Joint pressure measuring method, electronic equipment and storage medium

Abstract

The invention relates to a joint pressure measuring method, electronic equipment and a storage medium. The joint pressure measuring method comprises the following steps: selecting a calibration point corresponding to a pressure sensing device on a force measuring surface; recording the first sensing values and the second sensing values of all the pressure sensing devices before and after one stress part is subjected to the pressure; the increment value of the corresponding calibration point is obtained by obtaining the sensing difference value between the second sensing value and the first sensing value and calculating the sum of all the sensing difference values. And fitting the test pressure and the increment value through a pressure calculation formula, and obtaining a parameter value of the pressure sensing device corresponding to the calibration point. And the operation is repeated, and calibration of the stress part is completed. And acquiring a center point of all the calibration points of the stress part as a compensation calibration point. And verification pressure is applied to the compensation calibration point, and the verification pressure and the corresponding calculation pressure are obtained. And obtaining a verification difference value between the verification pressure and the calculation pressure, and fitting the verification difference value and the verification pressure through a compensation formula to obtain a compensation parameter of the compensation formula.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a joint pressure measurement method, electronic equipment and storage medium. Background Art

[0002] In related technologies, as the population ages, degenerative osteoarthritis, rheumatoid arthritis and other diseases may lead to knee cartilage destruction or abnormal knee wear, resulting in ligament imbalance and limited flexion and extension of the lower limbs. In order to restore the function of the lower limbs, joint surgery is required. Therefore, more and more joint surgeries are performed in hospitals every year.

[0003] In joint surgery performed by a surgical robot or assisted by a surgical robot, a joint pressure measuring device is directly placed in the joint and bears the pressure of the joint to measure the joint pressure. However, due to the limitation of its structure, the position of the joint pressure measuring device is limited, so the current joint pressure measuring device can only guarantee the reliability of a specific accuracy. How to break through the problem that the joint pressure force measuring device can only guarantee the accuracy and reliability of a specific position is still a problem to be solved. Summary of the invention

[0004] To solve the aforementioned problem, according to a first aspect of an embodiment of the present application, a joint pressure measurement method is provided, wherein a joint pressure measurement device comprises at least two force-bearing parts; each of the force-bearing parts is provided with at least three pressure sensing devices arranged in an array in the extension direction of the force measuring surface of the joint pressure measurement device for bearing pressure;

[0005] The joint pressure measurement method comprises: selecting at least three calibration points on the force measuring surface and within a range surrounded by at least three pressure sensing devices; the calibration points correspond to the pressure sensing devices;

[0006] Recording the first sensing values ​​of all the pressure sensing devices of a force-bearing part when no pressure is applied; applying a test pressure to a calibration point of the force-bearing part, and obtaining the second sensing values ​​of all the pressure sensing devices at the force-bearing part; obtaining the sensing difference between the second sensing value and the first sensing value after applying the test pressure to each calibration point, and calculating the sum of all the sensing differences of the same force-bearing part, to obtain the incremental value corresponding to the calibration point;

[0007] Fitting the test pressure and the incremental value through a pressure calculation formula to obtain the parameter value of the pressure sensing device corresponding to the calibration point; repeating the above operation to obtain the parameter value of the pressure sensing device corresponding to other calibration points; completing the calibration of the force-bearing part, and obtaining the sum of the pressure calculation formulas used to calculate the force of the force-bearing part;

[0008] The center point of all the calibration points of the force-bearing part is obtained as the compensation calibration point; a verification pressure is applied to the compensation calibration point, and the applied verification pressure and the corresponding calculated pressure are obtained according to the pressure calculation formula corresponding to the force-bearing part; a verification difference between the verification pressure and the calculated pressure is obtained, and the verification difference and the verification pressure are fitted through a compensation formula to obtain compensation parameters of the compensation formula.

[0009] According to the above embodiment, calibration of each calibration point in the same force-bearing part can be effectively achieved by setting compensation calibration points. Therefore, compensation of the measurement result of the joint pressure measuring device can be effectively achieved without changing the external structure of the joint pressure measuring device. Furthermore, the accuracy of the joint pressure measuring device can be improved, and the measurement accuracy of the joint pressure measuring device for each position within the measurable range can be improved.

[0010] According to a second aspect of an embodiment of the present application, an electronic device is provided, comprising a memory and a processor; the memory non-transiently stores computer executable instructions; the processor is configured to run the computer executable instructions; and the computer executable instructions, when executed by the processor, can implement any of the aforementioned joint pressure measurement methods.

[0011] According to a third aspect of an embodiment of the present application, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, any of the aforementioned joint pressure measurement methods is implemented.

[0012] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0014] Figure 1 It is a flow chart of a joint pressure measurement method according to an embodiment of the present application.

[0015] Figure 2 It is a structural schematic diagram of a joint pressure measurement device according to an embodiment of the present application.

[0016] Figure 3 It is a measurement error value of a joint pressure measuring device after adopting a joint pressure measurement method according to an embodiment of the present application.

[0017] Figure 4 It is the error of the joint pressure measuring device within its measurable range after adopting the joint pressure measurement method shown in the embodiment of the present application. DETAILED DESCRIPTION

[0018] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0019] In joint surgeries performed by existing surgical robots, or in joint surgeries performed with the assistance of surgical robots, when a joint pressure measuring device that is directly inserted into a joint is used, due to the inherent structure of the joint pressure measuring device, most of the locations that are subject to joint pressure exist in specific locations. Since most of the locations that are subject to joint pressure on the joint pressure measuring device exist in specific locations, it is easy for it to have reliability issues with accuracy at other locations. In addition, since the aforementioned joint pressure measuring device needs to be placed in a joint and keep in contact with the bone joint, its inherent structure cannot be significantly changed. On the basis that the structure cannot be significantly changed in order to adapt to the bone joint, how to break through the accuracy and reliability of the aforementioned joint pressure measuring device remains a problem that needs to be solved urgently.

[0020] In order to solve the aforementioned problems, the present application provides a method for measuring joint pressure. Figure 1 Shown is a flow chart of the joint pressure measurement method, Figure 2 FIG. 1 is a schematic diagram of the structure of the joint pressure measuring device 10. Figure 2 As shown, the joint pressure measuring device 10 comprises: at least two force-bearing parts 11. Each force-bearing part 11 is provided with at least three pressure sensing devices 12 arranged in an array in the extending direction of the force measuring surface M of the joint pressure measuring device 10 for bearing pressure.

[0021] The force-bearing portion 11 of the joint pressure measuring device 10 is a portion thereof for receiving pressure. The joint pressure measuring device 10 includes at least two force-bearing portions 11, and the joint pressure measuring device 10 may include two force-bearing portions 11, or three force-bearing portions 11, or four force-bearing portions 11, or five force-bearing portions 11, but is not limited thereto. Preferably, as Figure 2 As shown, the joint pressure measuring device 10 includes two force-bearing parts 11, and the two force-bearing parts 11 are symmetrically distributed at Figure 2 The joint pressure measuring device 10 shown is arranged on both sides of the symmetry axis D to achieve a balance between effective force sensing and material cost.

[0022] Furthermore, the extension direction of the force measuring surface M of the joint pressure measuring device 10 for bearing pressure is Figure 2 The plane where the force measuring surface M is shown in FIG. In each force-bearing portion 11, an array of pressure sensing devices 12 are arranged in the extending direction of the force measuring surface M, that is, in each force-bearing portion 11, an array of pressure sensing devices 12 are arranged on the plane where the force measuring surface M is located.

[0023] At the same time, the force-bearing part 11 is provided with at least three pressure sensing devices 12 arranged in an array, which may be three pressure sensing devices 12 arranged in an array, or four pressure sensing devices 12 arranged in an array, or five pressure sensing devices 12 arranged in an array, or six pressure sensing devices 12 arranged in an array, but not limited thereto. Preferably, the force-bearing part 11 is provided with four pressure sensing devices 12 arranged in an array, so as to achieve a balance between measurement effect and material cost.

[0024] Based on the joint pressure measuring device 10 described above, Figure 1 The flowchart shown, the joint pressure measurement method includes: step S110 to step S140.

[0025] In step S110 , at least three calibration points Q are selected on the force measuring surface M and within a range surrounded by at least three pressure sensing devices 12 . The calibration points Q correspond to the pressure sensing devices 12 .

[0026] The calibration point Q corresponds to the pressure sensing device 12, that is, the number of the calibration point Q is the same as the number of the pressure sensing device 12, and there is a corresponding relationship between the setting of the calibration point Q and the setting of the pressure sensing device 12. The corresponding relationship can be a circle with a specific radius with the calibration point Q as the center, which is tangent to the range of the pressure sensing device 12, but is not limited to this. In other embodiments, the calibration point Q can also correspond to the pressure sensing device 12 in other ways.

[0027] Furthermore, the pressure sensing device 12 used in the joint pressure measuring device 10 may be a resistive pressure sensor, or a capacitive pressure sensor, but is not limited thereto. The specific type of sensor used by the pressure sensing device 12, or other structures for sensing pressure, can be adjusted according to actual needs and is not limited here.

[0028] In step S120, the first sensing values ​​of all the pressure sensing devices 12 of a force-bearing part 11 when no pressure is applied are recorded. A test pressure is applied to a calibration point Q of the force-bearing part 11, and the second sensing values ​​of all the pressure sensing devices 12 at the force-bearing part 11 are obtained. The incremental value of the corresponding calibration point Q is obtained by obtaining the sensing difference between the second sensing value and the first sensing value after the test pressure is applied to each calibration point Q, and calculating the sum of all sensing differences of the same force-bearing part 11.

[0029] Specifically, when each force-bearing portion 11 of the joint pressure measuring device 10 includes four pressure sensing devices 12, the first sensing values ​​of the four pressure sensing devices 12 when one force-bearing portion 11 is not subjected to pressure are recorded and recorded as (X1 0 , X2 0 、X3 0 、X4 0 After applying pressure to a calibration point Q of the joint pressure measuring device 10, that is, applying pressure to the force-bearing part 11, the second sensing values ​​of the four pressure sensing devices 12 are recorded and recorded as (X1 n , X2 n 、X3 n 、X4 n ). The difference between the second sensing value and the first sensing value can be calculated by the following formula:

[0030] △X1 n =X1 n -X1 0 ;

[0031] △X2 n =X2 n -X2 0 ;

[0032] △X3 n =X3 n -X3 0 ;

[0033] △X4 n =X4 n -X4 0 .

[0034] Among them, (△X1 n , △X2 n , △X3n , △X4 n ) is the sensing difference of each pressure sensing device 12. When obtaining the sensing difference (△X1 n , △X2 n , △X3 n , △X4 n ), the incremental value of the calibration point Q can be calculated using the following formula:

[0035] △X n =△X1 n +△X2 n +△X3 n +△X4 n .

[0036] In step S130, the test pressure and the incremental value are fitted by the pressure calculation formula to obtain the parameter value of the pressure sensing device 12 corresponding to the calibration point Q. Repeat the above operation to obtain the parameter value of the pressure sensing device 12 corresponding to other calibration points Q. The calibration of the force-bearing part 11 is completed, and the sum of the pressure calculation formula used to calculate the force of the force-bearing part is obtained.

[0037] In step S140, the center point of all calibration points Q of the force-bearing part 11 is obtained as the compensation calibration point B. A verification pressure is applied to the compensation calibration point B, and the applied verification pressure and the corresponding calculated pressure are obtained according to the pressure calculation formula corresponding to the force-bearing part 11. The verification difference between the verification pressure and the calculated pressure is obtained, and the verification difference and the verification pressure are fitted through the compensation formula to obtain the compensation parameters of the compensation formula.

[0038] Among them, the compensation calibration point B is the center point of all calibration points Q, that is, the distance from the compensation calibration point B to any other calibration point Q in the same force-bearing part 11 is the same. In this case, the compensation parameters obtained through the compensation calibration point B, because the distance from the compensation calibration point B to the calibration points Q in the same force-bearing part 11 is the same, the compensation parameters obtained by fitting the compensation formula can better achieve an effective compensation effect for any calibration point Q in the force-bearing part 11.

[0039] Specifically, Figure 3 The figure shows the measurement error value of the joint pressure measurement device 10 after using the above-mentioned joint pressure measurement method. Figure 3 The horizontal axis of the coordinate system shown is the magnitude of the pressure applied to the joint pressure measuring device 10 , and the global coordinate of the coordinate system is the absolute value of the error between the pressure sensed by the joint pressure measuring device 10 and the actual pressure. Figure 3 The two curves in the coordinate system correspond to the aforementioned joint pressure measurement method and the existing joint pressure measurement method. Figure 3It can be seen that after repeated experiments and verifications by the inventors, the use of the aforementioned joint pressure measurement method can make the error value of the joint pressure measurement device within its main force measurement range effectively lower than that of the existing joint pressure measurement method.

[0040] and, Figure 4 The figure shows the error of the joint pressure measuring device 10 within its measurable range after adopting the aforementioned joint pressure measuring method, that is, the error of the joint pressure measuring device 10 within the range of all possible measuring conditions. Figure 4 The horizontal axis of the coordinate system is also the pressure on the joint pressure measuring device 10, and the vertical axis of the coordinate system is the error measured by the joint pressure measuring device 10. Different series represent the measurement values ​​of the joint pressure measuring device 10 at different positions. Figure 4 As shown, after adopting the above-mentioned joint pressure measurement method, the measurement results of the joint pressure measurement device 10 are relatively concentrated. Figure 4 As can be seen from the content shown, after repeated experiments, the inventors have determined that after adopting the aforementioned joint pressure measurement method, the measurement accuracy of each position of the joint pressure measurement device 10 can be effectively improved, thereby solving the problem that the existing joint pressure measurement device 10 can only guarantee the accuracy and reliability of specific positions.

[0041] Therefore, through the aforementioned joint pressure measurement method, the calibration of each calibration point Q in the same force-bearing part 11 can be effectively realized by setting the compensation calibration point B. Thus, the measurement result of the joint pressure measuring device 10 can be effectively compensated without changing the external structure of the joint pressure measuring device 10. Furthermore, the accuracy of the joint pressure measuring device 10 can be improved, and the measurement accuracy of the joint pressure measuring device 10 at each position within the measurable range can be improved.

[0042] In some embodiments, obtaining the parameter values ​​of the pressure sensing device 12 corresponding to other calibration points Q, completing the calibration of the force-bearing portion 11, and obtaining the formula for calculating the force of the force-bearing portion 11 also includes:

[0043] The test pressure and increment value of each other calibration point Q in the same force-bearing part 11 are obtained respectively. The test pressure and increment value of each other calibration point Q are fitted by the same formula, and the parameter values ​​of the pressure sensors 12 corresponding to the other calibration points Q are obtained respectively. The pressure calculation formulas of all pressure sensing devices 12 in the same force-bearing part 11 are obtained, and the sum of all pressure calculation formulas is obtained to complete the calibration of the force-bearing part 11.

[0044] Specifically, since each calibration point Q corresponds to a pressure sensing device 12, multiple sets of test pressures and increment values ​​at each calibration point Q are obtained to determine the parameters of the pressure sensing device 12 corresponding to each calibration point Q, that is, to determine the pressure calculation formula of each pressure sensing device 12.

[0045] The sum of all pressure calculation formulas is obtained to complete the calibration of the force-bearing part 11, that is, the sum of the results of the pressure calculation formulas of all pressure sensing devices 12 in the corresponding force-bearing part 11 is obtained as the pressure magnitude sensed by the force-bearing part 11. The sum of all pressure calculation formulas of the force-bearing part 11 is the pressure calculation formula of the force-bearing part 11, thereby completing the calibration of the force-bearing part 11. By calibrating all force-bearing parts 11 in the joint pressure measuring device 10, the calibration of the joint pressure measuring device 10 can be completed.

[0046] Through the aforementioned steps, the calibration of the force-bearing part 11 can be specifically implemented, thereby, without changing the external structure of the joint pressure measuring device 10, the measurement result of the joint pressure measuring device 10 can be effectively compensated, and further, the accuracy of the joint pressure measuring device 10 can be specifically improved, and the measurement accuracy of the joint pressure measuring device 10 at each position within the measurable range can be specifically improved.

[0047] In some embodiments, fitting the test pressure and the incremental value by a pressure calculation formula further includes:

[0048] Preset formula for fitting: F n =A 0 △X n +C 0 Among them, F n is the test pressure, △X n is the increment value. 0 With C 0 It is the parameter value confirmed after the pressure calculation formula is fitted.

[0049] Specifically, by fitting the test pressure and the incremental value through the aforementioned pressure calculation formula, the parameter value of the pressure sensing device 12 corresponding to the calibration point Q can be obtained. That is, the aforementioned multiple sets of incremental values ​​△X n And the corresponding test pressure F n Substitute into the above pressure calculation formula to obtain the parameter value A confirmed after fitting the pressure calculation formula 0 With C 0 .

[0050] After the pressure calculation formula for fitting is completed, when the joint pressure measuring device 10 is subjected to pressure, taking a force-bearing part 11 of the joint pressure measuring device 10 as an example, the pressure of each pressure sensing device 12 before and after the force-bearing part 11 is subjected to pressure is recorded as (△X1 n , △X2 n , △X3 n , △X4 n ). Through the aforementioned formula F n =A 0 △X n +C 0 The pressure calculation formula of each pressure sensing device 12 can be recorded as:

[0051] F 1 =A 1 △X 1 +C 1 ;

[0052] F 2 =A 2 △X 2 +C 2 ;

[0053] F 3 =A 3 △X 3 +C 3 ;

[0054] F 4 =A 4 △X 4 +C 4 .

[0055] The above-mentioned sum of all pressure calculation formulas is obtained to complete the calibration of the force-bearing part 11, which can be obtained by formula F x =F 1 +F 2 +F 3 +F 4 Get.

[0056] By fitting the aforementioned pressure calculation formula, the calibration of the force-bearing part 11 can be specifically realized, thereby, without changing the external structure of the joint pressure measuring device 10, the compensation of the measurement result of the joint pressure measuring device 10 can be effectively realized, and further, the improvement of the accuracy of the joint pressure measuring device 10 and the improvement of the measurement accuracy of the joint pressure measuring device 10 at each position within the measurable range can be specifically realized.

[0057] Furthermore, by calibrating each pressure sensing device 12 in the force-bearing portion 11 respectively, the accuracy of the calibration can be effectively improved, thereby improving the measurement accuracy of the force-bearing portion 11 after the calibration is completed.

[0058] In some embodiments, the compensation parameters of the compensation formula are obtained by fitting the verification difference and the verification pressure through a formula, and further include:

[0059] Preset compensation formula for fitting: △F=AF x ^2+BF x . Among them, △F is the verification difference, F x To calculate the pressure, A and B are parameter values ​​to be confirmed after the formula is fitted.

[0060] It should be noted that the compensation formula shown here is for fitting: △F=AF x ^2+BF x Therefore, △F is the verification difference. After the fitting is completed, the compensation formula is △F=AF x ^2+BF x Then △F is the compensation value to be solved. Other parts of this application related to △F can also be explained with reference to this.

[0061] By fitting the aforementioned compensation formula, the compensation calculation of the joint pressure measuring device 10 can be specifically implemented, thereby, the compensation of the measurement result of the joint pressure measuring device 10 can be effectively realized without changing the external structure of the joint pressure measuring device 10, and further, the improvement of the accuracy of the joint pressure measuring device 10 can be specifically realized, and the improvement of the measurement accuracy of the joint pressure measuring device 10 at each position within the measurable range can be specifically realized.

[0062] In some embodiments, Figure 2 As shown, the joint pressure measuring device 10 is provided with a force measuring area C1 corresponding to the array-arranged pressure sensing devices 12. Specifically, each pressure sensing device 12 has a preferred range on the force measuring surface M where it can sense pressure, and the preferred range is the force measuring area C1 corresponding to the pressure sensing device 12. The preferred range can also be approximately considered as the range of pressure that the pressure sensing device 12 can sense.

[0063] and, Figure 2 The figure shows the situation where the force measuring area C1 of the pressure sensing device 12 and its projection on the force measuring surface M coincide with each other, but in other embodiments, it is not limited to this. The force measuring area C1 of the pressure sensing device 12 and its projection on the force measuring surface may not coincide with each other.

[0064] On the force measuring surface M, the force measuring area includes a force measuring area midpoint C located at the center thereof. The range surrounded by at least four pressure sensing devices 12 in each force bearing portion 11 includes the range surrounded by the connecting line of all the force measuring area midpoints C.

[0065] It should be noted that although Figure 2 Only the force measuring area midpoint C and the corresponding force measuring area C1 of the force measuring area corresponding to one pressure sensing device 12 are marked, but it is actually conceivable that other pressure sensing devices 12 are also provided with the force measuring area midpoint C and the force measuring area C1.

[0066] By specifically defining the range enclosed by the pressure sensing device 12 as the range formed by the line connecting the midpoints C of the force measuring area, the range enclosed by the pressure sensing device 12 can be narrowed to improve the accuracy of the range enclosed by the pressure sensing device 12 used to select the calibration point Q, and thus the accuracy of the selected calibration point Q can be improved.

[0067] In some embodiments, reference Figure 2 The content shown, before applying pressure to a calibration point Q of the force-bearing part 11, also includes:

[0068] A pre-calibration point is selected within the range surrounded by the pressure sensing device 12 . A pre-calibration area Q1 is selected with the pre-calibration point as the center of the circle. The pre-calibration area Q1 is tangent to the force measuring area C1 on the force measuring surface M of the joint pressure measuring device 10 .

[0069] Specifically, the pre-calibration area Q1 and the force measuring area C1 are tangent to each other on the force measuring surface M, that is, the pre-calibration area Q1 and the force measuring area C1 are tangent to each other on the plane where the force measuring surface M is located. Or further, the projections of the pre-calibration area Q1 and the force measuring area C1 on the force measuring surface M are tangent to each other on the plane where the force measuring surface M is located.

[0070] The radius of the pre-calibration area Q1 is adjusted so that the accuracy of the joint pressure measurement device 10 meets the preset requirements, and the pre-calibration point at this time is selected as the calibration point Q.

[0071] It should be noted that, since there is no linear relationship between the radius of the pre-calibration area Q1 and the accuracy of the joint pressure measuring device 10, it is impossible to directly predict the radius of the pre-calibration area Q1 through a formula to meet the accuracy requirements of the joint pressure measuring device 10. Therefore, in order to meet the accuracy requirements of the joint pressure measuring device 10, the radius of the pre-calibration area Q1 can only be repeatedly adjusted to obtain a radius of the pre-calibration area Q1 that meets the requirements. And it should also be noted that, Figure 2 In the figure, only one pre-calibration area Q1 corresponding to a calibration point Q is marked, but this is only for clearly marking the calibration point Q and the pre-calibration area Q1. In fact, each calibration point Q has a corresponding pre-calibration area Q1.

[0072] By selecting the radius of the pre-calibration area Q1, the selection of the calibration point Q that meets the joint pressure measuring device 10 can be specifically realized. Thus, the measurement result of the joint pressure measuring device 10 can be effectively compensated without changing the external structure of the joint pressure measuring device 10. Furthermore, the accuracy of the joint pressure measuring device 10 can be specifically improved, and the measurement accuracy of the joint pressure measuring device 10 at each position within the measurable range can be specifically improved.

[0073] Furthermore, by selecting the pre-calibration points, it is possible to effectively avoid the problem of failing to obtain the measurement values ​​of other pressure measuring devices 12 in the force-bearing part 11 when calibrating within the force measuring area corresponding to the pre-calibration points.

[0074] In some embodiments, after obtaining the compensation parameter of a force-bearing part 11 and obtaining the compensation formula, the following is further included:

[0075] Obtain compensation formulas and compensation parameters for each force-bearing part 11 of the joint pressure measuring device 10. When sensing pressure, different compensation formulas are used to compensate for different force-bearing parts 11.

[0076] Such an arrangement can specifically realize an improvement in the accuracy of the joint pressure measuring device 10, and specifically realize an improvement in the measurement accuracy of each position within the measurable range of the joint pressure measuring device 10, by calculating different compensation parameters for different force-bearing parts 11, thereby, different force-bearing parts 11 can be compensated through compensation formulas with different compensation parameters, and further, the sensing accuracy can be further improved through targeted compensation for different force-bearing parts 11.

[0077] In some embodiments, when the joint pressure measurement device 10 senses the pressure received, it also includes:

[0078] Each force-bearing part 11 obtains the calculated pressure through the pressure calculation formula. After obtaining the calculated pressure, the compensation value is obtained according to the calculated pressure through the compensation formula. The difference between the calculated pressure and the compensation value is obtained to obtain the output value of the joint pressure measuring device 10.

[0079] Specifically, the calculated pressure is obtained by the pressure calculation formula, that is, the pressure calculation formula F corresponding to each pressure sensing device 12 can be obtained. n =A 0 △X n +C 0 The pressure F is calculated by adding x . According to the calculated pressure F x Through the compensation formula △F=AF x ^2+BF x After obtaining the compensation value △F, the pressure F is calculated by obtaining xThe difference between the compensation value △F can be used to obtain the output pressure value F o , that is, we can use the formula F o =F x -△F obtains the output pressure value. The output pressure value F o That is the output result of the joint pressure measuring device 10 .

[0080] With such an arrangement, after completing the calibration of the force-bearing part 11 of the joint pressure measuring device 10 and the fitting of the compensation formula, it is possible to specifically measure the output pressure value of the joint pressure measuring device 10 after compensation by the compensation value through the aforementioned joint pressure measurement method. Thus, it is possible to specifically improve the accuracy of the joint pressure measuring device 10 through the aforementioned joint pressure measurement method, and improve the measurement accuracy of the joint pressure measuring device 10 for each position within the measurable range.

[0081] The present application also provides an electronic device. The electronic device includes a memory and a processor. The memory stores computer executable instructions non-transiently. The processor is configured to run the computer executable instructions. When the computer executable instructions are run by the processor, any of the above-mentioned joint pressure measurement methods is implemented.

[0082] The present application also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement any of the above-mentioned joint pressure measurement methods.

[0083] The above embodiments of the present application may complement each other if no conflict occurs.

[0084] It should be noted that in the accompanying drawings, the sizes of layers and regions may be exaggerated for clarity of illustration. It is also understood that when an element or layer is referred to as being "on" another element or layer, it may be directly on the other element, or there may be an intermediate layer. In addition, it is understood that when an element or layer is referred to as being "under" another element or layer, it may be directly under the other element, or there may be more than one intermediate layer or element. In addition, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it may be the only layer between the two layers or two elements, or there may also be more than one intermediate layer or element. Similar reference numerals throughout the text indicate similar elements.

[0085] The term "plurality" means two or more than two, unless expressly limited otherwise.

[0086] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0087] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for measuring joint pressure, characterized in that: The joint pressure measuring device comprises at least two force-bearing parts; each of the force-bearing parts is provided with at least three pressure sensing devices arranged in an array in the extension direction of the force measuring surface of the joint pressure measuring device for bearing pressure; The joint pressure measurement method comprises: selecting at least three calibration points on the force measuring surface and within a range surrounded by at least three pressure sensing devices; the calibration points correspond to the pressure sensing devices; Recording the first sensing values ​​of all the pressure sensing devices of a force-bearing part when no pressure is applied; applying a test pressure to a calibration point of the force-bearing part, and obtaining the second sensing values ​​of all the pressure sensing devices at the force-bearing part; obtaining the sensing difference between the second sensing value and the first sensing value after applying the test pressure to each calibration point, and calculating the sum of all the sensing differences of the same force-bearing part, to obtain the incremental value corresponding to the calibration point; Fitting the test pressure and the incremental value through a pressure calculation formula to obtain the parameter value of the pressure sensing device corresponding to the calibration point; repeating the above operation to obtain the parameter value of the pressure sensing device corresponding to other calibration points; completing the calibration of the force-bearing part, and obtaining the sum of the pressure calculation formulas used to calculate the force of the force-bearing part; The center point of all the calibration points of the force-bearing part is obtained as the compensation calibration point; a verification pressure is applied to the compensation calibration point, and the applied verification pressure and the corresponding calculated pressure are obtained according to the pressure calculation formula corresponding to the force-bearing part; a verification difference between the verification pressure and the calculated pressure is obtained, and the verification difference and the verification pressure are fitted through a compensation formula to obtain compensation parameters of the compensation formula.

2. The joint pressure measurement method according to claim 1, characterized in that: Acquiring parameter values ​​of the pressure sensing device corresponding to other calibration points, completing the calibration of the force-bearing part, and acquiring a formula for calculating the force of the force-bearing part, further comprising: The test pressure and the incremental value of each other calibration point in the same force-bearing part are obtained respectively; the test pressure and the incremental value of each other calibration point are fitted by the same formula, and the parameter values ​​of the pressure sensors corresponding to the other calibration points are obtained respectively; the pressure calculation formula of all the pressure sensing devices in the same force-bearing part is obtained, and the sum of all the pressure calculation formulas is obtained to complete the calibration of the force-bearing part.

3. The joint pressure measurement method according to claim 2, characterized in that: Fitting the test pressure and the incremental value by the pressure calculation formula also includes: Preset compensation formula for fitting: F n =A0△X n +C0; where F n is the test pressure, △X n is the increment value; A0 and C0 are parameter values ​​to be confirmed after the pressure calculation formula is fitted.

4. The joint pressure measurement method according to claim 1, characterized in that: The method of fitting the verification difference and the verification pressure by the compensation formula to obtain compensation parameters of the compensation formula also includes: Preset fitting formula: △F=AF x ^2+BF x ; Wherein, △F is the verification difference, F x is the calculated pressure, A and B are the parameter values ​​to be confirmed after the formula is fitted.

5. The joint pressure measurement method according to claim 1, characterized in that: The joint pressure measuring device is provided with force measuring areas of the pressure sensing devices arranged in a corresponding array; On the force measuring surface, the force measuring area includes a midpoint of the force measuring area located at the center thereof; a range enclosed by at least four of the pressure sensing devices in each of the force-bearing parts includes a range enclosed by a line connecting all the midpoints of the force measuring areas.

6. The joint pressure measurement method according to claim 5, characterized in that: Before applying pressure to one of the calibration points of the force-bearing part, the method further comprises: Select a pre-calibration point within the range surrounded by the pressure sensing device; select a pre-calibration area with the pre-calibration point as the center of the circle; the pre-calibration area and the force measuring area are tangent to the force measuring surface of the joint pressure measuring device; The radius of the pre-calibration area is adjusted so that the accuracy of the joint pressure measurement device meets the preset requirements, and the pre-calibration point at this time is selected as the calibration point.

7. The joint pressure measurement method according to claim 1, characterized in that: After obtaining the compensation parameter of the force-bearing part and obtaining the compensation formula, the method further includes: The compensation formula and compensation parameters of each of the force-bearing parts of the joint pressure measuring device are obtained; when sensing pressure, different compensation formulas are used to compensate different force-bearing parts.

8. The joint pressure measurement method according to claim 1, characterized in that: When the joint pressure measuring device senses the pressure received, it also includes: Each of the force-bearing parts obtains a calculated pressure through the pressure calculation formula; and after obtaining the calculated pressure, a compensation value is obtained according to the calculated pressure through the compensation formula; the difference between the calculated pressure and the compensation value is obtained to obtain the output value of the joint pressure measuring device.

9. An electronic device, characterized in that: It comprises a memory and a processor; the memory non-transiently stores computer executable instructions; the processor is configured to run the computer executable instructions; when the computer executable instructions are run by the processor, the joint pressure measurement method according to any one of claims 1-8 is implemented.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the joint pressure measurement method according to any one of claims 1-8 is implemented.

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