Joint pressure measurement method, electronic device, and storage medium

Abstract

The application relates to a joint pressure measurement method, an electronic device and a storage medium. The joint pressure measurement method comprises the following steps: selecting a calibration point corresponding to a pressure sensing device on a force measurement surface. Recording the first sensing value and the second sensing value of all pressure sensing devices before and after a force receiving part is subjected to pressure. The incremental 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 sensing difference values. The parameter value of the pressure sensing device corresponding to the calibration point is obtained by fitting the test pressure and the incremental value through a pressure calculation formula. The calibration of the force receiving part is completed by repeating the foregoing operation. The center point of all calibration points of the force receiving part is the compensation calibration point. A verification pressure is applied to the compensation calibration point, and the verification pressure and the corresponding calculated pressure are obtained. The verification difference value between the verification pressure and the calculated pressure is obtained, and the compensation formula is fitted by fitting the verification difference value and the verification pressure, so that the compensation parameter of the compensation formula is obtained.

Description

TECHNICAL FIELD

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

[0002] In the related art, with the aggravation of population aging, due to the reasons of degenerative osteoarthritis, rheumatoid arthritis and other diseases, it will cause knee cartilage destruction or abnormal wear of the knee joint, cause ligament imbalance, and limit the flexion and extension of the lower limbs. In order to restore the function of the lower limbs, joint surgery needs to be performed. Therefore, the number of joint surgeries performed by hospitals each year is also increasing.

[0003] And in the joint surgery performed by the surgical robot, or the joint surgery assisted by the surgical robot, a joint pressure measurement device measures the pressure of the joint by directly placing it in the joint and bearing the pressure of the joint. However, due to the limitations of its structure, the position of the joint pressure measurement device subjected to the pressure of the joint is limited, which results in that the current joint pressure measurement device can only guarantee the reliability of a specific accuracy. How to break through the limitation that the joint pressure measurement device can only guarantee the accuracy of a specific position is still a problem to be solved. SUMMARY

[0004] To solve the foregoing problems, according to a first aspect of an embodiment of the present application, a joint pressure measurement method is provided, the joint pressure measurement device comprising at least two force receiving parts; each of the force receiving parts is provided with at least three pressure sensing devices arranged in an array in the extension direction of the force measurement 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 measurement surface and within the range surrounded by the at least three pressure sensing devices; the calibration points correspond to the pressure sensing devices;

[0006] Recording the first sensing value of all the pressure sensing devices of a force receiving part when it is not subjected to pressure; applying a test pressure to one of the calibration points of the force receiving part and obtaining the second sensing value of all the pressure sensing devices at the force receiving part; obtaining the incremental value corresponding to the calibration point by obtaining the sensing difference between the second sensing value and the first sensing value after applying the test pressure to each of the calibration points, and calculating the sum of all the sensing differences of the same force receiving part.

[0007] Fitting the test pressure and the incremental value by a pressure calculation formula obtains a parameter value of the pressure sensing device corresponding to the calibration point; repeating the foregoing operation obtains parameter values of the pressure sensing device corresponding to other calibration points; and calibration of the force receiving part is completed to obtain a sum of pressure calculation formulas for calculating the force of the force receiving part;

[0008] A center point of all the calibration points of the force receiving part is a compensation calibration point; a verification pressure is applied to the compensation calibration point, and a corresponding calculation pressure is obtained according to a pressure calculation formula corresponding to the force receiving part; a verification difference value between the verification pressure and the calculation pressure is obtained, and a compensation parameter of a compensation formula is obtained by fitting the verification difference value and the verification pressure by the compensation formula.

[0009] According to the above embodiment, the calibration of each calibration point in the same force receiving part can be effectively realized by setting the compensation calibration point, so that the measurement result of the joint pressure measuring device can be effectively compensated without changing the appearance structure of the joint pressure measuring device, and the accuracy of the joint pressure measuring device can be improved, and the measurement accuracy of the joint pressure measuring device for each position in the measurable range can be improved.

[0010] According to a second aspect of the embodiments of the present application, an electronic device is provided, including 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 are run by the processor to implement any of the joint pressure measurement methods.

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

[0012] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0016] Figure 3 is a measurement error value of the joint pressure measurement device according to the joint pressure measurement method shown in the embodiment of the present application.

[0017] Figure 4 is an error of the joint pressure measurement device according to the joint pressure measurement method shown in the embodiment of the present application within its measurable range. DETAILED DESCRIPTION

[0018] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to denote the same elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0019] In the existing joint surgery performed by a surgical robot, or the joint surgery assisted by a surgical robot, in the case of using a joint pressure measurement device directly placed in the joint, due to the inherent structure of the joint pressure measurement device, the position where the joint pressure measurement device is subjected to the joint pressure mostly exists in a specific position. And because the position where the joint pressure measurement device is subjected to the joint pressure mostly exists in a specific position, it is prone to have reliability problems in accuracy at other positions. And because the aforementioned joint pressure measurement device needs to be placed in the joint and keep in contact with the bone joint, its inherent structure cannot be changed much. And on the basis of the structure that cannot be changed much to adapt to the bone joint, how to break through the accuracy reliability of the aforementioned joint pressure measurement device is still a problem to be solved.

[0020] To solve the aforementioned problems, the present application provides a joint pressure measurement method. Figure 1 The flowchart of the joint pressure measurement method is shown, Figure 2 The structural schematic diagram of the joint pressure measurement device 10 is shown. As Figure 2 The joint pressure measurement device 10, as shown, comprises at least two force receiving parts 11. Each force receiving part 11 is provided with at least three pressure sensing devices 12 arranged in an array in the extension direction of the force measurement surface M of the joint pressure measurement device 10 for bearing pressure.

[0021] The force receiving part 11 of the joint pressure measuring device 10 is the part for receiving pressure. The joint pressure measuring device 10 includes at least two force receiving parts 11. The joint pressure measuring device 10 can include two force receiving parts 11, or three force receiving parts 11, or four force receiving parts 11, or five force receiving parts 11, but is not limited thereto. Preferably, as shown in Figure 2 The joint pressure measuring device 10 includes two force receiving parts 11, and the two force receiving parts 11 are symmetrically distributed on both sides of the symmetry axis D of the joint pressure measuring device 10 as shown in Figure 2 The joint pressure measuring device 10 shown in the drawing is symmetrically distributed on both sides of the symmetry axis D of the joint pressure measuring device 10 to achieve effective force sensing and balanced material cost.

[0022] In addition, the extension direction of the force receiving surface M of the joint pressure measuring device 10 is the plane in which the force receiving surface M is located as shown in Figure 2 In each force receiving part 11, an array of pressure sensing devices 12 is arranged in the extension direction of the force receiving surface M, that is, in the plane in which the force receiving surface M is located.

[0023] Meanwhile, the force receiving part 11 is provided with at least three pressure sensing devices 12 arranged in an array. The force receiving part 11 can be provided with 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 is not limited thereto. Preferably, the force receiving part 11 is provided with four pressure sensing devices 12 arranged in an array to achieve balanced measurement effect and material cost.

[0024] Based on the joint pressure measuring device 10 described above, referring to the flowchart shown in Figure 1 The joint pressure measuring method includes steps S110-S140.

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

[0026] The calibration points Q correspond to the pressure sensing devices 12, that is, the number of calibration points Q is the same as the number of pressure sensing devices 12, and the setting of the calibration points Q corresponds to the setting of the pressure sensing devices 12. The correspondence can be a circle with a specific radius centered at the calibration point Q tangent to the range of the pressure sensing devices 12, but is not limited thereto. In other embodiments, the calibration points Q can correspond to the pressure sensing devices 12 in other ways.

[0027] Moreover, the pressure sensing device 12 used by the joint pressure measuring device 10 can be a resistance type pressure sensor, or can be a capacitance type pressure sensor, but is not limited thereto. The specific sensor used by the pressure sensing device 12, or other structure for sensing pressure, can be adjusted as needed, and is not limited herein.

[0028] In step S120, the first sensing values of all of the pressure sensing devices 12 of a force receiving portion 11 when the force receiving portion 11 is not subjected to pressure are recorded. A test pressure is applied to a calibration point Q of the force receiving portion 11, and second sensing values of all of the pressure sensing devices 12 at the force receiving portion 11 are obtained. By obtaining the sensing difference between the second sensing values and the first sensing values after the test pressure is applied to each calibration point Q, and calculating the sum of all of the sensing differences of the same force receiving portion 11, an increment value corresponding to the calibration point Q is obtained.

[0029] Specifically, when each force receiving 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 of a force receiving portion 11 when the force receiving portion 11 is not subjected to pressure are recorded, and are denoted as (X10, X20, X30, X40). After a pressure is applied to a calibration point Q of the joint pressure measuring device 10, i.e., after a pressure is applied to the force receiving portion 11, the second sensing values of the four pressure sensing devices 12 are recorded, and are denoted as (X1 n , X2 n , X3 n , X4 n ). The sensing difference between the second sensing values and the first sensing values can be calculated by the following equations:

[0030] △X1 n =X1 n -X10;

[0031] △X2 n =X2 n -X20;

[0032] △X3 n =X3 n -X30;

[0033] △X4 n =X4 n -X40。

[0034] wherein (△X1 n , △X2 n , △X3 n , △X4 n ) are the sensing differences of the respective pressure sensing devices 12. After the sensing differences (△X1 n , △X2 n△X3 n △X4 n After the step S120, the incremental value of the calibration point Q can be calculated by the following formula:

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

[0036] In the 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. The aforementioned operation is repeated to obtain the parameter value of the pressure sensing device 12 corresponding to other calibration points Q. The calibration of the force receiving part 11 is completed to obtain the sum of the pressure calculation formulas for calculating the force of the force receiving part.

[0037] In the step S140, the center point of all the calibration points Q of the force receiving part 11 is the compensation calibration point B. The verification pressure is applied to the compensation calibration point B, and the corresponding calculation pressure is obtained according to the pressure calculation formula of the force receiving part 11. The verification difference between the verification pressure and the calculation pressure is obtained, and the verification difference and the verification pressure are fitted by the compensation formula to obtain the compensation parameter of the compensation formula.

[0038] Wherein, the compensation calibration point B is the center point of all the calibration points Q, that is, the distance from the compensation calibration point B to any other calibration point Q in the same force receiving part 11 is the same. And the compensation parameter obtained by the compensation calibration point B in this case, because the distance from the compensation calibration point B to the calibration point Q in the same force receiving part 11 is the same, makes the compensation parameter fitted by the compensation formula can better realize effective compensation effect for any calibration point Q in the force receiving part 11.

[0039] Specifically, Figure 3 The measurement error value of the joint pressure measuring device 10 after using the aforementioned joint pressure measuring method is shown. Among them, Figure 3 The horizontal axis of the coordinate system is the pressure applied to the joint pressure measuring device 10, and the total 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 using the aforementioned joint pressure measuring method and using the existing joint pressure measuring method, respectively. Figure 3 It can be seen that through repeated test verification of the inventor, using the aforementioned joint pressure measuring method can effectively reduce the error value of the joint pressure measuring device in its main force measuring range compared with the existing joint pressure measuring method.

[0040] And, Figure 4It is shown that the error of the joint pressure measuring device 10 in its measurable range after using the aforementioned joint pressure measuring method. That is, the error of the joint pressure measuring device 10 in the range of all possible measurement conditions encountered. Figure 4 The horizontal axis of the coordinate system is also the pressure received by 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. As shown in Figure 4 It is shown that the measurement results of the joint pressure measuring device 10 are more concentrated after using the aforementioned joint pressure measuring method. That is, from the Figure 4 As shown in the content shown in the content shown, the inventor determines that the measurement accuracy of each position of the joint pressure measuring device 10 can be effectively improved after using the aforementioned joint pressure measuring method, thereby solving the problem that the existing joint pressure measuring device 10 can only guarantee the accuracy and reliability of a specific position.

[0041] Therefore, through the aforementioned joint pressure measuring method, the calibration of each calibration point Q in the same force receiving part 11 can be effectively realized by setting the compensation calibration point B, so that the measurement results of the joint pressure measuring device 10 can be effectively compensated without changing the appearance structure of the joint pressure measuring device 10. Further, 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 in the measurable range can be improved.

[0042] In some embodiments, obtaining the parameter value of the pressure sensing device 12 corresponding to the other calibration point Q, and completing the calibration of the force receiving part 11, obtaining the formula for calculating the force of the force receiving part 11, further comprises:

[0043] Respectively obtaining the test pressure and the incremental value of each calibration point Q in the same force receiving part 11. By fitting the test pressure and the incremental value of each calibration point Q with the same formula, the parameter value of the pressure sensor 12 corresponding to each calibration point Q is obtained. Obtain the pressure calculation formula of all pressure sensing devices 12 in the same force receiving part 11, and obtain the sum of all pressure calculation formulas to complete the calibration of the force receiving part 11.

[0044] Specifically, since each calibration point Q corresponds to a pressure sensing device 12, by obtaining a plurality of test pressure and incremental values at each calibration point Q, the parameter determination of the pressure sensing device 12 corresponding to each calibration point Q is realized, that is, the pressure calculation formula of each pressure sensing device 12 is determined.

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

[0046] Through the foregoing steps, the calibration of the force receiving part 11 can be realized, so that the compensation of the measurement results of the joint pressure measuring device 10 can be effectively realized without changing the external structure of the joint pressure measuring device 10, and 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 in the measurable range can be improved.

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

[0048] The formula used for fitting is: n =A0△X n +C0. Wherein, F n is the test pressure, △X n is the incremental value. A0 and C0 are parameter values to be confirmed after the pressure calculation formula is fitted.

[0049] Specifically, by fitting the test pressure and the incremental value through the foregoing pressure calculation formula, the parameter value of the pressure sensing device 12 corresponding to the calibration point Q can be obtained. That is, the plurality of sets of incremental values △X n and the corresponding test pressures F n are substituted into the foregoing pressure calculation formula to obtain the parameter values A0 and C0 to be confirmed after the pressure calculation formula is fitted.

[0050] After the foregoing pressure calculation formula used for fitting is fitted, when the joint pressure measuring device 10 is subjected to pressure, taking one force receiving part 11 of the joint pressure measuring device 10 as an example, the pressures of each pressure sensing device 12 before and after the force receiving part 11 is subjected to pressure are recorded as (△X1 n , △X2 n , △X3 n , △X4 n ). Fitting is realized through the foregoing formula F n =A0△X n +C0. The pressure calculation formula of each pressure sensing device 12 can be recorded as:

[0051] F1=A1△X1+C1;

[0052] F2=A2△X2+C2;

[0053] F3=A3△X3+C3;

[0054] F4=A4△X4+C4。

[0055] And the foregoing to obtain all the pressure calculation formula sum to complete the calibration of the force receiving part 11, can be obtained by the formula F x =F1+F2+F3+F4.

[0056] Through the fitting of the foregoing pressure calculation formula, the calibration of the force receiving part 11 can be specifically implemented, so that the compensation of the measurement result of the joint pressure measuring device 10 can be effectively implemented without changing the external structure of the joint pressure measuring device 10, and the accuracy of the joint pressure measuring device 10 can be improved, and the measurement accuracy of the joint pressure measuring device 10 for each position in the measurable range can be improved.

[0057] And by calibrating each pressure sensing device 12 in the force receiving part 11, the accuracy of the calibration can be effectively improved, so that the measurement accuracy of the force receiving part 11 after calibration can be improved.

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

[0059] The preset compensation formula for fitting is:△F=AF x ^2+BF x . Wherein,△F is the verification difference, F x is the calculated pressure, and A and B are parameter values to be determined after formula fitting.

[0060] It should be noted that the compensation formula for fitting shown here is:△F=AF x ^2+BF x . Therefore,△F in it is the verification difference. In the compensation formula△F=AF x ^2+BF x after fitting,△F is the compensation value to be solved. Other parts of the application about△F can also refer to the explanation here.

[0061] The compensation calculation of the joint pressure measuring device 10 can be realized through the fitting of the foregoing compensation formula, so that 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 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 in the measurable range can be improved.

[0062] In some embodiments, as shown in Figure 2 The joint pressure measuring device 10 is provided with the force measurement area C1 corresponding to the arrayed pressure sensing devices 12. Specifically, each pressure sensing device 12 has a preferred range of pressure that can be sensed on the force measurement surface M, and the preferred range is the force measurement area C1 corresponding to the pressure sensing device 12. The preferred range can also be approximately considered as the range of pressure that can be sensed by the pressure sensing device 12.

[0063] And, Figure 2 It is shown that the force measurement area C1 of the pressure sensing device 12 coincides with its projection on the force measurement surface M, but in other embodiments, the force measurement area C1 of the pressure sensing device 12 can not coincide with its projection on the force measurement surface.

[0064] On the force measurement surface M, the force measurement area includes the force measurement area center C located at the center thereof. The range surrounded by at least four pressure sensing devices 12 in each force receiving part 11 includes the range surrounded by the connecting line of all force measurement area centers C.

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

[0066] By specifically setting the range surrounded by the pressure sensing device 12 as the range formed by the connecting line of the force measurement area centers C, the range surrounded by the pressure sensing device 12 can be reduced, so as to improve the accuracy of the range surrounded by the pressure sensing device 12 for selecting the calibration point Q, and the accuracy of the selected calibration point Q can be improved.

[0067] In some embodiments, referring to Figure 2 Before applying pressure to one calibration point Q of the force receiving part 11, the following steps are further included:

[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. The pre-calibration area Q1 is tangent to the force measurement area C1 on the force measurement surface M of the joint pressure measuring device 10.

[0069] Specifically, the pre-calibration area Q1 is tangent to the force measurement area C1 on the force measurement surface M, that is, the pre-calibration area Q1 and the force measurement area C1 are in a tangential relationship on the plane where the force measurement surface M is located. Or further, the projection of the pre-calibration area Q1 and the force measurement area C1 on the force measurement surface M is in a tangential relationship on the plane where the force measurement 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 the radius of the pre-calibration area Q1 and the accuracy of the joint pressure measurement device 10 do not have a linear relationship, the radius of the pre-calibration area Q1 cannot be directly predicted to meet the accuracy requirements of the joint pressure measurement device 10. Therefore, in order to meet the accuracy requirements of the joint pressure measurement device 10, the radius of the pre-calibration area Q1 must be adjusted repeatedly to obtain a pre-calibration area Q1 radius that meets the requirements. And also need to explain, Figure 2 In the middle, only one pre-calibration area Q1 corresponding to the calibration point Q is marked, but this is only to clearly mark 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 of the joint pressure measurement device 10 can be specifically realized, so that the compensation of the measurement results of the joint pressure measurement device 10 can be effectively realized without changing the external structure of the joint pressure measurement device 10, and the accuracy of the joint pressure measurement device 10 can be specifically realized. The improvement of the measurement accuracy of each position in the measurable range of the joint pressure measurement device 10 can be specifically realized.

[0073] And by selecting the pre-calibration point, the problem that the measurement values of other pressure measurement devices 12 in the force receiving part 11 cannot be well obtained when calibrating in the force measurement area corresponding to the pre-calibration point can be effectively avoided.

[0074] In some embodiments, after obtaining the compensation parameters of one force receiving part 11, the compensation formula is obtained, and further comprising:

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

[0076] In this way, the accuracy of the joint pressure measuring device 10 can be improved, and the measuring accuracy of the joint pressure measuring device 10 for each position in the measurable range can be improved. Different compensation parameters can be obtained by calculating different stress parts 11, so that the stress parts 11 with differences can be compensated by compensation formulas with different compensation parameters, and the sensing accuracy of the different stress parts 11 can be further improved by targeted compensation.

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

[0078] Each stress part 11 obtains a calculated pressure by a pressure calculation formula. After obtaining the calculated pressure, a compensation value is obtained by a compensation formula according to the calculated pressure. 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 a pressure calculation formula, that is, the calculated pressure F can be obtained by a pressure calculation formula F corresponding to each pressure sensing device 12. n =A0△X n +C0. x According to the calculated pressure F x The compensation value AF is obtained by a compensation formula AF = AF x ^2+BF x After obtaining the compensation value AF, the difference between the calculated pressure F x and the compensation value AF is obtained to obtain the output pressure value F o , that is, the output pressure value can be obtained by the formula F o =F x -△F. The output pressure value F o is the output result of the joint pressure measuring device 10.

[0080] In this way, after the calibration of the stress part 11 of the joint pressure measuring device 10 and the fitting of the compensation formula are completed, the output pressure value of the joint pressure measuring device 10 after compensation by the compensation value can be obtained by the joint pressure measuring method described above, so that the accuracy of the joint pressure measuring device 10 can be improved by the joint pressure measuring method described above, and the measuring accuracy of the joint pressure measuring device 10 for each position in the measurable range can be improved.

[0081] The application also provides an electronic device. The electronic device includes a memory and a processor. The memory non-transiently stores computer executable instructions. The processor is configured to run the computer executable instructions. The computer executable instructions are run by the processor to implement any one of the joint pressure measuring methods described above.

[0082] The application further provides a non-transitory computer readable storage medium. The non-transitory computer readable storage medium stores computer executable instructions, and the computer executable instructions are executed by a processor to implement the joint pressure measurement method.

[0083] The above embodiments of the present application can be complementary to each other without causing conflicts.

[0084] It should be noted that in the drawings, the size of layers and regions can be exaggerated for clarity. It will be further understood that when a layer or element is referred to as being "on" another layer or element, it can be directly on the other element or intervening layers can also be present. In addition, it will be understood that when an element or layer is referred to as being "under" another element, it can be directly under the other element, or one or more intervening layers can also be present. In addition, it will also be understood that when a layer or element is referred to as being "between" two elements, it can be the only layer or element between the two elements or one or more intervening layers or elements can also be present. Like reference numerals refer to like elements throughout.

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

[0086] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application be limited only by the scope of the claims, a properly construed, and any equivalents thereof. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0087] It is to be understood that the application is not limited to the precise details of construction and the arrangement of components described above and illustrated in the drawings and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims appended hereto.

Claims

1. A non-transitory computer-readable storage medium, characterized in that, The non-transient computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement a joint pressure measurement method. The joint pressure measuring device includes 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 includes: selecting at least three calibration points on the force measuring surface, within the area enclosed by at least three pressure sensing devices; the calibration points correspond to the pressure sensing devices. Record the first sensing values ​​of all pressure sensing devices of a force-bearing part when it is not subjected to pressure; apply a test pressure to a calibration point of the force-bearing part and obtain the second sensing values ​​of all pressure sensing devices at the force-bearing part; obtain the sensing difference between the second sensing value and the first sensing value after the test pressure is applied to each calibration point, and calculate the sum of all sensing differences of the same force-bearing part to obtain the incremental value corresponding to the calibration point; The test pressure and the incremental value are fitted by a pressure calculation formula to obtain the parameter value of the pressure sensing device corresponding to the calibration point; the above operation is repeated to obtain the parameter value of the pressure sensing device corresponding to other calibration points; the calibration of the force-bearing part is completed, and the sum of the pressure calculation formulas used to calculate the force on the force-bearing part is obtained; 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; the verification difference between the verification pressure and the calculated pressure is obtained, and the verification difference and the verification pressure are fitted by the compensation formula to obtain the compensation parameters of the compensation formula.

2. The non-transitory computer-readable storage medium according to claim 1, characterized in that, The process includes obtaining parameter values ​​of the pressure sensing device corresponding to other calibration points, calibrating the force-receiving part, obtaining a formula for calculating the force on the force-receiving part, and further comprising: The test pressure and the incremental value of each other calibration point within the same force-bearing part are obtained respectively; the test pressure and the incremental value of each other calibration point are fitted with the same formula respectively, and the parameter values ​​of the pressure sensing device corresponding to the other calibration points are obtained respectively; the pressure calculation formula of all pressure sensing devices within the same force-bearing part is obtained, and the sum of all pressure calculation formulas is obtained to complete the calibration of the force-bearing part.

3. The non-transitory computer-readable storage medium according to claim 2, characterized in that, Fitting the test pressure to the incremental value using the pressure calculation formula further includes: The preset compensation formula used for fitting is: F n =A0△X n +C0; where F n For the test pressure, △X n The incremental value is denoted as A0; A0 and C0 are parameter values ​​to be confirmed after fitting the pressure calculation formula.

4. The non-transitory computer-readable storage medium according to claim 1, characterized in that, The compensation parameters of the compensation formula are obtained by fitting the verification difference and the verification pressure using the compensation formula, and the method further includes: The preset formula for fitting is: △F=AF x ^2+BF x Where △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.

5. The non-transitory computer-readable storage medium according to claim 1, characterized in that, The joint pressure measuring device is provided with a force measuring area corresponding to the pressure sensing device arranged in an array. On the force measuring surface, the force measuring area includes the midpoint of the force measuring area located at its center; the area enclosed by at least four pressure sensing devices within each force-bearing part includes the area enclosed by the line connecting the midpoints of all the force measuring areas.

6. The non-transitory computer-readable storage medium according to claim 5, characterized in that, Before applying pressure to one of the calibration points of the force-bearing part, the method further includes: A pre-calibration point is selected within the area enclosed by the pressure sensing device; a pre-calibration area is selected with the pre-calibration point as the center; the pre-calibration area and the force measuring area are tangent to the force measuring surface of the joint pressure measuring device; Adjust the radius of the pre-calibration area so that the accuracy of the joint pressure measuring device meets the preset requirements, and select the pre-calibration point at this time as the calibration point.

7. The non-transitory computer-readable storage medium according to claim 1, characterized in that, After obtaining the compensation parameter of the force-bearing part and the compensation formula, the method further includes: The compensation formula and compensation parameters of each force-bearing part of the joint pressure measuring device are obtained; when sensing pressure, the different force-bearing parts are compensated by different compensation formulas.

8. The non-transitory computer-readable storage medium according to claim 1, characterized in that, When the joint pressure measuring device senses the applied pressure, it also includes: Each of the stress-bearing parts obtains a calculated pressure using the pressure calculation formula; and after obtaining the calculated pressure, a compensation value is obtained based on the calculated pressure using 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, The method includes a memory and a processor; the memory includes a non-transitory computer-readable storage medium as described in any one of claims 1-8; the memory non-transitory stores computer-executable instructions; the processor is configured to run the computer-executable instructions; the computer-executable instructions are executed by the processor to implement the joint pressure measurement method.

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