Pressure calibration method and device based on acceleration compensation, equipment and storage medium

Abstract

The invention belongs to the field of vascular interventional operations, and relates to a pressure calibration method and device based on acceleration compensation, equipment and a storage medium. The pressure calibration method based on acceleration compensation is used for the interventional robot, the interventional robot at least comprises a first driving unit connected with a first interventional consumable, and the method comprises the following steps: acquiring a first pressure detection value and acceleration of the first driving unit; calculating an acceleration force value of the first driving unit according to the acceleration; and updating the first pressure detection value according to the acceleration force value. According to the invention, the pressure detection value of the first driving unit can be calibrated, and the detection precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery, and in particular to a pressure calibration method, device, computer equipment and storage medium based on acceleration compensation. Background Art

[0002] like Figure 1 As shown, the current pan-vascular interventional robot structure includes a slide 1, a catheter 2, a guidewire 3, a distal drive unit 4 and at least one proximal drive unit (such as a first drive unit 10), wherein the distal end refers to an end close to the patient, and the proximal end refers to an end away from the patient, the distal drive unit 4 includes a distal delivery motor 4a, the first drive unit 10 includes a first delivery motor 11, and the connecting shaft between the first drive unit 10 and the slide 1 is installed with a first pressure sensor 12.

[0003] When using a pan-vascular interventional robot, when starting and stopping the delivery of interventional consumables (such as catheters, guidewires, etc.), the first delivery motor 11, such as a lead screw motor, will have an inertial acceleration when starting and stopping. This acceleration will bring a force acting on the first pressure sensor 12, and this force will affect the detection of the straightening force of the interventional consumables, resulting in misdetection of the straightening force.

[0004] Specifically, taking the use of a pan-vascular interventional robot to deliver a catheter as an example, when the catheter is delivered at high speed, due to the process of the catheter being bent to straightened, the first drive unit 10 starts from rest, and an acceleration is generated in this process. This acceleration will produce a negative pressure value for the first pressure sensor 12, which will make the value of the first pressure sensor 12 below the start threshold of the first drive unit 10, causing the first drive unit 10 to stop. At this time, an acceleration in the opposite direction will be generated, which will produce a positive pressure value for the first pressure sensor 12, which will start the first drive unit 10 again. This cycle will cause the first drive unit 10 to start and stop frequently. Similarly, when the catheter is straightened to bent during the delivery process, the same phenomenon will occur in the process of the first drive unit 10 running and stopping. Summary of the invention

[0005] The purpose of the present application is to propose a pressure calibration method, device, computer equipment and storage medium based on acceleration compensation to solve the problem of misdetection of pressure in the drive unit of the prior art.

[0006] In order to solve the above technical problems, an embodiment of the present application provides a pressure calibration method based on acceleration compensation, which is used for an interventional robot, wherein the interventional robot at least includes a first driving unit connected to a first interventional consumable, and the method includes:

[0007] Acquire a first pressure detection value and an acceleration of the first driving unit;

[0008] Calculating an acceleration force value of the first driving unit according to the acceleration;

[0009] The first pressure detection value is updated according to the acceleration force value.

[0010] Further, the interventional robot further includes a second drive unit that is not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes:

[0011] The second driving unit and the first driving unit are made to work synchronously, and a second pressure detection value of the second driving unit in a no-load state is obtained;

[0012] The acceleration is calculated according to the second pressure detection value.

[0013] Further, the step of making the second driving unit and the first driving unit work synchronously includes:

[0014] The working parameters of the first driving unit are acquired, and the second driving unit is configured according to the working parameters so that the second driving unit and the first driving unit work synchronously.

[0015] Further, the step of calculating the acceleration according to the second pressure detection value includes: acquiring a second mass of the second driving unit, and calculating the acceleration according to the second pressure detection value and the second mass.

[0016] Further, the step of calculating the acceleration force value of the first driving unit according to the acceleration includes:

[0017] A first mass of the first driving unit is acquired, and the acceleration force value is calculated according to the acceleration and the first mass.

[0018] Furthermore, the step of updating the first pressure detection value according to the acceleration force value includes:

[0019] The acceleration force value is subtracted from the first pressure detection value to obtain an updated first pressure detection value.

[0020] Further, in the step of obtaining the first pressure detection value and acceleration of the first driving unit, when obtaining the acceleration, the method includes:

[0021] The acceleration is calculated from an encoder or from an accelerometer.

[0022] In order to solve the above technical problems, an embodiment of the present application further provides a pressure calibration device based on acceleration compensation, which is used to execute the above method, including:

[0023] A collection unit, used for acquiring the first pressure detection value and the acceleration of the first driving unit;

[0024] A calculation unit, configured to calculate an acceleration force value of the first driving unit according to the acceleration;

[0025] A correction unit is used to update the first pressure detection value according to the acceleration force value.

[0026] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0027] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned pressure calibration method based on acceleration compensation when executing the computer program.

[0028] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0029] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned pressure calibration method based on acceleration compensation are implemented.

[0030] Compared with the prior art, this application has the following beneficial effects:

[0031] The present application obtains the acceleration of the first drive unit to obtain the acceleration force value of the first drive unit, updates the pressure detection value of the first drive unit according to the acceleration force value, realizes the correction of the pressure detection value, and improves the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a partial structural diagram of the existing pan-vascular interventional robot;

[0034] Figure 2is a flow chart of an embodiment of a pressure calibration method based on acceleration compensation according to the present application;

[0035] Figure 3 is a partial structural schematic diagram of a pan-vascular interventional robot for implementing a pressure calibration method based on acceleration compensation in an embodiment of the present application;

[0036] Figure 4 is a structural schematic diagram of a pressure calibration device based on acceleration compensation according to an embodiment of the present application;

[0037] Figure 5 It is a structural diagram of an embodiment of a computer device according to the present application. DETAILED DESCRIPTION

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0039] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0041] refer to Figure 2 , which shows a flow chart of an embodiment of a pressure calibration method based on acceleration compensation according to the present application. The pressure calibration method based on acceleration compensation comprises the following steps S11 to S13:

[0042] Step S11, obtaining a first pressure detection value and an acceleration of the first driving unit;

[0043] Step S12, calculating the acceleration force value of the first driving unit according to the acceleration;

[0044] Step S13: updating the first pressure detection value according to the acceleration force value.

[0045] In this embodiment, combined with Figure 3 The pan-vascular interventional robot shown in the figure includes a slide 1, a catheter 2, a guidewire 3, a distal drive unit 4 and a proximal drive unit, wherein the proximal drive unit includes a first drive unit 10, a second drive unit 20 and a third drive unit 30, wherein the distal drive unit 4, the first drive unit 10, the second drive unit 20 and the third drive unit 30 are all installed on the slide 1, the distal drive unit 4 is generally fixed, the first drive unit 10, the second drive unit 20 and the third drive unit 30 are all movably arranged, the distal drive unit 4 includes a distal delivery motor 4a, the first drive unit 10 includes a first delivery motor 11, the second drive unit 20 includes a second delivery motor 21, the third drive unit 30 includes a third delivery motor 31, the connecting shafts between the first drive unit 10, the second drive unit 20 and the third drive unit 30 and the slide 1 are respectively installed with a first pressure sensor 12, a second pressure sensor 22 and a third pressure sensor 32, and the distal drive unit 4 is not installed with a pressure sensor.

[0046] According to different types of surgery, the four drive units can be equipped with different numbers of interventional consumables, and the interventional consumables can be catheters 2 (first interventional consumables), guide wires 3 (second interventional consumables), etc. In subsequent specific embodiments, for the type of surgery that delivers one tube and one wire, combined with Figure 3 The pan-vascular intervention robot structure is described by taking a single catheter as an example, wherein the direction of the pressure to be measured is as follows: Figure 3 In the direction indicated by the solid arrow, one end of the catheter 2 is installed on the distal drive unit 4, and the other end is installed on the first drive unit 10. The distal drive unit 4 is controlled by the main end (not shown) to drive the catheter 2 to move. The first delivery motor 11 of the first drive unit 10 is used to cooperate with the distal drive unit 4 to drive the catheter 2 to move; one end of the guide wire 3 is installed on the third drive unit 30, and the guide wire 3 is driven to move by the third delivery motor 31.

[0047] In step S11, when the distal delivery motor 4a that controls the distal drive unit 4 drives the first interventional consumable to move, the first interventional consumable will apply a pulling force to the first drive unit 10 when it is straightened from a bent state. Although the first drive unit 10 does not move immediately under the action of inertia at the beginning, due to the force transmission and interaction, the pulling force will be transmitted to the first pressure sensor 12 through the first drive unit 10. The first pressure sensor 12 can detect whether there is a force acting on the first drive unit 10, thereby obtaining a first pressure detection value; or when the distal delivery motor 4a that controls the distal drive unit 4 stops working, the first interventional consumable changes from a straightened state to a bent state, and the pulling force applied to the first drive unit 10 will gradually decrease. The first drive unit 10 continues to move under the action of the pulling force and inertia. At this time, the force is still transmitted to the first pressure sensor 12, and the first pressure detection value is similarly obtained through the first pressure sensor 12.

[0048] On this basis, no matter whether the first drive unit 10 is in an accelerating state or a decelerating state, the pressure detection correction can be achieved by obtaining the acceleration of the first drive unit 10, calculating the acceleration force value of the first drive unit 10 according to the acceleration, and updating the first pressure detection value according to the acceleration force value. That is, the actual pressure value of the first drive unit 10 acting on the first pressure sensor 12 is obtained through acceleration compensation, which can avoid misdetection of pressure and improve detection accuracy.

[0049] In a further application scheme, the actual pressure value is used to determine whether to control the first drive unit 10 to start or control the first drive unit 10 to shut down. For example, when the first drive unit 10 is in a process of moving from stationary to moving, when the actual pressure is greater than a preset threshold, the master end controls the first drive unit 10 to start, so that the first drive unit 10 cooperates with the remote drive unit 4 to drive the first interventional consumable. When the first drive unit 10 is in a process of moving from stationary to stationary, when the actual pressure is less than the preset threshold, the master end controls the first drive unit 10 to shut down, so that the first drive unit 10 stops driving the first interventional consumable, thereby improving the control accuracy of the master end over the first drive unit 10.

[0050] In one embodiment, the first interventional consumable is not connected to the second drive unit 20. In step S11, when acquiring the acceleration, the method further includes: making the second drive unit 20 and the first drive unit 10 work synchronously to acquire a second pressure detection value of the second drive unit 20 in a no-load state; and calculating the acceleration according to the second pressure detection value.

[0051] In this embodiment, for the first driving unit 10, the first pressure detection value F of the first pressure sensor 12 is s Satisfies the following formula:

[0052]

[0053] Among them, F cn (n=1, 2, ...) is the pulling force (or straightening force) of all interventional consumables installed on the distal drive unit 4 on the first drive unit 10, F em (m=1,2,…) is the force other than the tension of the interventional consumables; in F em (m=1,2,…),one of the forces F e1 =F a (F a is the acceleration force value generated by acceleration when the first drive unit 10 is accelerated or decelerated).

[0054] In one embodiment, the step of calculating the acceleration force value of the first driving unit according to the acceleration includes: obtaining the first mass of the first driving unit, and calculating the acceleration force value according to the acceleration and the first mass. That is, the acceleration force value F a Satisfies the following formula:

[0055] F a =ma;

[0056] Wherein m (first mass) is the mass of the first drive unit 10 and all components thereon, and a is the acceleration of the first drive unit 10 .

[0057] It should be noted that the above formula is also applicable to the second driving unit 20 and the third driving unit 30 .

[0058] In the one-tube-one-wire surgery solution, the second drive unit 20 is unloaded, that is, no interventional consumables are connected to the second drive unit 20, so there is almost no tension generated by the interventional consumables. For the second drive unit 20, F cn The sum of (n=1, 2, ...) is 0, then the second pressure detection value F of the second pressure sensor 22 on the second driving unit 20 is s3 The following formula should be satisfied:

[0059]

[0060] Then the actual pulling force value F on the second driving unit 20 is a3 It can be calculated by the following formula:

[0061]

[0062] For the second driving unit 20, in addition to the force generated by the acceleration working synchronously with the first driving unit 10, other forces (such as friction, etc., which are very small and can be ignored) can be considered.em The sum of (m=2, 3, ...) tends to 0, so F a3 The formula is simplified as follows:

[0063] F a3 =F s3 .

[0064] In one embodiment, the step of calculating the acceleration according to the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration according to the second pressure detection value and the second mass. That is, the acceleration a of the second drive unit 20 can be finally calculated. 3 :

[0065]

[0066] m 3 (Second Mass) is the mass of the second drive unit 20 and all components thereon.

[0067] In the one-pipe-one-wire combination mode, the first drive unit 10 and the second drive unit 20 work synchronously, so the acceleration of the two is also the same, that is:

[0068] a=a 3 ;

[0069] Therefore, the acceleration force value F of the first drive unit 10 is a Satisfies the following formula:

[0070] F a =ma 3 .

[0071] Through the acceleration force value F a The first pressure detection value F s Make corrections.

[0072] In this embodiment, the acceleration of the second drive unit 20 is obtained by measuring the second pressure detection value of the second drive unit 20 having the same acceleration as the first drive unit 10, and the acceleration force value of the first drive unit 10 caused by the acceleration is calculated by the acceleration of the second drive unit 20, so as to finally obtain the real pressure value. The detection can be realized with the help of the existing components of the pan-vascular interventional robot. The detection process is simple and fast, and no additional hardware cost is added.

[0073] In some embodiments, if F emIf the sum of (m=2, 3, ...) cannot approach 0, then before the step of calculating the acceleration based on the second pressure detection value, the method further includes: obtaining a preset correction parameter of the second drive unit, and adjusting the second pressure detection value according to the preset correction parameter. In this embodiment, considering the influence of various factors such as the installation position of the pressure sensor, the rigidity of the mechanical structure, the flexibility of the catheter and the interaction of other mechanical components, the compensation amount obtained by the acceleration directly obtained based on the second pressure detection value will have errors. By introducing the preset correction parameter, a more accurate second pressure detection value can be obtained, and then a more accurate acceleration can be obtained, thereby reducing the detection error of the real pressure and improving the detection accuracy.

[0074] The preset correction parameters of this embodiment can be empirical values ​​or obtained by experimental methods. Specifically, in one embodiment, the step of obtaining the preset correction parameters by experimental methods includes: applying a known acceleration to the second drive unit 20, recording the second pressure detection value acting on the second drive unit, calculating the acceleration force value according to the known acceleration, and obtaining a set of second pressure detection values ​​and acceleration force values; repeating the previous step to obtain multiple sets of second pressure detection values ​​and acceleration force values; based on the multiple sets of second pressure detection values ​​and acceleration force values, obtaining the preset correction parameters by regression analysis method.

[0075] The purpose of this embodiment is to obtain the preset correction parameters. Specifically, the preset correction parameters can be obtained by dynamic calibration. For example, a test acceleration sensor, a test pressure sensor and a force output device are provided, and a known acceleration a is applied to the second delivery motor 21 through the force output device. 2 , record the sensor reading F sensor , and then calculate the inertial force F inertia =m×a 2 .

[0076] After i repetitions, i sets of data (F sensor , F inertia ), based on which the first adjustment coefficient or the second adjustment coefficient k is obtained using a regression analysis method:

[0077]

[0078] Among them, F real,i It refers to the real pressure value. Through the above method, an accurate preset correction parameter can be obtained, so that the detection pressure can be corrected more accurately through acceleration compensation to improve the detection accuracy.

[0079] In one embodiment, the step of making the second drive unit and the first drive unit work synchronously includes: obtaining the working parameters of the first drive unit 10, and configuring the second drive unit 20 according to the working parameters, so that the second drive unit 20 and the first drive unit 10 work synchronously. In this embodiment, by accurately obtaining the working parameters of the first drive unit 10 and configuring the second drive unit 20 accordingly, it is possible to ensure that the actions of the two drive units are highly consistent, so that the acceleration of the first drive unit 10 can be obtained with the help of the second drive unit 20; and obtaining the working parameters of the first drive unit 10 and configuring the second drive unit 20 in real time can achieve rapid response and real-time adjustment, ensuring that synchronization is always maintained throughout the entire operation process, which helps to correct any potential deviations in a timely manner and further improve the reliability and accuracy of pressure detection.

[0080] In one embodiment, the step of updating the first pressure detection value according to the acceleration force value includes: subtracting the acceleration force value from the first pressure detection value to obtain an updated first pressure detection value.

[0081] In one embodiment, in the step of obtaining the first pressure detection value and acceleration of the first driving unit, when obtaining the acceleration, the method includes: calculating the acceleration according to an encoder, or calculating the acceleration according to an accelerometer. In this embodiment, an encoder or an accelerometer is additionally added to obtain the first acceleration. Although hardware is added, the real pressure value can be effectively obtained to improve the detection accuracy.

[0082] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0083] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0084] Further references Figure 4 , as a response to the above Figure 1 The present application provides an embodiment of a pressure calibration device based on acceleration compensation. Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0085] like Figure 4 As shown, the pressure calibration device 40 based on acceleration compensation described in this embodiment includes: a collection unit 41, a calculation unit 42 and a correction unit 43. Among them:

[0086] The acquisition unit 41 is used to obtain the first pressure detection value and the acceleration of the first driving unit; the calculation unit 42 is used to calculate the acceleration force value of the first driving unit according to the acceleration; and the correction unit 43 is used to update the first pressure detection value according to the acceleration force value.

[0087] In one embodiment, the interventional robot also includes a second drive unit that is not connected to the first interventional consumable. When the acquisition unit 41 obtains the acceleration of the first drive unit, it is specifically used to: make the second drive unit and the first drive unit work synchronously, obtain a second pressure detection value of the second drive unit in a no-load state; and calculate the acceleration based on the second pressure detection value.

[0088] In one embodiment, when the acquisition unit 41 enables the second drive unit and the first drive unit to work synchronously, it is specifically used to: obtain the working parameters of the first drive unit, and configure the second drive unit according to the working parameters so that the second drive unit and the first drive unit work synchronously.

[0089] In one embodiment, when the acquisition unit 41 calculates the acceleration according to the second pressure detection value, it is specifically used to: obtain the second mass of the second driving unit, and calculate the acceleration according to the second pressure detection value and the second mass.

[0090] In one embodiment, when the calculation unit 42 calculates the acceleration force value of the first driving unit according to the acceleration, it is specifically used to: obtain the first mass of the first driving unit, and calculate the acceleration force value according to the acceleration and the first mass.

[0091] In one embodiment, when the correction unit 43 updates the first pressure detection value according to the acceleration force value, it is specifically configured to: subtract the acceleration force value from the first pressure detection value to obtain the updated first pressure detection value.

[0092] When the acquisition unit 41 acquires the acceleration of the first driving unit, it is specifically used to: calculate the acceleration according to an encoder, or calculate the acceleration according to an accelerometer.

[0093] The technical effects of the above-mentioned device embodiments of the present application can be referred to the relevant contents of the above-mentioned method embodiments, which will not be expanded here.

[0094] This embodiment sets a device module corresponding to the pressure calibration method based on acceleration compensation, and can obtain the acceleration of the first drive unit 10 to obtain the acceleration force value of the first drive unit 10, and update the pressure detection value of the first drive unit 10 according to the acceleration force value, so as to realize the correction of the pressure detection value and improve the detection accuracy.

[0095] To solve the above technical problems, the present application also provides a computer device. Figure 5 , Figure 5 This is a basic structural block diagram of the computer device in this embodiment.

[0096] The computer device 5 includes a memory 51, a processor 52, and a network interface 53 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 5 with components 51-53, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0097] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with a user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0098] The memory 51 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 51 can be an internal storage unit of the computer device 5, such as a hard disk or memory of the computer device 5. In other embodiments, the memory 51 can also be an external storage device of the computer device 5, such as a plug-in hard disk equipped on the computer device 5, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Of course, the memory 51 can also include both the internal storage unit of the computer device 5 and its external storage device. In this embodiment, the memory 51 is generally used to store the operating system and various application software installed on the computer device 5, such as the program code of the pressure calibration method based on acceleration compensation, etc. In addition, the memory 51 can also be used to temporarily store various types of data that have been output or are to be output.

[0099] The processor 52 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 52 is generally used to control the overall operation of the computer device 5. In this embodiment, the processor 52 is used to run the program code stored in the memory 51 or process data, such as running the program code of the pressure calibration method based on acceleration compensation.

[0100] The network interface 53 may include a wireless network interface or a wired network interface. The network interface 53 is generally used to establish a communication connection between the computer device 5 and other electronic devices.

[0101] This embodiment can effectively and accurately adjust the position of the camera device by setting up a computer device corresponding to the pressure calibration method based on acceleration compensation, so that the display position of the interventional instrument in the interventional surgery image is easier to observe.

[0102] The present application also provides another embodiment, namely, providing a computer-readable storage medium, wherein the computer-readable storage medium stores a pressure calibration program based on acceleration compensation, and the pressure calibration program based on acceleration compensation can be executed by at least one processor so that the at least one processor performs the steps of the pressure calibration method based on acceleration compensation as described above.

[0103] This embodiment can realize the correction of pressure detection value and improve detection accuracy by providing a computer-readable storage medium corresponding to the pressure calibration method based on acceleration compensation.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0105] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A pressure calibration method based on acceleration compensation, for an interventional robot, wherein the interventional robot comprises at least a first driving unit connected to a first interventional consumable, characterized in that: The method comprises: Acquire a first pressure detection value and an acceleration of the first driving unit; Calculating an acceleration force value of the first driving unit according to the acceleration; The first pressure detection value is updated according to the acceleration force value.

2. The pressure calibration method based on acceleration compensation according to claim 1, characterized in that: The interventional robot further includes a second drive unit that is not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes: The second driving unit and the first driving unit are made to work synchronously, and a second pressure detection value of the second driving unit in a no-load state is obtained; The acceleration is calculated according to the second pressure detection value.

3. The pressure calibration method based on acceleration compensation according to claim 2, characterized in that: The step of making the second driving unit and the first driving unit work synchronously comprises: The working parameters of the first driving unit are acquired, and the second driving unit is configured according to the working parameters so that the second driving unit and the first driving unit work synchronously.

4. The pressure calibration method based on acceleration compensation according to claim 2, characterized in that: The step of calculating the acceleration according to the second pressure detection value includes: acquiring the second mass of the second driving unit, and calculating the acceleration according to the second pressure detection value and the second mass.

5. The pressure calibration method based on acceleration compensation according to claim 1, characterized in that: The step of calculating the acceleration force value of the first driving unit according to the acceleration includes: A first mass of the first driving unit is acquired, and the acceleration force value is calculated according to the acceleration and the first mass.

6. The pressure calibration method based on acceleration compensation according to claim 1, characterized in that: The step of updating the first pressure detection value according to the acceleration force value comprises: The acceleration force value is subtracted from the first pressure detection value to obtain an updated first pressure detection value.

7. The pressure calibration method based on acceleration compensation according to claim 1, characterized in that: In the step of obtaining the first pressure detection value and the acceleration of the first driving unit, when obtaining the acceleration, the method includes: The acceleration is calculated from an encoder or from an accelerometer.

8. A pressure calibration device based on acceleration compensation, used to perform the method according to any one of claims 1 to 7, characterized in that: include: A collection unit, used for acquiring the first pressure detection value and the acceleration of the first driving unit; A calculation unit, configured to calculate an acceleration force value of the first driving unit according to the acceleration; A correction unit is used to update the first pressure detection value according to the acceleration force value.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the pressure calibration method based on acceleration compensation according to any one of claims 1 to 7 when executing the computer-readable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the pressure calibration method based on acceleration compensation according to any one of claims 1 to 7 is implemented.

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