Medical device actuator and method of controlling the same

Abstract

The application provides a medical device actuator and a control method thereof, and belongs to the technical field of medical instruments. The actuator comprises a first component and a second component. The method comprises: controlling the first component and / or the second component to move relatively to a first limit position; controlling the first component and the second component at the first limit position to move relatively to a preset position, and determining the preset position as an initial position of the first component and the second component. The technical scheme of the application aims to realize the initial positioning and stroke self-checking of the medical device actuator, and improve the position accuracy when the components of the actuator are reset.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a medical device actuator and its control method. Background Technology

[0002] Some medical devices have multiple components that can move relatively, requiring initialization positioning and stroke self-checks after device startup. For example, the main end of an interventional surgical robot has a sliding operating handle. Upon startup, this handle needs initialization positioning and stroke self-checks. Specifically, the operating handle is driven by a motor, and a linear encoder slides with it. When the handle reaches its limit position, the motor stalls, recording the linear encoder's position. The initial position of the operating handle is then calculated using the sensor's position relative to the linear encoder. However, motor stalling can easily produce abnormal noise, and the operating handle's position is calculated from the sensor's position relative to the linear encoder. Due to installation errors in the components, the calculated initial position can easily be inaccurate. Summary of the Invention

[0003] This application provides a medical device actuator and its control method, which aims to achieve initial positioning and stroke self-check of the medical device actuator, while improving the positional accuracy of the actuator components during reset.

[0004] In a first aspect, embodiments of this application provide a control method for a medical device actuator, the actuator comprising a first component and a second component;

[0005] The control method includes:

[0006] Control the relative movement of the first component and / or the second component to a first extreme position;

[0007] The first component and the second component, which are at the first extreme position, are moved relative to each other to a preset position, and the preset position is determined as the initial position of the first component and the second component.

[0008] Optionally, the control method further includes: 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, controlled at the second limit position, moves relative to the second component to the initial position.

[0010] Optionally, the step of controlling the relative movement of the first component and the second component to the first extreme position includes:

[0011] Control the relative movement of the first component and the second component to a reference position;

[0012] Calculate a first preset distance based on the reference position, and control the first component and / or the second component 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 relative movement of the first component and the second component to a reference position includes:

[0014] Determine the relative position information of the first component and the second component;

[0015] Based on 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 relative movement of the first component and the second component to the reference position based on the relative position information of the first component and the second component, wherein the relative position information includes signal transition information, includes:

[0017] Based on the signal transition 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 each other to a preset position, and determining the preset position as the initial position of the first component and the second component, includes:

[0019] The first component, controlled at the first extreme position, moves relative to the second component to a preset stopping position;

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

[0021] Optionally, the control method further includes:

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

[0023] The first component, controlled at the second limit position, moves relative to the second component to the initial position.

[0024] Optionally, the relative movement of the first component and the second component from the first extreme position to a preset stopping position includes:

[0025] Control the relative movement of the first component and the second component to a reference position;

[0026] Calculate a third preset distance based on the reference position, and control the first component and / or the second component to move the third preset distance so that the first component and the second component move relative to each other to the preset stopping position.

[0027] Secondly, embodiments of this application provide a medical device actuator, comprising:

[0028] First component;

[0029] Second component;

[0030] A drive assembly, which is driveably connected to the first component and / or the second component;

[0031] A processor is configured to execute the steps of any of the control methods described in the above embodiments.

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

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

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

[0035] This application provides a medical device actuator and its control method. In this application embodiment, 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 limit position to perform a stroke self-check of the first component and / or the second component. Then, the first component and the second component at the first limit position are controlled to move relative to each other to a preset position, and the preset position is determined as the initial position of the first component and the second component. This eliminates the need to infer the initial position from the relative position of different detection devices, which helps to improve the accuracy of initial positioning and reduce the deviation between the determined initial position and the theoretical initial position. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0039] Figure 3 A front view of an actuator provided for an embodiment of this application;

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

[0041] Figure 5 for Figure 4 Enlarged view of point A of the executing agency;

[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 the first and second positioning elements provided in the embodiments of this application;

[0044] Figure 8 A schematic diagram of the mounting bracket, elastic element, and second positioning element provided in the embodiments of this application;

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

[0046] Explanation of key figure labels:

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

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

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

[0051] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0052] Firstly, please refer to Figure 1 This application provides a control method for a medical device actuator. 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 the first extreme position.

[0054] Step S200: Control the first component 20 and the second component 30 at the first extreme position to move relative to each other to a preset position, and determine the preset position as the initial position of the first component 20 and the second component 30.

[0055] For example, the medical device includes an interventional surgical device, and the actuator of the medical device includes the main actuator of the interventional surgical device. The control method can be applied to the main 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 control method for the actuator includes steps S100 to S200.

[0057] In step S100: control the first component 20 and the second component 30 to move relative to each other to the first extreme position.

[0058] Understandably, the relative movement between the first component 20 and the second component 30 can be manifested as follows: 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] For example, the first component 20 and the second component 30 can slide or rotate relative to each other to enable relative movement between them. For ease of understanding, this application embodiment is mainly described with the second component 30 stationary and the first component 20 able to slide relative to the second component 30 in a straight line.

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

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

[0062] Understandably, the first component 20 and the second component 30 have an effective range of movement when moving relative to each other, and the first limit position is a limit position of the effective range of movement of the first component 20 and the second component 30. For example, the second component 30 is stationary, and the first component 20 can move relative to the second component 30, and the first limit position is a limit position of the effective range of movement of the first component 20 on the second component 30.

[0063] In some embodiments, step S100, namely 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 based on 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] Understandably, the reference position can be a non-limit position within the effective movement range of the first component 20 and the second component 30.

[0067] For example, the first component 20 can be positioned relative to the second component 30 in a straight line direction between the first and second extreme positions (e.g., Figure 2 The slide is in the Y0-Y1 direction shown in the figure, and the reference position is located between the first limit position and the second limit position.

[0068] S102: Calculate a first preset distance based on 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] Understandably, the reference position is a known position. Using this reference position as a baseline, a first preset distance that the first component 20 and / or the second component 30 need to move relative to each other to the first extreme position is determined. Then, the first component 20 and / or the second component 30 are controlled to move the first preset distance, causing them to move relative to each other to the first extreme position. This achieves stroke self-checking and ensures the actuator can operate normally. Determining the relative movement of the first component 20 and / or the second component 30 to the first extreme position by controlling the first component 20 and / or the second component 30 to move the first preset distance avoids the need for collisions between the first component 20 and / or the second component 30, reducing damage to the first component 20, the second component 30, and the drive assembly. For example, using a drive motor to control the movement of the first component 20 and / or the second component 30 reduces the occurrence of drive motor stalling, reducing noise and lowering overall noise levels.

[0070] For example, if the second component 30 is stationary and the first component 20 is movable 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 extreme position is the first extreme position of the first component 20 on the second component 30. The first component 20 is controlled to move from the reference position relative to the second component 30 by a first preset distance, so that the first component 20 moves to the first extreme position of the second component 30, thereby realizing the relative movement of the first component 20 and the second component 30 to the first extreme position.

[0071] It is worth noting that when controlling the relative movement of the first component 20 and the second component 30, the first component 20 and / or the second component 30 move a first preset distance along a first preset direction. For example, taking the second component 30 as stationary and the first component 20 slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 between a first limit position and a second limit position along a straight line, and the direction from the first limit position to the second limit position is the positive direction of the straight line (e.g., ...). Figure 4 As shown in the Y1 direction, the direction from the second limit position to the first limit position is the opposite of the straight line direction (e.g., Figure 4 (As shown in the Y0 direction), if the reference position is between the first extreme position and the second extreme position, then after controlling the first component 20 to slide relative to the second component 30 to the reference position, control the first component 20 to slide in the opposite direction of the straight line by a first preset distance, so that the first component 20 slides to the first extreme position of the second component 30, realizing the relative movement of the first component 20 and the second component 30 to the first extreme position. At this time, the opposite direction of the straight line can be the first preset direction.

[0072] Further, step S101, namely the step of controlling the first component 20 and the second component 30 to move relative to each other to the reference position, includes steps S1011 to S1012.

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

[0074] S1012: Based on 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] Understandably, when the first component 20 and the second component 30 move relative to each other to the reference position, their relative positions are determined, thereby enabling control of the first component 20 and / or the second component 30 based on their relative position information, 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 further includes an in-situ detection device 50, which can detect the relative position of the first component 20 and the second component 30 and output a signal. Based on the signal output by the in-situ detection device 50, the relative position information of the first component 20 and the second component 30 is determined. Based on the relative position information of the first component 20 and the second component 30, the relative movement of the first component 20 and the second component 30 is controlled, so that the first component 20 and the second component 30 move relative to each other to a reference position.

[0077] For example, the in-situ 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 transition information. Step S1012, which is the step of controlling the relative movement of the first component 20 and the second component 30 to the reference position based on the relative position information of the first component 20 and the second component 30, includes: controlling the relative movement of the first component 20 and the second component 30 based on the signal transition information. It can be understood that when the signal transition information is obtained, it can be determined that the first component 20 and the second component 30 have now moved to the reference position, so that the first component 20 and / or the second component 30 can be controlled to move a first preset distance based on the reference position, so that the first component 20 and the second component 30 move to a first extreme position; while when the signal transition information is not obtained, the first component 20 and / or the second component 30 are controlled to move until the signal transition information is obtained.

[0079] For example, such as Figures 2 to 4 As shown, the in-situ detection device 50 includes a photoelectric sensor 51 and a light-blocking component 52. The light-blocking component 52 is disposed on the first component 20, and the photoelectric sensor 51 is disposed on the second component 30. The second component 30 is stationary. The first component 20 can drive the light-blocking component 52 to slide relative to the second component 30 along the Y0-Y1 direction, so that the light-blocking component 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 component 52 is in the light-transmitting state, the photoelectric sensor 51 can output a first signal. When the light-blocking component 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 component 52 to slide, so that the light-blocking component 52 switches from the light-transmitting state to the light-blocking state. Alternatively, when the light-blocking component 52 switches from the light-blocking state to the light-transmitting state, the signal output by the photoelectric sensor 51 changes abruptly to obtain signal change information, thereby determining the relative movement of the first component 20 and the second component 30 to a reference position based on the signal change information.

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

[0081] For example, taking the second component 30 as stationary and the first component 20 slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 between a first limit position and a second limit position in a straight line direction, and the direction from the first limit position to the second limit position is the positive direction of the straight line (e.g., Figure 4 As shown in the Y1 direction, the direction from the second limit position to the first limit position is the opposite of the straight line direction (e.g., Figure 4 (As shown in the Y0 direction), the reference position is located between the first and second extreme positions. When the first component 20 is located on the side of the reference position closer to the first extreme position, the light-blocking component 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 closer to the second extreme position, the light-blocking component 52 is always in a light-blocking state, and the photoelectric sensor 51 outputs a second signal. The state of the light-blocking component 52 only changes when the first component 20 moves to the reference position, and the signal output by the photoelectric sensor 51 changes. Thus, when the actuator of the medical device is activated, if the light-blocking component 52 is in a light-blocking state, the photoelectric sensor 51 outputs a second signal. Based on the second signal, it is determined that the first component 20 is located on the side of the reference position closer to the first extreme position. Therefore, the positive direction of the straight line is determined as the preset movement direction, and the first component 20 is controlled to move along the preset movement direction so that the first component 20 moves to the reference position.

[0082] In some embodiments, after executing step S100, i.e., 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 is 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 need to adjust their direction of movement. At this time, the first component 20 and / or the second component 30 have inertia, and the driving component also has inertia. By stopping the control of the first component 20 and / or the second component 30 by the driving component, the first component 20 and / or the second component 30 are stabilized, and step S200 is executed only after the driving component has stabilized, thus ensuring control accuracy and protecting the driving component.

[0083] Step S200: Control the first component 20 and the second component 30 at the first extreme position to move relative to each other to a preset position, and determine the preset position as the initial position of the first component 20 and the second component 30.

[0084] Understandably, the first component 20 and the second component 30 are moved relative to each other to a preset position, which means that the first component 20 is moved relative to the initial position; whereby the preset position at this time is recorded as the initial position.

[0085] In some embodiments, the second component 30 is provided with a displacement sensor 40, which can determine the position information of the first component 20 and / or the second component 30, so as to determine the position information of the first component 20 and / or the second component 30 at a preset position as the initial position. For example Figure 2 As shown, the second component 30 is equipped with a displacement sensor 40. 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, which is to control the first component 20 and the second component 30 at the first extreme position to move relative to each other to a preset position and to determine the preset position as the initial position of the first component 20 and the second component 30, includes steps S211 and S212.

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

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

[0089] Understandably, the preset stopping position is adjacent to the preset position. Controlling the first component 20 and the second component 30 to move relative to the preset stopping position brings them to a position close to the preset position, which is also close to the initial position, thus achieving a coarse adjustment of their relative position. After the first component 20 and the second component 30 have moved relative to the preset stopping position, control of the first component 20 and / or the second component 30 to stop moving. This allows one component to guide the other's movement, achieving a fine adjustment of their relative position. This reduces the deviation between the determined initial position and the theoretical initial position, helping to ensure that each determined initial position is consistent and improving the operational stability of the actuator.

[0090] Specifically, when performing step S212, the movement of the first component 20 and / or the second component 30 is stopped for a second preset time to ensure that after one of the first component 20 and the second component 30 guides the other to move, the first component 20 and the second component 30 are relatively stable and stationary at a preset position. The preset position is determined as the initial position of the first component 20 and the second component 30 to improve the accuracy of the determined initial position.

[0091] In some embodiments, such as Figure 4 and Figure 5 As shown, the first component 20 includes a first positioning member 21 with a groove 211 formed on it. The second component 30 has a second positioning member 32, which abuts against the first positioning member 21. After the first positioning member 21 and the second positioning member 32 are moved relative to each other to a preset stopping position, the second positioning member 32 abuts against the inner wall of the groove 211. The control of the first positioning member 21 and the second positioning member 32 is stopped, and the second positioning member 32 can slide or roll relative to the inner wall of the groove 211. This allows one of the first component 20 and the second component 30 to guide the other to move, and ultimately the second positioning member 32 is placed in the preset position of the groove 211, so that the first component 20 and the second component 30 are relatively stable and stationary in the preset position.

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

[0093] In some embodiments, step S211, which controls the first component 20 and the second component 30 at the first extreme position to move relative to each other to a preset stopping position, includes steps S2111 and S2112.

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

[0095] Step S2112: Calculate a third preset distance based on 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 stopping position.

[0096] Understandably, the reference position is a known position, which can determine the third preset distance that the first component 20 and the second component 30 need to move relative to each other to the preset stopping position. After controlling the first component 20 and the second component 30 to move relative to each other to the reference position, the first component 20 and / or the second component 30 are controlled to move by the third preset distance based on the reference position, so that the first component 20 and the second component 30 are in the first limit position relative to each other.

[0097] It is worth noting that when controlling the relative movement of the first component 20 and the second component 30, the first component 20 and / or the second component 30 move a third preset distance along a third preset direction. For example, taking the second component 30 as stationary and the first component 20 slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 in a straight line between a first limit position and a second limit position. A reference position is located between the first and second limit positions, and a preset stopping position can be located between the reference position and the second limit position. After controlling the first component 20 to slide relative to the second component 30 to the reference position, the first component 20 is controlled to slide in the opposite direction along a straight line for a first preset distance, causing the first component 20 to slide to the first limit position of the second component 30. Then, it slides from the first limit position in the forward direction along a straight line back to the reference position. Again, using the reference position as a reference, it continues to slide from the reference position in the forward direction along a straight line for a third preset distance to the preset stopping position. At this time, the forward direction of the straight line can be the third preset direction.

[0098] In this embodiment, at least one of the first component 20 and the second component 30 is controlled to move relative to each other to a first extreme position to perform a stroke self-check of the first component 20 and / or the second component 30, ensuring that the actuator can operate normally. Then, 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, and this preset position is determined as the initial position of the first component 20 and the second component 30. This eliminates the need to infer the initial position from the relative positions of different detection devices, which helps to improve the accuracy of initial positioning and reduce the deviation between the determined initial position and the theoretical initial 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 the first extreme position.

[0101] Step S200: Control the first component 20 and the second component 30 at the first extreme position to move relative to each other to a preset position, and determine the preset position as the initial 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 the 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 initial position.

[0104] As is understandable, steps S100 and S200 can be referred to the above description and will not be repeated here.

[0105] In step S300: the first component 20 and the second component 30 at the preset position are controlled to move relative to each other to the second limit position. It can be understood that the second limit position is another limit position of the effective movement 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 limit position, the stroke self-check can be further realized to ensure that the actuator can operate normally.

[0106] In some embodiments, after executing step S300, i.e., 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 is 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 need to adjust their direction of movement. At this time, the first component 20 and / or the second component 30 have inertia, and the drive component also has inertia. By stopping the drive component from controlling 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 can be executed only after the drive component has stabilized, thus ensuring control accuracy and protecting 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 initial position.

[0108] Understandably, after the self-test is performed, the first component 20 and the second component 30 are moved to the initial position relative to each other to reset the first component 20 and / or the second component 30, in preparation for subsequent operations.

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

[0110] S311: Calculate a second preset distance based on the preset stopping 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] Understandably, one of the first component 20 and the second component 30 guides the other to move, thereby achieving fine-tuning of the relative positions of the first component 20 and the second component 30. Since the relative movement distance of the first component 20 and the second component 30 is small, it is possible to determine the second preset distance that the first component 20 and / or the second component 30 need to move when they move relative to each other to the second limit position, based on the preset stopping position. Then, the first component 20 and / or the second component 30 are controlled to move to the second preset distance, so that the first component 20 and the second component 30 move relative to each other to the second limit position, thereby further realizing stroke self-checking.

[0112] It should be noted that moving the first component 20 and the second component 30 relative to each other to the first extreme position and moving the first component 20 and the second component 30 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 relative movement and the second extreme position is less than the preset error distance.

[0113] It is worth noting that when controlling the relative movement of the first component 20 and the second component 30, the first component 20 and / or the second component 30 move a second preset distance along a second preset direction. For example, taking the second component 30 as stationary and the first component 20 slidably connected to the second component 30, the first component 20 can slide relative to the second component 30 between a first limit position and a second limit position along a straight line, and the direction from the first limit position to the second limit position is the positive direction of the straight line (e.g., ...). Figure 4 As shown in the Y1 direction, the direction from the second limit position to the first limit position is the opposite of the straight line direction (e.g., Figure 4 (As shown in the Y0 direction), with the reference position located between the first and second extreme positions, and the preset stopping position located between the reference position and the second extreme position, the first component 20 is controlled to slide a third preset distance along the positive direction of the straight line from the reference position to the preset stopping position. Then, the sliding of the first component 20 is stopped for a second preset time. The first component 20 is then controlled to continue sliding a second preset distance along the positive direction of the straight line to the second extreme position, thus achieving relative movement between the first component 20 and the second component 30 to the second extreme position. At this time, the positive direction of the straight line is the second preset direction.

[0114] In other embodiments, step S300, which is the step of controlling the first component 20 and the second component 30 at the preset position to move relative to each other to the second extreme position, includes steps S321 and 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 based on 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 limit position.

[0117] Understandably, the reference position is a known relative position. Using this reference position as a baseline, a fourth preset distance needs to be determined when the first component 20 and / or the second component 30 move relative to each other to the second limit position. Then, the first component 20 and / or the second component 30 are controlled to move this fourth preset distance, allowing them to move relative to each other to the second limit position. This enables further stroke self-checking, ensuring the actuator can operate normally. Furthermore, by controlling the first component 20 and / or the second component 30 to move this fourth preset distance, the relative movement to the second limit position can be determined without requiring a collision between the first component 20 and / or the second component 30, thus reducing damage to the first component 20, the second component 30, and the drive assembly. For example, using a drive motor to control the movement of the first component 20 and / or the second component 30 reduces the occurrence of drive motor stalling, reducing noise and lowering overall noise levels.

[0118] For example, taking the second component 30 as stationary and the first component 20 slidably connected to the second component 30 as an example, the first component 20 can slide relative to the second component 30 in a straight line 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 stopping position is located between the reference position and the second limit position. Then, after controlling the first component 20 to slide relative to the second component 30 from the reference position in a straight line to the preset stopping position, the control of the first component 20 to move for a second preset time is stopped. Then, the control of the first component 20 to slide in the opposite direction in a straight line is made so that the first component 20 slides relative to the second component 30 to the reference position again. Finally, with the reference position as the reference, the control of the first component 20 to slide in the straight line in a straight line for a fourth preset distance is made so that the first component 20 slides to the second limit position.

[0119] Secondly, please refer to Figure 2 As shown in the illustration, an embodiment of this application discloses a medical device actuator, including a first component 20, a second component 30, a drive component 10, and a processor (not shown). The drive component 10 is drively connected to the first component 20 and / or the second component 30. The processor is used to execute the steps of the control method described above.

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

[0121] like Figure 2 and Figure 3 As shown, in some embodiments, the drive assembly 10 may include a drive motor 11, a gear 12, and a rack 13, with the gear 12 sleeved around the outer periphery of the output shaft of the drive motor 11. The rack 13 may be disposed on the first assembly 20 and mesh with the gear 12, so that the drive motor 11 can drive the first assembly 20 through the gear 12 and rack 13. Alternatively, the rack 13 may be disposed on the second assembly 30 and mesh with the gear 12, so that the drive motor 11 can drive the second assembly 30 through the gear 12 and rack 13, thereby causing the first assembly 20 and the second assembly 30 to move relative to each other.

[0122] For example, such as Figure 2 As shown, the drive motor 11 is disposed on the second component 30, and the first component 20 is slidably connected to the second component 30. The drive 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 can move relative to each other. For ease of explanation, the embodiments of this application mainly use the example of the first component 20 being slidably connected to the second component 30 for illustration.

[0123] For example, such as 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 with the two slide grooves respectively.

[0124] In some embodiments, the position information of the first component 20 and / or the second component 30 can be determined by the displacement sensor 40, so that the position information of the first component 20 and / or the second component 30 at a preset position can be determined as the initial position. For example Figure 2 As shown, the second component 30 is equipped with a displacement sensor 40. 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, exemplary of which, the actuator further includes an in-situ detection device 50, which can detect the relative positional relationship between the first component 20 and the second component 30. The in-situ detection device 50 can output a signal so that the processor can control the first component 20 and the second component 30 to move relative to each other to a reference position based on the acquired signal.

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

[0127] Furthermore, the in-situ detection device 50 includes a photoelectric sensor 51 and a light-blocking member 52. 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 have moved relative to a reference position. At this time, the output signal of the photoelectric sensor 51 may change abruptly, so that the relative movement of the first component 20 and the second component 30 to the reference position can be determined based on the signal change information.

[0128] For example, such as Figure 2 As shown, the first component 20 is slidably connected to the second component 30. The first component 20 can slide relative to the second component 30 along the first direction. The photoelectric sensor 51 is disposed on the second component 30 and located on the side of the first component 20 perpendicular to the first direction. The light-blocking member 52 is disposed on the side of the first component 20 facing the photoelectric sensor 51, so that the light-blocking member 52 can slide relative to the photoelectric sensor 51 with the first component 20, thereby switching between the light-transmitting state and the light-blocking 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 component 52 is in one of the light-transmitting state and the light-blocking state; 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 component 52 is in the other of the light-transmitting state and the light-blocking state. Understandably, when the first component 20 and the second component 30 move relative to each other within the effective range of movement, the light-blocking component 52 only switches states when the first component 20 and the second component 30 move relative to each other to the reference position. If the light-blocking component 52 is in the light-transmitting state when the actuator is activated, the first component 20 and the second component 30 are relative to each other between the reference position and the first limit position. If the light-blocking component 52 is in the light-blocking state when the actuator is activated, the first component 20 and the second component 30 are relative to each other between the reference position and the second limit position. This makes it convenient to determine the relative position of the first component 20 and the second component 30 based on the state of the light-blocking component 52, and the direction in which the drive 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] For example, 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. The photoelectric sensor 51 continuously detects the state of the light-blocking member 52. When it detects that the light-blocking member 52 has switched from the light-blocking state to the light-transmitting state, that is, the first component 20 and the second component 30 have moved relative to each other to the reference position, the drive component 10 can drive the first component 20 to slide along the Y0 direction by a first preset distance, so that the first component 20 moves relative to the second component 30 to the first extreme position.

[0131] like Figure 9 As shown, further, a light-blocking member 52 is disposed on the first component 20. The first component 20 moves forward along a first direction to move the first component 20 and the second component 30 from a relative reference position to a relative preset position. The second component 30 is also provided with a first limiting member 34. The distance by which the first component 20 moves forward along the first direction from the reference position to abut against the first limiting member 34 is less than the length of the light-blocking member 52 along the first direction. It can be understood that the first limiting member 34 is used to limit the range of the first component 20's forward movement along the first direction, to prevent the first component 20 from falling off the second component 30, or to prevent the first component 20 from interfering with the normal operation of other components of the actuator. At the same time, it limits the length of the light-blocking member 52 so that when the first component 20 moves forward relative to the second component 30 along the first direction and exceeds the effective movement range, the light-blocking member 52 is still in a blocking state. This facilitates determining the relative position of the first component 20 and the second component 30 based on the state of the light-blocking member, and drives the first component 20 so that the first component 20 and the second component 30 move relative to each other to the reference position.

[0132] For example, the positive direction of the first direction is as follows: Figure 9 As shown in the Y1 direction.

[0133] For example, such as Figure 9 As shown, the second component 30 is also provided with a second limiting member 35. After the first component 20 moves a distance in the opposite direction of the first direction from the second preset position, the first component 20 can abut against the second limiting member 35, so that the second limiting member 35 can restrict the sliding of the first component 20 in the opposite direction of the first direction, prevent the first component 20 from disengaging 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 of the first direction is as follows: Figure 9 The Y0 direction is shown in the figure.

[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, with the handle 22 connected to the first positioning member 21. A groove 211 is formed on the first positioning member 21. The second component 30 is provided with a second positioning member 32, which abuts against the first positioning member 21. A drive component 10 is drively connected to the first positioning member 21, and the drive 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 relative to each other to a preset stopping 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 stably stationary at the preset position.

[0136] Understandably, the drive component 10 drives the first component 20 and / or the second component 30 to a preset stopping position, which enables 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. After that, the drive component 10 stops driving, and there is a 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 move automatically relative to each other. This enables one of the first component 20 and the second component 30 to guide the other to move. The second positioning member 32 can finally be stably positioned in a specific position in the groove 211, so that the first component and the second component are relatively stable and stationary in the preset position, thereby achieving fine adjustment of the relative position of the first component 20 and the second component 30, improving the relative position accuracy of the first component 20 and the second component 30, reducing the deviation between the determined initial position and the theoretical initial position, making the determined initial position more consistent each time, and improving the operational stability of the actuator.

[0137] For example, such as Figure 4 and Figure 5 As shown, the first component 20 and the second component 30 can move along a first direction (such as...) 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. The first positioning member 21 has a groove 211 on the side facing the second positioning member 32. The first positioning member 21 and the second positioning member 32 can move relative to each other to the position where 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, the second component 30 is provided with an elastic element 33, and the second positioning element 32 is movably connected to the second component 30. The elastic element 33 is connected to the second positioning element 32, and the second positioning element 32 can abut against the first positioning element 21 under the action of the elastic force of the elastic element 33. Furthermore, the second positioning element 32 can slide or roll relative to the inner wall of the groove 211 under the action of the elastic element 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 element 21 abuts against the second positioning element 32. The first positioning element 21 can compress the elastic element 33 through the second positioning element 32, overcoming the elastic force of the elastic element 33, thereby allowing relative movement between the first component 20 and the second component 30. When the drive component 10 stops driving, the elastic force of the elastic element 33 can be transmitted at the position where the first positioning element 21 and the second positioning element 32 are in contact. The second positioning element 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, so that the second positioning element 32 is eventually stably positioned in a specific position in the groove 211.

[0139] For example, such as 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 is capable of driving the first component 20. Figure 5 It shows Figure 2 A schematic diagram showing the second positioning element 32 abutting against the inner wall of the groove 211. Figure 6 It shows Figure 2 A schematic diagram showing the second positioning element 32 at a specific position in the groove 211. Figure 5 The second positioning member 32 abuts against the inner wall of the groove 211. At this time, the drive assembly 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 assembly 20 has a component force that slides along the first direction. The second positioning member 32 can slide or roll on the inner wall of the groove 211, and the first assembly 20 can slide along the first direction. Finally, the second positioning member 32 is stably positioned in a specific position in the groove 211, such as... Figure 6 As shown.

[0140] For example, the elastic element 33 includes, but is not limited to, compression springs, torsion springs, and sheet springs.

[0141] For example, the second positioning member 32 can rotate or slide relative to the second component 30 under the action of the elastic member 33, so that the second positioning member 32 approaches the first positioning member 21 and abuts against the first positioning member 21 under the action of the elastic force of the elastic member 33.

[0142] For example, 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 may 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 may 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 engaged in 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 abutting against the first positioning member 21. When the driving component 10 stops driving, the second positioning member 32 can be stably positioned in a specific position in the groove 211.

[0144] For example, such as 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 is slidably connected to the mounting base plate 311. The mounting support 312 is disposed on the mounting base plate 311. The mounting support 312 has a limiting groove 31a on the side facing the first component 20. The second positioning member 32 can be rotatably engaged with the limiting groove 31a, or the second positioning member 32 can be slidably engaged with the limiting groove 31a.

[0145] For example, such as Figure 8 As shown, the second positioning member 32 can be rotatably connected to the mounting bracket 312 via a rotating shaft. The second positioning member 32 can rotate around the rotating shaft under the force of the elastic member 33 to approach and abut against the first positioning member 21.

[0146] For example, such as Figure 8 As shown, the mounting bracket 312 is equipped with a rotating shaft and a limiting plate. The elastic element 33 is a torsion spring, which is sleeved on the outer circumference of the rotating shaft. The limiting plate has a limiting hole. One end of the torsion arm of the torsion spring can pass through the limiting hole, and the other end of the torsion arm is connected to the second positioning element 32, so that the second positioning element 32 can rotate around the rotating shaft under the force of the torsion spring to approach and abut against the first positioning element 21. For example, the torsion arm of the torsion spring can abut against the side of the second positioning element 32 opposite to the first positioning element 21, so that the second positioning element 32 approaches and abuts against the first positioning element 21 under the elastic force of the torsion spring.

[0147] In some embodiments, the contact surface of the second positioning member 32 that abuts against the first positioning member 21 is an arc-shaped surface, so as to reduce the friction between the second positioning member 32 and the first positioning member 21 and make it easier for the first positioning member 21 and the second positioning member 32 to move relative to each other.

[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 and 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 when the roller 322 abuts against the first positioning member 21 and 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. This makes the second positioning member 32 stably abut against the first positioning member 21 while facilitating relative movement between the first positioning member 21 and the second positioning member 32.

[0149] For example, such as 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 the limiting groove 31a. The limiting groove 31a is at least partially formed on the side of the connecting shaft 321 facing away from the first positioning member 21. The torsion arm at the other end of the torsion spring is movably engaged within 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 The annular groove shown.

[0150] In some embodiments, the second positioning member 32 can approach and abut against the first positioning member 21 under 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 its own gravity, thereby realizing relative movement between the first component 20 and the second component 30.

[0151] In some embodiments, the drive component 10 is capable of driving 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 a first direction. The groove 211 includes a first guide section 211a, a positioning section 211b, and a second guide section 211c arranged sequentially along the first direction. The groove depth of the first guide section 211a gradually increases in the direction approaching the positioning section 211b, and the groove depth of the second guide section 211c gradually increases in the direction approaching the positioning section 211b. Understandably, when the second positioning member 32 abuts against the first guide segment 211a or the second guide segment 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 each other from the first guide segment 211a or the second guide segment 211c to the positioning segment 211b and can be stably positioned in the positioning segment 211b. When the second positioning member 32 is located in the positioning segment 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 slider to the same position during each initialization, thereby improving the consistency of the initialization parameters determined in 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 slide or roll stably 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 segment 211a is an arc-shaped surface, and / or, the wall surface of the second guide segment 211c is an arc-shaped surface. It is understood that having arc-shaped walls of the first guide segment 211a and / or the second guide segment 211c facilitates the second positioning member 32 abutting against the wall surface of the first guide segment 211a or the second guide segment 211c, allowing for relatively smooth movement of the first positioning member 21 and the second positioning member 32.

[0154] For example, such as Figure 5 As shown, the walls of the first guide segment 211a, the positioning segment 211b, and the second guide segment 211c are all arc-shaped, and the radii of curvature of the walls of the first guide segment 211a, the second positioning segment 211b, and the second guide segment 211c are the same.

[0155] Of course, in other embodiments, the walls of the first guide segment 211a and the second guide segment 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. This facilitates the stable contact of the second positioning member 32 with the wall surface of the positioning segment 211b, while preventing the second positioning member 32 from getting stuck in the positioning segment 211b. This makes it easier for the driving component 10 to drive the first component 20 and / or the second component 30 again, or makes it easier for the operator to drive the first component 20 and / or the second component 30, preventing jamming when the first component 20 and the second component 30 move relative to each other.

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

[0158] In some embodiments, the wall surface of the first guide segment 211a and the outer surface of the first positioning member 21 are smoothly transitioned by an arc-shaped surface, and / or the wall surface of the second guide segment 211c and the outer surface of the first positioning member 21 are smoothly transitioned by an arc-shaped surface. This facilitates the smooth transition of the second positioning member 32 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 also allows the second positioning member 32 to smoothly transition from the inner wall of the groove 211 to the outer surface of the first positioning member 21, thus avoiding interference with the relative movement between the first positioning member 21 and the second positioning member 32 and causing jamming.

[0159] The method of this application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0160] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method implemented can be referred to in various embodiments of the control method based on a medical device actuator of this application.

[0161] The computer-readable storage medium can be an internal storage unit of the medical device described in the foregoing embodiments, such as the hard drive or memory of the medical device. Alternatively, the computer-readable storage medium can be an external storage device of the near-eye display device, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, or a Flash Card.

[0162] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between 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 collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media 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 technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0163] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0164] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a medical device actuator, characterized in that, The actuator includes a first component and a second component; The control method includes: Control the relative movement of the first component and the second component to a first extreme position; Controlling the relative movement of the first component and the second component from the first extreme position to a preset position, and determining the preset position as the initial position of the first component and the second component, the steps include: The first component, controlled at the first extreme position, moves relative to the second component to a preset stopping position; Stop controlling the movement of the first component and / or the second component, whereby one of the first component and the second component guides the movement of the other, so that the first component and the second component remain relatively stable and stationary at the preset position.

2. The control method according to claim 1, characterized in that, The control method further includes: controlling 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, controlled at the second limit position, moves relative to the second component to the initial position.

3. The control method according to any one of claims 1 or 2, characterized in that, The step of controlling the relative movement of the first component and the second component to the first extreme position includes: Control the relative movement of the first component and the second component to a reference position; Calculate a first preset distance based on the reference position, and control the first component and / or the second component 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 relative movement of the first component and the second component to a reference position includes: Determine the relative position information of the first component and the second component; Based on 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 transition information; The step of controlling the relative movement of the first component and the second component to the reference position based on the relative position information of the first component and the second component includes: Based on the signal transition 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 control method further includes: Calculate a second preset distance based on the preset stopping position, and control the first component and / or the second component to move the second preset distance so that the first component and the second component at the preset position move relative to each other to a second extreme position; The first component, controlled at the second limit position, moves relative to the second component to the initial position.

7. The control method according to claim 1, characterized in that, The control of the first component at the first extreme position and the second component moving relative to each other to a preset stopping position includes: Control the relative movement of the first component and the second component to a reference position; Calculate a third preset distance based on the reference position, and control the first component and / or the second component to move the third preset distance so that the first component and the second component move relative to each other to the preset stopping position.

8. A medical device actuator, comprising: First component; Second component; A drive assembly, which is driveably connected to the first component and / or the second component; A processor for performing the steps of the control method as described in any one of claims 1-7.

9. The medical device actuator according to claim 8, characterized in that, The first component includes a first positioning element; The second component is provided with a second positioning element, which abuts against the first positioning element; The drive component is connected to the first positioning member, and the drive component can drive the first component to slide relative to the second component.

Images