the first component 20 and / or the second component 30 to move along the preset moving direction so that the first component 20 and the second component 30 move relative to the reference position. In this way, the relative position of the first component 20 and the second component 30 can be determined according to the signal output by the photoelectric sensor 51, so as to determine the preset moving direction when the first component 20 and / or the second component 30 moves relative to the reference position.

[0081] For example, taking the second component 30 as being stationary and the first component 20 as being slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 along a straight line direction between a first limit position and a second limit position, and the direction from the first limit position to the second limit position is the positive direction of the straight line direction (for example, Figure 4 The direction from the second extreme position to the first extreme position is the opposite direction of the straight line direction (for example Figure 4 (as shown in the Y0 direction in the figure), the reference position is between the first limit position and the second limit position. Then, when the first component 20 is located on the side of the reference position close to the first limit position, the light blocking member 52 is always in a light-transmitting state, and the photoelectric sensor 51 outputs a first signal. When the first component 20 is located on the side of the reference position close to the second limit position, the light blocking member 52 is always in a light-blocking state, and the photoelectric sensor 51 outputs a second signal. Only when the first component 20 moves to the reference position, the state of the light blocking member 52 switches, and the signal output by the photoelectric sensor 51 jumps. In this way, when the actuator of the medical device is started, if the light blocking member 52 is in a light-blocking state, the photoelectric sensor 51 outputs a second signal, and it is determined according to the second signal that the first component 20 is located on the side of the reference position close to the first limit position, then the positive direction of the straight line direction is determined to be the preset moving direction, and the first component 20 is controlled to move along the preset moving direction so that the first component 20 moves to the reference position.

[0082] In some embodiments, after executing step S100, that is, after controlling the first component 20 and the second component 30 to move relative to each other to the first extreme position, the control of the first component 20 and / or the second component 30 is stopped for a first preset time. It can be understood that after controlling the first component 20 and the second component 30 to move to the first extreme position, the first component 20 and / or the second component 30 needs to adjust the moving direction, and at this time, the first component 20 and / or the second component 30 has inertia, and the driving component also has inertia. By stopping the driving component to control the first component 20 and / or the second component 30, the first component 20 and / or the second component 30 is stabilized, and step S200 is performed after the driving component is stable, so as to ensure the control accuracy and protect the driving component.

[0083] Step S200 : Controlling the first component 20 and the second component 30 at the first extreme position to move relative to a preset position, and determining the preset position as the initialization position of the first component 20 and the second component 30 .

[0084] It can be understood that the relative movement of the first component 20 and the second component 30 to the preset position is to realize the relative movement of the first component 20 to the initialization position; wherein the preset position at this time is recorded as the initialization position.

[0085] In some embodiments, a displacement sensor 40 is provided on the second component 30, and the position information of the first component 20 and / or the second component 30 can be determined by the displacement sensor 40, so as to determine the position information of the first component 20 and / or the second component 30 at the preset position as the initialization position. Figure 2 As shown, a displacement sensor 40 is provided on the second component 30 , and when the first component 20 slides relative to the second component 30 , the displacement sensor 40 can detect the position information of the first component 20 .

[0086] In some embodiments, step S200, i.e., controlling the first component 20 and the second component 30 at the first extreme position to move relative to a preset position, and determining the preset position as the initialization position of the first component 20 and the second component 30, includes step S211 and step S212.

[0087] S211: Control the first component 20 and the second component 30 at the first extreme position to move relative to a preset stop position.

[0088] S212: Stop controlling the movement of the first component 20 and / or the second component 30, wherein one of the first component 20 and the second component 30 guides the movement of the other, so that the first component 20 and the second component 30 are relatively stable and stationary at the preset position.

[0089] It can be understood that the preset stop position is adjacent to the preset position, and the first component 20 and the second component 30 are controlled to move relatively to the preset stop position, so that the first component 20 and the second component 30 are relatively located at a position close to the preset position, that is, close to the initialization position, to achieve a rough adjustment of the relative position between the first component 20 and the second component 30. After the first component 20 and the second component 30 move relatively to the preset stop position, the control of the movement of the first component 20 and / or the second component 30 is stopped, so that one of the first component 20 and the second component 30 guides the movement of the other, to achieve a fine adjustment of the relative position between the first component 20 and the second component 30, to reduce the deviation between the determined initialization position and the theoretical initialization position, which is conducive to making the initialization position determined each time tend to be consistent, and to improve the operating stability of the actuator.

[0090] Specifically, when executing step S212, stop controlling the movement of the first component 20 and / or the second component 30 for a second preset time to ensure that after one of the first component 20 and the second component 30 guides the movement of the other, the first component 20 and the second component 30 remain relatively stable and stationary at the preset position, and then determine the preset position as the initialization position of the first component 20 and the second component 30 to improve the accuracy of the determined initialization position.

[0091] In some embodiments, Figure 4 and Figure 5 As shown, the first component 20 includes a first positioning member 21, on which a groove 211 is formed, and a second positioning member 32 is provided on the second component 30, and the second positioning member 32 abuts against the first positioning member 21. After the first positioning member 21 and the second positioning member 32 are controlled to move relatively to the preset stop position, the second positioning member 32 abuts against the inner wall of the groove 211, and the control of the first positioning member 21 and the second positioning member 32 is stopped, and the second positioning member 32 and the inner wall of the groove 211 can slide or roll relative to each other, so that one of the first component 20 and the second component 30 guides the movement of the other, and finally the second positioning member 32 is in the preset position of the groove 211, so that the first component 20 and the second component 30 are relatively stable and stationary at the preset position.

[0092] For example, Figure 8 As shown, an elastic member 33 is provided on the second component 30, and the second positioning member 32 is movably connected to the second component 30. The elastic member 33 is connected to the second positioning member 32. The second positioning member 32 can abut against the first positioning member 21 under the action of the elastic force of the elastic member 33, and the second positioning member 32 can slide or roll relative to the inner wall of the groove 211 under the action of the elastic member 33.

[0093] In some embodiments, step S211, i.e., controlling the first component 20 and the second component 30 at the first extreme position to move relative to a preset stop position, includes step S2111 and step S2112.

[0094] Step S2111: Control the first component 20 and the second component 30 to move relative to a reference position.

[0095] Step S2112: Calculate a third preset distance according to the reference position, and control the first component 20 and / or the second component 30 to move the third preset distance, so that the first component 20 and the second component 30 move relative to each other to the preset stop position.

[0096] It can be understood that the reference position is a known position, which can determine the third preset distance that the first component 20 and the second component 30 at the reference position need to move relative to each other to the preset stop position, and after controlling the first component 20 and the second component 30 to be relative to the reference position, the first component 20 and / or the second component 30 is controlled to move the third preset distance based on the reference position, so that the first component 20 and the second component 30 are in the first extreme position relative to each other.

[0097] It is worth noting that when the first component 20 and the second component 30 are controlled to move relative to each other, the first component 20 and / or the second component 30 move a third preset distance along a third preset direction. Exemplarily, taking the second component 30 as an example, the first component 20 is stationary and the first component 20 is slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 in a straight line direction between a first limit position and a second limit position, the reference position is located between the first limit position and the second limit position, and the preset stop position can be located between the reference position and the second limit position. After the first component 20 is controlled to slide relative to the second component 30 to the reference position, the first component 20 is controlled to slide in the reverse direction of the straight line direction by a first preset distance, so that the first component 20 slides to the first limit position of the second component 30, and then slides from the first limit position in the positive direction of the straight line direction to the reference position, and again takes the reference position as a reference, continues to slide from the reference position in the positive direction of the straight line direction by a third preset distance to the preset stop position. At this time, the positive direction of the straight line direction can be the third preset direction.

[0098] In the embodiment of the present application, at least one of the first component 20 and the second component 30 is controlled to move so that the first component 20 and the second component 30 move relative to each other to the first extreme position to perform a stroke self-check of the first component 20 and / or the second component 30 to ensure that the actuator can operate normally. Thereafter, the first component 20 and the second component 30 at the first extreme position are controlled to move relative to each other to a preset position again, and the preset position is determined as the initialization position of the first component 20 and the second component 30, without inferring the initialization position through the relative positions of different detection devices, which is beneficial to improving the accuracy of the initialization positioning and reducing the deviation between the determined initialization position and the theoretical initialization position.

[0099] In some embodiments, the control method includes steps S100 to S400.

[0100] Step S100: Control the first component 20 and the second component 30 to move relative to each other to a first extreme position.

[0101] Step S200 : Controlling the first component 20 and the second component 30 at the first extreme position to move relative to a preset position, and determining the preset position as the initialization position of the first component 20 and the second component 30 .

[0102] Step S300: Control the first component 20 and the second component 30 at the preset position to move relative to each other to a second extreme position.

[0103] Step S400: Control the first component 20 and the second component 30 at the second extreme position to move relative to each other to the initialization position.

[0104] It can be understood that step S100 and step S200 can refer to the above description and will not be repeated here.

[0105] Among them, in step S300: the first component 20 and the second component 30 in the preset position are controlled to move relative to each other to the second extreme position. It can be understood that the second extreme position is another extreme position of the effective moving range of the first component 20 and the second component 30. By making the first component 20 and the second component 30 move relative to each other to the second extreme position, the stroke self-inspection can be further realized to ensure the normal operation of the actuator.

[0106] In some embodiments, after executing step S300, that is, after controlling the first component 20 and the second component 30 to move relative to each other to the second extreme position, the control of the first component 20 and / or the second component 30 is stopped for a third preset time. It can be understood that after controlling the first component 20 and the second component 30 to move to the second extreme position, the first component 20 and / or the second component 30 needs to adjust the moving direction, and at this time, the first component 20 and / or the second component 30 has inertia, and the drive component also has inertia. By stopping the drive component to control the first component 20 and / or the second component 30, the first component 20 and / or the second component 30 can be stabilized, and step S400 is performed after the drive component is stable to ensure control accuracy and protect the drive component.

[0107] Step S400: Control the first component 20 and the second component 30 at the second extreme position to move relative to each other to the initialization position.

[0108] It can be understood that after the stroke self-check is completed, the first component 20 and the second component 30 are relatively moved to the initialization position to achieve the reset of the first component 20 and / or the second component 30 to prepare for subsequent operations.

[0109] In some embodiments, step S300, ie, the step of controlling the first component 20 and the second component 30 at the preset position to move relative to each other to a second extreme position, includes step S311.

[0110] S311: Calculate a second preset distance according to the preset stop position, and control the first component 20 and / or the component to move the second preset distance, so that the first component 20 and the second component 30 at the preset position move relative to each other to a second extreme position.

[0111] It can be understood that one of the first component 20 and the second component 30 guides the movement of the other to achieve fine adjustment of the relative position of the first component 20 and the second component 30. The relative movement distance of the first component 20 and the second component 30 is small. Therefore, the preset stop position can be used as a reference to determine the second preset distance that the first component 20 and / or the second component 30 needs to move when the first component 20 and the second component 30 at the preset stop position move relative to the second extreme position, and then the first component 20 and / or the second component 30 is controlled to move to the second preset distance, so that the first component 20 and the second component 30 move relative to the second extreme position, further realizing stroke self-inspection.

[0112] It should be noted that making the first component 20 and the second component 30 move relative to each other to the first extreme position, and making the first component 20 and the second component 30 move relative to each other to the second extreme position, means that the distance between the position of the first component 20 and the second component 30 after the relative movement and the second extreme position is less than the preset error distance.

[0113] It is worth noting that when the first component 20 and the second component 30 are controlled to move relative to each other, the first component 20 and / or the second component 30 move along the second preset direction by a second preset distance. For example, taking the second component 30 being stationary and the first component 20 being slidably connected to the second component 30 as an example, the first component 20 can slide along a straight line direction between a first extreme position and a second extreme position relative to the second component 30, and the direction from the first extreme position to the second extreme position is the positive direction of the straight line direction (for example, Figure 4 The direction from the second extreme position to the first extreme position is the opposite direction of the straight line direction (for example Figure 4 In the example shown in the Y0 direction in the figure, the reference position is between the first limit position and the second limit position, and the preset stop position is between the reference position and the second limit position. After the first component 20 is controlled to slide from the reference position along the straight line direction for a third preset distance to the preset stop position, the control of the first component 20 to slide is stopped for a second preset time, and then the first component 20 is controlled to continue to slide along the straight line direction for a second preset distance to the second limit position, so that the first component 20 and the second component 30 are relatively moved to the second limit position. At this time, the straight line direction is the second preset direction.

[0114] In some other embodiments, step S300, i.e., the step of controlling the first component 20 and the second component 30 at the preset position to move relative to each other to a second extreme position, includes step S321 and step S322.

[0115] S321: Control the first component 20 and the second component 30 to move relative to each other to a reference position.

[0116] S322: Calculate a fourth preset distance according to the reference position, and control the first component 20 and / or the second component 30 to move the fourth preset distance, so that the first component 20 and the second component 30 move relative to each other to the second extreme position.

[0117] It can be understood that the reference position is a known relative position, and the reference position can be used as a reference to determine the fourth preset distance that the first component 20 and / or the second component 30 need to move when the first component 20 and the second component 30 at the reference position move relative to the second limit position, and then control the first component 20 and / or the second component 30 to move the fourth preset distance, so that the first component 20 and the second component 30 move relative to the second limit position, to achieve further stroke self-checking, and ensure that the actuator can operate normally. And by controlling the first component 20 and / or the second component 30 to move the fourth preset distance, it can be determined that the first component 20 and the second component 30 move relative to the second limit position, without the need to determine by the collision of the first component 20 and / or the second component 30, which can reduce the damage to the first component 20, the second component 30 and the drive component. For example, when the drive motor is used to control the movement of the first component 20 and / or the second component 30, the occurrence of the drive motor stalling can be reduced, and the abnormal sound can be reduced.

[0118] Exemplarily, taking the example that the second component 30 is stationary and the first component 20 is slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 in a straight line direction between the first extreme position and the second extreme position, the reference position is located between the first extreme position and the second extreme position, and the preset stop position is located between the reference position and the second extreme position. Then, after controlling the first component 20 to slide in the positive direction from the reference position in the straight line direction to the preset stop position relative to the second component 30, stop controlling the first component 20 to move for a second preset time, and then control the first component 20 to slide in the reverse direction in the straight line direction so that the first component 20 slides again to the reference position relative to the second component 30. Finally, based on the reference position, control the first component 20 to slide in the positive direction in the straight line direction for a fourth preset distance again, so that the first component 20 slides to the second extreme position.

[0119] Second, see Figure 2 As shown, an embodiment of the present application is a medical device actuator, comprising a first component 20, a second component 30, a drive component 10 and a processor (not shown). The drive component 10 is transmission-connected to the first component 20 and / or the second component 30. The processor is used to execute the steps of the control method as described above.

[0120] Exemplarily, the medical device includes an interventional surgical device, and the actuator of the medical device includes a master-end actuator of the interventional surgical device, the master-end actuator is used to cooperate with a slave-end actuator of the interventional surgical device, and the slave-end actuator can receive operation information of the master-end actuator and perform corresponding actions.

[0121] like Figure 2 and Figure 3 As shown, in some embodiments, the driving assembly 10 may include a driving motor 11, a gear 12 and a rack 13, and the gear 12 is sleeved on the outer circumference of the output shaft of the driving motor 11. The rack 13 may be provided on the first assembly 20 and meshed with the gear 12, so that the driving motor 11 can drive the first assembly 20 through the gear 12 and the rack 13, or the rack 13 may be provided on the second assembly 30 and meshed with the gear 12, so that the driving motor 11 can drive the second assembly 30 through the gear 12 and the rack 13, so that the first assembly 20 and the second assembly 30 move relative to each other.

[0122] For example, Figure 2 As shown, the driving motor 11 is provided in the second component 30, the first component 20 is slidably connected to the second component 30, and the driving component 10 can drive the first component 20 to slide relative to the second component 30, so that the first component 20 and the second component 30 move relative to each other. For ease of description, the embodiment of the present application is mainly described by taking the first component 20 being slidably connected to the second component 30 as an example.

[0123] For example, Figure 3 As shown, the second component 30 is provided with a slide rail, and the first component 20 is slidably connected to the slide rail. Specifically, the slide rail is provided with slide grooves on opposite sides along the X0-X1 direction. The first component 20 is provided with protrusions on opposite sides along the X0-X1 direction, and the two protrusions are slidably engaged in the two slide grooves.

[0124] In some embodiments, the position information of the first component 20 and / or the second component 30 may be determined by the displacement sensor 40, so as to determine the position information of the first component 20 and / or the second component 30 at the preset position as the initialization position. Figure 2 As shown, a displacement sensor 40 is provided on the second component 30 , and when the first component 20 slides relative to the second component 30 , the displacement sensor 40 can detect the position information of the first component 20 .

[0125] In some embodiments, exemplarily, the actuator also includes an in-position detection device 50, which can be used to detect the relative position relationship between the first component 20 and the second component 30. The in-position detection device 50 can output a signal so that the processor can control the relative movement of the first component 20 and the second component 30 to a reference position based on the acquired signal.

[0126] Optionally, the presence detection device 50 may include a photoelectric sensor, an electromagnetic sensor, or a capacitive sensor.

[0127] Further, the in-position detection device 50 includes a photoelectric sensor 51 and a light blocking member 52, wherein the light blocking member 52 is disposed in one of the first component 20 and the second component 30, and the photoelectric sensor 51 is disposed in the other of the first component 20, so that the light blocking member 52 can switch between a light-transmitting state that allows light to enter the photoelectric sensor 51 and a light-blocking state that blocks the photoelectric sensor 51. The photoelectric sensor 51 is used to output a signal. It can be understood that when the light blocking member 52 switches between the light-transmitting state and the light-blocking state, it means that the first component 20 and the second component 30 move relative to the reference position, and at this time, the output signal of the photoelectric sensor 51 may jump, so that it can be determined that the first component 20 and the second component 30 move relative to the reference position based on the signal jump information.

[0128] For example, Figure 2 As shown, the first component 20 is slidably connected to the second component 30, and the first component 20 can slide relative to the second component 30 along the first direction. The photoelectric sensor 51 is arranged on the second component 30 and is located on the side of the first component 20 perpendicular to the first direction. The light blocking member 52 is arranged on the side of the first component 20 facing the photoelectric sensor 51, so that the light blocking member 52 can slide with the first component 20 relative to the photoelectric sensor 51, thereby being able to switch between the light-transmitting state and the light-shielding state.

[0129] In some embodiments, when the first component 20 and the second component 30 move relative to each other from the reference position to the first extreme position, the light blocking member 52 is in one of the light transmitting state and the light blocking state, and when the first component 20 and the second component 30 move relative to each other from the reference position to the second extreme position, the light blocking member 52 is in the other of the light transmitting state and the light blocking state. It can be understood that when the first component 20 and the second component 30 move relative to each other within the effective moving range, the light blocking member 52 switches its state only when the first component 20 and the second component 30 move relative to each other to the reference position. If the light blocking member 52 is in a light-transmitting state when the actuator is started, the first component 20 and the second component 30 are relatively located between the reference position and the first extreme position. If the light blocking member 52 is in a light-blocking state when the actuator is started, the first component 20 and the second component 30 are relatively located between the reference position and the second extreme position. This facilitates determining the relative position of the first component 20 and the second component 30 according to the state of the light blocking member 52, as well as the direction in which the driving component 10 needs to drive the first component 20 and / or the second component 30 to move when the first component 20 and the second component 30 move relative to each other to the reference position.

[0130] Exemplarily, when the actuator is started, if the photoelectric sensor 51 detects that the light blocking member 52 is in a light-transmitting state, the drive component 10 can drive the first component 20 to slide along the Y1 direction, and the photoelectric sensor 51 continues to detect the state of the light blocking member 52. When it is detected that the light blocking member 52 switches from the light-blocking state to the light-transmitting state, that is, the first component 20 and the second component 30 move relative to each other to the reference position, the drive component 10 can drive the first component 20 to slide along the Y0 direction for a first preset distance, so that the first component 20 moves to the first extreme position relative to the second component 30.

[0131] like Fig. 9 As shown, further, the light blocking member 52 is arranged on the first component 20, and the first component 20 moves in the positive direction of the first direction so that the first component 20 and the second component 30 move from being in the relative reference position to being in the relative preset position. The second component 30 is also provided with a first stopper 34, and the moving distance of the first component 20 in the reference position moving in the positive direction of the first direction to abutting against the first stopper 34 is less than the length of the light blocking member 52 in the first direction. It can be understood that the first stopper 34 is used to limit the range of the positive movement of the first component 20 in the first direction, to prevent the first component 20 from falling off from the second component 30, or to prevent the first component 20 from interfering with the normal operation of other components of the actuator, and at the same time limit the length of the light blocking member 52, so that when the first component 20 moves relative to the second component 30 in the positive direction of the first direction and exceeds the effective moving range, the light blocking member 52 is still in the shielding state, so as to facilitate the determination of the relative position of the first component 20 and the second component 30 according to the state of the light blocking member, and drive the first component 20 so that the first component 20 and the second component 30 move relative to the reference position.

[0132] For example, the positive direction of the first direction is Fig. 9 As shown in the Y1 direction.

[0133] For example, Fig. 9 As shown, a second stopper 35 is also provided on the second component 30. After the first component 20 at the second preset position moves a distance in the opposite direction of the first direction, the first component 20 can abut against the second stopper 35, so that the second stopper 35 can limit the sliding of the first component 20 in the opposite direction of the first direction, prevent the first component 20 from detaching from the second component 30, or prevent the first component 20 from interfering with the normal operation of other components of the actuator.

[0134] For example, the reverse direction of the first direction is as follows Fig. 9 As shown in the Y0 direction.

[0135] like Figure 4 and Figure 5As shown, in some embodiments, the first component 20 includes a first positioning member 21 and a handle 22, and the handle 22 is connected to the first positioning member 21. A groove 211 is formed on the first positioning member 21, and a second positioning member 32 is provided on the second component 30, and the second positioning member 32 abuts against the first positioning member 21. The driving component 10 is transmission-connected to the first positioning member 21, and the driving component 10 can drive the first component to move relative to the second component. When the first positioning member 21 and the second positioning member 32 move relatively to the preset stop position, the second positioning member 32 abuts against the inner wall of the groove 211, and the second positioning member 32 and the inner wall of the groove 211 can slide or roll relative to each other, so that the first component and the second component are relatively stable and stationary at the preset position.

[0136] It can be understood that the driving component 10 drives the first component 20 and / or the second component 30 to the preset stop position, which can achieve coarse adjustment of the relative position of the first component 20 and the second component 30, so that the second positioning member 32 abuts against the inner wall of the groove 211. Then the driving component 10 stops driving, and there is force transmission between the second positioning member 32 and the inner wall of the groove 211. The second positioning member 32 and the inner wall of the groove 211 can slide or roll relative to each other, so that the first component 20 and the second component 30 automatically move relative to each other, so that one of the first component 20 and the second component 30 guides the movement of the other, and the second positioning member 32 can eventually be stably located at a specific position of the groove 211, so that the first component and the second component are relatively stable and stationary at the preset position, and the relative position of the first component 20 and the second component 30 is finely adjusted, the relative position accuracy of the first component 20 and the second component 30 is improved, and the deviation between the determined initialization position and the theoretical initialization position is reduced, so that the initialization position determined each time tends to be consistent, thereby improving the operating stability of the actuator.

[0137] For example, Figure 4 and Figure 5 As shown, the first component 20 and the second component 30 can be moved along a first direction (eg Figure 4 The first positioning member 21 and the second positioning member 32 are arranged in sequence perpendicular to the first direction, and the second positioning member 32 abuts against the first positioning member 21 under the action of force. A groove 211 is provided on the side of the first positioning member 21 facing the second positioning member 32. The first positioning member 21 and the second positioning member 32 can move relative to each other until the second positioning member 32 abuts against the inner wall of the groove 211.

[0138] like Figure 4 , Figure 5 and Figure 8As shown, in some embodiments, an elastic member 33 is provided on the second component 30, a second positioning member 32 is movably connected to the second component 30, the elastic member 33 is connected to the second positioning member 32, the second positioning member 32 can abut against the first positioning member 21 under the action of the elastic force of the elastic member 33, and the second positioning member 32 can slide or roll relative to the inner wall of the groove 211 under the action of the elastic member 33. It can be understood that when the driving component 10 drives the first component 20 and / or the second component 30, the first positioning member 21 abuts against the second positioning member 32, and the first positioning member 21 can compress the elastic member 33 through the second positioning member 32, overcome the elastic force of the elastic member 33, and make the first component 20 and the second component 30 move relative to each other. When the driving component 10 stops driving, the elastic force of the elastic member 33 can be transmitted at the position where the first positioning member 21 contacts the second positioning member 32, and the second positioning member 32 and the inner wall of the groove 211 can slide or roll relative to each other under the action of the elastic force. The first component 20 and the second component 30 can move relative to each other under the action of the elastic force, and the second positioning member 32 can finally be stably located at a specific position of the groove 211.

[0139] For example, Figure 2 As shown, the first component 20 is slidably connected to the second component 30, and the driving component 10 is disposed in the second component 30. The driving component 10 can drive the first component 20. Figure 5 Shows Figure 2 A schematic diagram showing that the second positioning member 32 abuts against the inner wall of the groove 211, Figure 6 Shows Figure 2 Schematic diagram of the second positioning member 32 being located at a specific position of the groove 211. Figure 5 The second positioning member 32 in the groove 211 abuts against the inner wall of the groove 211. At this time, the driving component 10 stops driving, and the second positioning member 32 transmits the force of the elastic member 33 to the first positioning member 21, so that the first component 20 has a component force sliding along the first direction. The second positioning member 32 can slide or roll on the inner wall of the groove 211, and the first component 20 can slide along the first direction. Finally, the second positioning member 32 is stably located at a specific position of the groove 211, such as Figure 6 shown.

[0140] Exemplarily, the elastic member 33 includes but is not limited to a compression spring, a torsion spring, a spring sheet, etc.

[0141] Exemplarily, the second positioning member 32 can rotate or slide relative to the second assembly 30 under the action of the elastic member 33 , so that the second positioning member 32 is close to the first positioning member 21 and abuts against the first positioning member 21 under the elastic force of the elastic member 33 .

[0142] Exemplarily, the rotation axis of the second positioning member 32 is parallel to the first direction, or the rotation axis of the second positioning member 32 can also be inclined relative to the first direction. The sliding direction of the second positioning member 32 is perpendicular to the first direction, or the sliding direction of the second positioning member 32 can also be inclined relative to the first direction.

[0143] Furthermore, the second component 30 is provided with a limiting groove 31a, and the second positioning member 32 is movably connected to the limiting groove 31a to limit the movement direction of the second positioning member 32 under the action of the elastic member 33, so that the second positioning member 32 is more stably abutted against the first positioning member 21. When the driving component 10 stops driving, the second positioning member 32 can be stably located in a specific position of the groove 211.

[0144] For example, Figure 3 and Figure 8 As shown, the second component 30 includes a mounting base plate 311 and a mounting support 312, the first component 20 can be slidably connected to the mounting base plate 311, the mounting support 312 is arranged on the mounting base plate 311, and a limiting groove 31a is provided on the side of the mounting support 312 facing the first component 20, the second positioning member 32 can be rotatably engaged in the limiting groove 31a, or the second positioning member 32 can be slidably engaged in the limiting groove 31a.

[0145] For example, Figure 8 As shown, the second positioning member 32 can be rotatably connected to the mounting support 312 via a rotation axis. The second positioning member 32 can rotate around the rotation axis under the action of the elastic member 33 to approach and abut against the first positioning member 21 .

[0146] For example, Figure 8 As shown, the mounting support 312 is provided with a rotating shaft and a limiting plate, the elastic member 33 is a torsion spring, the torsion spring is sleeved on the outer circumference of the rotating shaft, the limiting plate is provided with a limiting hole, the torsion arm at one end of the torsion spring can be inserted into the limiting hole, and the torsion arm at the other end is connected to the second positioning member 32, so that the second positioning member 32 can rotate around the rotating shaft under the action of the torsion spring to approach and abut against the first positioning member 21. For example, the torsion arm of the torsion spring can abut against the side of the second positioning member 32 away from the first positioning member 21, so that the second positioning member 32 approaches and abuts against the first positioning member 21 under the elastic force of the torsion spring.

[0147] In some embodiments, the abutting surface of the second positioning member 32 for abutting against the first positioning member 21 is an arc-shaped surface to reduce the friction between the second positioning member 32 and the first positioning member 21 and facilitate the relative movement between the first positioning member 21 and the second positioning member 32.

[0148] like Figure 8As shown, in some embodiments, the second positioning member 32 includes a connecting shaft 321 and a roller 322, the connecting shaft 321 is movably connected to the second component 30, the connecting shaft 321 is connected to the elastic member 33, the roller 322 is rotatably sleeved on the outer periphery of the connecting shaft 321, and the roller 322 can roll relative to the inner wall of the groove 211. It can be understood that the roller 322 abuts against the first positioning member 21, and when the first positioning member 21 and the second positioning member 32 move relative to each other, the roller 322 can roll along the side of the first positioning member 21, reducing the friction between the first positioning member 21 and the second positioning member 32, so that the second positioning member 32 stably abuts against the first positioning member 21, and the relative movement between the first positioning member 21 and the second positioning member 32 is more convenient.

[0149] For example, Figure 8 As shown, the connecting shaft 321 is movably engaged with the limiting groove 31a and protrudes from the top of the mounting support 312. The portion of the connecting shaft 321 protruding from the mounting support 312 is provided with a limiting groove 31a. The limiting groove 31a is at least partially opened on the side of the connecting shaft 321 away from the first positioning member 21. The torsion arm at the other end of the torsion spring is movably engaged with the limiting groove 31a, so that the connecting shaft 321 can rotate under the elastic force of the torsion spring to approach and abut against the first positioning member 21, while ensuring the connection stability between the torsion spring and the second positioning member 32. For example, the limiting groove 31a can be as follows Figure 8 Annular groove shown.

[0150] In some embodiments, the second positioning member 32 can approach the first positioning member 21 and abut against the first positioning member 21 under the action of its own gravity. When the second positioning member 32 is located on the inner wall of the groove 211 and the driving component 10 stops driving, the second positioning member 32 can slide or roll relative to the inner wall of the groove 211 under the action of its own gravity, thereby realizing relative movement between the first component 20 and the second component 30.

[0151] In some embodiments, the driving component 10 can drive the first component 20 and / or the second component 30 to enable the first component 20 and the second component 30 to move relative to each other along the first direction. The groove 211 includes a first guide section 211a, a positioning section 211b, and a second guide section 211c sequentially arranged along the first direction, the groove depth of the first guide section 211a gradually increases in the direction close to the positioning section 211b, and the groove depth of the second guide section 211c gradually increases in the direction close to the positioning section 211b. It can be understood that when the second positioning member 32 abuts against the first guide section 211a or the second guide section 211c, it can guide the first positioning member 21 and the second positioning member 32 to move relative to each other along the first direction, so that the second positioning member 32 moves relative to the first guide section 211a or the second guide section 211c to the positioning section 211b, and can be stably located in the positioning section 211b, and when the second positioning member 32 is located in the positioning section 211b, the relative position between the first positioning member 21 and the second positioning member 32 is unique, ensuring that the positioning member can guide the sliding member to the same position each time initialization is performed, thereby improving the consistency of the initialization parameters determined during multiple initialization processes.

[0152] like Figure 5 and Figure 7 As shown, the walls of the first guide section 211a, the positioning section 211b and the second guide section 211c are continuous, ensuring that the second positioning member 32 can stably slide or roll relative to the inner wall of the groove 211, and the first component 20 and the second component 30 can move relatively smoothly.

[0153] In some embodiments, the wall surface of the first guide section 211a is an arcuate surface, and / or the wall surface of the second guide section 211c is an arcuate surface. It can be understood that the wall surface of the first guide section 211a and / or the second guide section 211c is an arcuate surface, which is conducive to making the second positioning member 32 abut against the wall surface of the first guide section 211a or the second guide section 211c, and the first positioning member 21 and the second positioning member 32 move relatively smoothly.

[0154] For example, Figure 5 As shown, the walls of the first guiding section 211a, the positioning section 211b, and the second guiding section 211c are all arc-shaped surfaces, and the curvature radius of the walls of the first guiding section 211a, the second positioning section 211b, and the second guiding section 211c is the same.

[0155] Of course, in other embodiments, the wall surfaces of the first guide section 211a and the second guide section 211c may also be as follows: Figure 7 The slope shown in .

[0156] In some embodiments, the wall surface of the positioning segment 211b is an arc-shaped surface, which is conducive to stably abutting the second positioning member 32 against the wall surface of the positioning segment 211b, while avoiding the second positioning member 32 from being stuck in the positioning segment 211b, making it convenient for the driving component 10 to drive the first component 20 and / or the second component 30 again, or making it convenient for the staff to drive the first component 20 and / or the second component 30 to prevent the first component 20 and the second component 30 from getting stuck when they move relative to each other.

[0157] Of course, in other embodiments, the wall surface of the positioning section 211b may also be as follows: Figure 7 As shown in the bending surface of FIG. 2 (B), the second positioning member 32 can be stably abutted against the wall surface of the positioning section 211b under the action of the elastic member 33.

[0158] In some embodiments, the wall surface of the first guide section 211a and the outer surface of the first positioning member 21 are smoothly transitioned through an arc surface, and / or the wall surface of the second guide section 211c and the outer surface of the first positioning member 21 are smoothly transitioned through an arc surface. This is beneficial for the second positioning member 32 to smoothly transition along the outer surface of the first positioning member 21 to the inner wall of the groove 211 when the drive assembly 10 drives the first positioning member 21 and the second positioning member 32 to move relative to each other, and to smoothly transition from the inner wall of the groove 211 to the outer surface of the first positioning member 21, thereby avoiding interference with the relative movement between the first positioning member 21 and the second positioning member 32 and causing a jamming phenomenon.

[0159] The method of the present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0160] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The method implemented when the computer program is executed by a processor can refer to the various embodiments of the control method based on the medical device actuator of the present application.

[0161] The computer-readable storage medium may be an internal storage unit of the medical device described in the foregoing embodiments, such as a hard disk or memory of the medical device. The computer-readable storage medium may also be an external storage device of the near-eye display device, such as a plug-in hard disk of the medical device, a smart memory card (SmartMedicalCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc.

[0162] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0163] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0164] The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an actuator of a medical device, characterized in that: The actuator includes a first component and a second component; The control method comprises: Controlling the first component and the second component to move relative to each other to a first extreme position; The first component and the second component at the first extreme position are controlled to move relatively to a preset position, and the preset position is determined as an initialization position of the first component and the second component.

2. The control method according to claim 1, characterized in that: The control method further comprises: Control the first component and the second component at the preset position to move relative to each other to a second extreme position; The first component and the second component at the second extreme position are controlled to move relatively to the initialization position.

3. The control method according to any one of claims 1 or 2, characterized in that: The step of controlling the first component and the second component to move relative to each other to a first limit position comprises: Controlling the first component and the second component to move relative to each other to a reference position; A first preset distance is calculated according to the reference position, and the first component and / or the second component is controlled to move the first preset distance so that the first component and the second component move relative to each other to the first extreme position.

4. The control method according to claim 3, characterized in that: The step of controlling the first component and the second component to move relative to each other to a reference position comprises: Determining relative position information between the first component and the second component; According to the relative position information of the first component and the second component, the first component and the second component are controlled to move relative to each other to the reference position.

5. The control method according to claim 4, characterized in that: The relative position information includes signal jump information; The step of controlling the first component and the second component to move relative to each other to the reference position according to the relative position information of the first component and the second component comprises: According to the signal jump information, the first component and the second component are controlled to move relative to each other.

6. The control method according to claim 1, characterized in that: The step of controlling the first component and the second component at the first limit position to move relative to each other to a preset position, and determining the preset position as the initialization position of the first component and the second component comprises: Controlling the first component at the first extreme position to move relative to the second component to a preset stop position; Stop controlling the movement of the first component and / or the second component, and one of the first component and the second component guides the movement of the other, so that the first component and the second component are relatively stable and stationary at the preset position.

7. The control method according to claim 6, characterized in that: The control method further comprises: Calculate a second preset distance according to the preset stop position, and control the first component and / or the component to move the second preset distance, so that the first component at the preset position and the second component move relative to a second extreme position; The first component and the second component at the second extreme position are controlled to move relatively to the initialization position.

8. The control method according to claim 6, characterized in that: The first component and the second component controlled at the first limit position move relative to each other to a preset stop position, comprising: Controlling the first component and the second component to move relative to each other to a reference position; A third preset distance is calculated according to the reference position, and the first component and / or the second component are controlled to move the third preset distance, so that the first component and the second component move relative to each other to the preset stop position.

9. A medical device actuator, comprising: First component; The second component; A driving assembly, the driving assembly being drivingly connected to the first assembly and / or the second assembly; A processor, configured to execute the steps of the control method according to any one of claims 1 to 8.

10. The medical device actuator according to claim 9, characterized in that: The first component includes a first positioning member; The second component is provided with a second positioning member, and the second positioning member abuts against the first positioning member; The driving component is transmission-connected to the first positioning member, and the driving component can drive the first component to slide relative to the second component.

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