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

Abstract

The application belongs to the field of vascular interventional surgery, 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 an interventional robot, the interventional robot at least comprising 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. The application can calibrate the pressure detection value of the first driving unit, and improve the detection precision.

Description

Technical Field

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

[0002] like Figure 1 As shown in the figure, the current structure of the pan-vascular interventional robot 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). The distal end refers to the end closer to the patient, and the proximal end refers to the end farther away from the patient. The distal drive unit 4 includes a distal delivery motor 4a, and the first drive unit 10 includes a first delivery motor 11. A first pressure sensor 12 is installed on the connecting shaft between the first drive unit 10 and the slide 1.

[0003] When using a panvascular 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 it starts and stops. This acceleration will generate a force on the first pressure sensor 12, which will affect the detection of the straightening force of the interventional consumables, leading to false detection of the straightening force.

[0004] Specifically, taking the use of a panvascular interventional robot to deliver catheters as an example, during high-speed catheter delivery, as the catheter goes from bent to straight, the first drive unit 10 goes from rest to start, during which an acceleration is generated. This acceleration will generate a negative pressure value on the first pressure sensor 12, which will cause the value of the first pressure sensor 12 to be below the start threshold of the first drive unit 10, thus causing the first drive unit 10 to stop. At this time, an acceleration in the opposite direction will be generated, which will generate a positive pressure value on the first pressure sensor 12, thus causing the first drive unit 10 to start again. This cycle repeats, resulting in frequent start and stop of the first drive unit 10. Similarly, during the delivery process, when the catheter goes from straight to bent, the first drive unit 10 will also exhibit the same phenomenon from running to stopping. Summary of the Invention

[0005] The purpose of this application is to propose a pressure calibration method, apparatus, computer equipment, and storage medium based on acceleration compensation to solve the problem of false detection in the pressure detection of existing drive units.

[0006] To address the aforementioned technical problems, this application provides a pressure calibration method based on acceleration compensation for use in an interventional robot. The interventional robot includes at least a first drive unit connected to a first interventional consumable. The method includes:

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

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

[0009] update the first pressure detection value according to the acceleration force value;

[0010] The intervention robot further comprises a second driving unit which is not connected with the first intervention consumable. In the step of acquiring the first pressure detection value and the acceleration of the first driving unit, when the acceleration is acquired, the method further comprises:

[0011] synchronize the second driving unit with the first driving unit to acquire a second pressure detection value of the second driving unit in an empty state;

[0012] calculate the acceleration according to the second pressure detection value.

[0013] Further, the step of synchronizing the second driving unit with the first driving unit comprises:

[0014] acquire a working parameter of the first driving unit, and configure the second driving unit according to the working parameter to synchronize the second driving unit with the first driving unit.

[0015] Further, the step of calculating the acceleration according to the second pressure detection value comprises: 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 comprises:

[0017] acquire a first mass of the first driving unit, and calculate the acceleration force value according to the acceleration and the first mass.

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

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

[0020] To solve the above technical problems, the embodiment of the present application further provides a pressure calibration device based on acceleration compensation, which is used to execute the above method, comprising:

[0021] an acquisition unit, configured to acquire the first pressure detection value and the acceleration of the first driving unit;

[0022] a calculation unit configured to calculate an acceleration force value of the first driving unit according to the acceleration;

[0023] a correction unit configured to update the first pressure detection value according to the acceleration force value.

[0024] To solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the technical scheme as follows:

[0025] A computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the pressure calibration method based on acceleration compensation when executing the computer program.

[0026] To solve the above technical problems, the embodiment of the present application further provides a computer readable storage medium, which adopts the technical scheme as follows:

[0027] A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the pressure calibration method based on acceleration compensation.

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] The present application obtains the acceleration force value of the first driving unit by obtaining the acceleration of the first driving unit, updates the pressure detection value of the first driving unit by the acceleration force value, corrects the pressure detection value, and improves the detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0030] To more clearly illustrate the scheme in the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0031] Figure 1 is a partial structure schematic diagram of an existing pan-vascular interventional robot;

[0032] Figure 2 is a flowchart of an embodiment of the pressure calibration method based on acceleration compensation according to the present application;

[0033] Figure 3 is a partial structure schematic diagram of a pan-vascular interventional robot for implementing the pressure calibration method based on acceleration compensation in the embodiment of the present application;

[0034] Figure 4 This is a schematic diagram of the structure of a pressure calibration device based on acceleration compensation according to an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the structure of one embodiment of the computer device according to this application. Detailed Implementation

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0039] refer to Figure 2 The diagram illustrates a flowchart of an embodiment of the acceleration-compensated pressure calibration method according to this application. The acceleration-compensated pressure calibration method includes the following steps S11-S13:

[0040] Step S11: Obtain the first pressure detection value and acceleration of the first drive unit;

[0041] Step S12: Calculate the acceleration force value of the first drive unit based on the acceleration.

[0042] Step S13: Update the first pressure detection value according to the acceleration force value.

[0043] In this embodiment, combined with Figure 3The illustrated panvascular interventional robot includes a slide 1, a catheter 2, a guidewire 3, a distal drive unit 4, and a proximal drive unit. The proximal drive unit includes a first drive unit 10, a second drive unit 20, and a third drive unit 30. The distal drive unit 4, the first drive unit 10, the second drive unit 20, and the third drive unit 30 are all mounted on the slide 1. The distal drive unit 4 is generally fixed, while the first drive unit 10, the second drive unit 20, and the third drive unit 30 are all movable. 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, and the third drive unit 30 includes a third delivery motor 31. A first pressure sensor 12, a second pressure sensor 22, and a third pressure sensor 32 are respectively installed on the connecting shafts between the first drive unit 10, the second drive unit 20, and the third drive unit 30 and the slide 1. The distal drive unit 4 does not have any pressure sensors installed.

[0044] Depending on the type of surgery, the four drive units can be equipped with different numbers of interventional consumables. These consumables can be catheter 2 (first interventional consumable), guidewire 3 (second interventional consumable), etc. In subsequent specific embodiments, for surgical procedures involving the delivery of a single catheter and guidewire, combined with... Figure 3 The method of this embodiment is described using a single catheter as an example, illustrating the structure of a panvascular interventional robot. The direction of the measured pressure is as follows: Figure 3 As indicated by the solid arrow, one end of the catheter 2 is mounted on the distal drive unit 4, and the other end is mounted 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 guidewire 3 is mounted on the third drive unit 30, and the guidewire 3 is driven to move by the third delivery motor 31.

[0045] In step S11, when the remote delivery motor 4a of the remote drive unit 4 drives the first interventional consumable to move, the first interventional consumable will be straightened from a bent state, which will apply a pulling force to the first drive unit 10. Although the first drive unit 10 does not move immediately under inertia at the beginning, due to the transmissibility and interaction of forces, 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 the first pressure detection value; or when the remote delivery motor 4a of the remote 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 pulling force and inertia. At this time, there is still a force transmitted to the first pressure sensor 12, and the first pressure detection value is obtained through the first pressure sensor 12 in the same way.

[0046] On this basis, whether the first driving unit 10 is in an acceleration state or a deceleration state, by obtaining the acceleration of the first driving unit 10, and then calculating the acceleration force value of the first driving unit 10 according to the acceleration, and updating the first pressure detection value according to the acceleration force value, the correction of the pressure detection can be realized, that is, the real pressure value of the first driving unit 10 acting on the first pressure sensor 12 is obtained through acceleration compensation, which can avoid false detection of pressure and improve detection accuracy.

[0047] In a further application scheme, the real pressure value is used to determine whether to control the first driving unit 10 to start or control the first driving unit 10 to close, for example, in the process of the first driving unit 10 from static to motion, when the real pressure is greater than a preset threshold, the master end controls the first driving unit 10 to start, so that the first driving unit 10 cooperates with the remote driving unit 4 to drive the first interventional consumable, and when the first driving unit 10 is from motion to static, when the real pressure is less than a preset threshold, the master end controls the first driving unit 10 to close, so that the first driving unit 10 stops driving the first interventional consumable, thereby improving the control accuracy of the master end to the first driving unit 10.

[0048] In one embodiment, the first interventional consumable is not connected to the second driving unit 20, and when the acceleration is obtained in step S11, the method further comprises: synchronizing the second driving unit 20 and the first driving unit 10 to work, obtaining the second pressure detection value of the second driving unit 20 in an empty load state; and calculating the acceleration according to the second pressure detection value.

[0049] In this embodiment, for the first driving unit 10, the first pressure detection value F s satisfies the following formula:

[0050]

[0051] where F cn (n=1, 2,...) is the pulling force (or straightening force) of all interventional consumables installed on the remote driving unit 4 on the first driving unit 10, F em (m=1, 2,...) is other force than the pulling force of the interventional consumable; in F em (m=1, 2,...) one of the forces F e1 =F a (F a is the acceleration force value generated by the acceleration when the first driving unit 10 accelerates or decelerates).

[0052] In one embodiment, the step of calculating the acceleration force value of the first driving unit according to the acceleration comprises: obtaining a 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 The following formula is satisfied:

[0053] F a = ma

[0054] Wherein m (first mass) is the mass of the first driving unit 10 and all components thereon, and a is the acceleration of the first driving unit 10.

[0055] It should be noted that the above formula is also applicable to the second driving unit 20 and the third driving unit 30.

[0056] In a tube and wire surgical scheme, the second driving unit 20 is empty, that is, no interventional consumables are connected to the second driving unit 20, so there is almost no pulling force generated by the interventional consumables, and for the second driving unit 20, the sum of F cn (n = 1, 2, …) is 0, then the second pressure detection value F s3 The following formula should be satisfied:

[0057]

[0058] The real pulling force value F a3 Can be calculated by the following formula:

[0059]

[0060] For the second driving unit 20, in addition to the force generated by the acceleration that keeps synchronization with the first driving unit 10, other forces (such as friction, which is very small and can be ignored) F em (m = 2, 3, …) tends to 0, so F a3 The formula is simplified as follows:

[0061] F a3 = F s3 .

[0062] In one embodiment, the step of calculating the acceleration according to the second pressure detection value comprises: obtaining a second mass of the second driving unit, and calculating the acceleration according to the second pressure detection value and the second mass. That is, the acceleration a3 of the second driving unit 20 can be finally calculated:

[0063]

[0064] m3 (second mass) is the mass of the second driving unit 20 and all components thereon.

[0065] In the one-tube-one-wire combination mode, the first driving unit 10 and the second driving unit 20 work synchronously, and thus the accelerations of the two are also the same, i.e.

[0066] a = a3.

[0067] Therefore, the acceleration force value F a satisfies the following formula:

[0068] F a = ma3.

[0069] The first pressure detection value F a can be corrected by the acceleration force value F s .

[0070] In this embodiment, the second pressure detection value of the second driving unit 20 with the same acceleration as the first driving unit 10 is measured, and then the acceleration of the second driving unit 20 is obtained, and the acceleration force value of the first driving unit 10 caused by the acceleration is calculated through the acceleration of the second driving unit 20, and finally the real pressure value is obtained. The detection can be realized by using the existing components of the vascular interventional robot, and the detection process is simple and fast, and no additional hardware cost is increased.

[0071] In some embodiments, if the summation result of F em (m = 2, 3,...) cannot approach 0, the method further comprises: obtaining a preset correction parameter of the second driving unit, and adjusting the second pressure detection value according to the preset correction parameter, before the step of calculating the acceleration according to the second pressure detection value. 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 based on the acceleration directly obtained from 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 a more accurate acceleration can be obtained, thereby reducing the detection error of the real pressure and improving the detection accuracy.

[0072] The preset correction parameter of the embodiment can be an empirical value or obtained through an experimental method. Specifically, in one embodiment, the step of obtaining the preset correction parameter through an experimental method includes: applying a known acceleration to the second driving unit 20, recording the second pressure detection value acting on the second driving unit, calculating the acceleration force value according to the known acceleration, 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; and obtaining the preset correction parameter through a regression analysis method based on the multiple sets of second pressure detection values and acceleration force values.

[0073] The purpose of the embodiment is to obtain a preset correction parameter, which can be obtained by a dynamic calibration method, for example, providing a test acceleration sensor and a test pressure sensor and a force output device, applying a known acceleration a2 to the second delivery motor 21 through the force output device, recording the sensor reading F sensor , and calculating the inertial force F inertia = m x a2.

[0074] Through i times of repetition, i sets of data (F sensor , F inertia ) are obtained, and the first adjustment coefficient or the second adjustment coefficient k is obtained based on this using a regression analysis method:

[0075]

[0076] where F real,i is the true pressure value. Through the above method, an accurate preset correction parameter can be obtained, so that the detected pressure can be corrected more accurately through acceleration compensation, and the detection accuracy is improved.

[0077] In one embodiment, the step of synchronously operating the second driving unit and the first driving unit includes: obtaining the working parameter of the first driving unit 10, and configuring the second driving unit 20 according to the working parameter, so that the second driving unit 20 and the first driving unit 10 are synchronously operated. The embodiment can ensure that the actions of the two driving units are highly consistent by accurately obtaining the working parameter of the first driving unit 10 and configuring the second driving unit 20 accordingly, so that the acceleration of the first driving unit 10 can be obtained with the help of the second driving unit 20; and obtaining the working parameter of the first driving unit 10 and real-time configuring the second driving unit 20 can realize rapid response and real-time adjustment, ensure that synchronization is always maintained during the entire operation process, help to correct any potential deviation in time, and further improve the reliability and accuracy of pressure detection.

[0078] In one embodiment, the step of updating the first pressure detection value according to the acceleration force value comprises: subtracting the acceleration force value from the first pressure detection value to obtain the updated first pressure detection value.

[0079] In one embodiment, in the step of obtaining the first pressure detection value and the acceleration of the first driving unit, when obtaining the acceleration, the method comprises: calculating the acceleration according to an encoder, or calculating the acceleration according to an accelerometer. This embodiment can effectively obtain the real pressure value and improve the detection accuracy by additionally increasing the encoder or the accelerometer to obtain the first acceleration, although the hardware is increased.

[0080] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium. When the program is executed, the processes of the above-mentioned embodiments can be included. The storage medium can be a non-volatile storage medium such as a magnetic disc, an optical disc, a read-only memory (ROM), or a random access memory (RAM).

[0081] It should be understood that, although each step in the flowchart of the accompanying drawings is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0082] Further referring to Figure 4 , as an implementation of the method shown in Figure 1 , the present application provides an embodiment of a pressure calibration device based on acceleration compensation. The device embodiment corresponds to the method embodiment shown in Figure 1 , and the device can be applied to various electronic devices.

[0083] As shown in Figure 4 , the pressure calibration device 40 based on acceleration compensation comprises a collection unit 41, a calculation unit 42 and a correction unit 43. Wherein:

[0084] The acquisition unit 41 is configured to acquire the first pressure detection value of the first driving unit and the acceleration; the calculation unit 42 is configured to calculate the acceleration force value of the first driving unit according to the acceleration; and the correction unit 43 is configured to update the first pressure detection value according to the acceleration force value.

[0085] In one embodiment, the interventional robot further comprises a second driving unit which is not connected with the first interventional consumable, and when the acquisition unit 41 acquires the acceleration of the first driving unit, the second driving unit is configured to work synchronously with the first driving unit, and the second pressure detection value of the second driving unit in an idle state is acquired; and the acceleration is calculated according to the second pressure detection value.

[0086] In one embodiment, when the acquisition unit 41 makes the second driving unit work synchronously with the first driving unit, the working parameter of the first driving unit is acquired, and the second driving unit is configured according to the working parameter, so that the second driving unit works synchronously with the first driving unit.

[0087] In one embodiment, when the acquisition unit 41 calculates the acceleration according to the second pressure detection value, the second mass of the second driving unit is acquired, and the acceleration is calculated according to the second pressure detection value and the second mass.

[0088] In one embodiment, when the calculation unit 42 calculates the acceleration force value of the first driving unit according to the acceleration, the first mass of the first driving unit is acquired, and the acceleration force value is calculated according to the acceleration and the first mass.

[0089] In one embodiment, when the correction unit 43 updates the first pressure detection value according to the acceleration force value, the first pressure detection value is subtracted by the acceleration force value to obtain the updated first pressure detection value.

[0090] When the acquisition unit 41 acquires the acceleration of the first driving unit, the acceleration is calculated according to an encoder or an accelerometer.

[0091] The technical effects of the above-mentioned device embodiments of the present application can refer to the related contents of the above-mentioned method embodiments, which will not be expanded here.

[0092] The embodiment sets the device module corresponding to the pressure calibration method based on acceleration compensation, can obtain the acceleration force value of the first driving unit 10 by obtaining the acceleration of the first driving unit 10, updates the pressure detection value of the first driving unit 10 by the acceleration force value, realizes the correction of the pressure detection value, and improves the detection precision.

[0093] To solve the above technical problems, the embodiment of the application further provides a computer device. For details, please refer to Figure 5 , Figure 5 The basic structure block diagram of the computer device of the embodiment is shown in the figure.

[0094] The computer device 5 comprises a memory 51, a processor 52 and a network interface 53 which are connected to each other through a system bus. It should be pointed out that only the computer device 5 with components 51-53 is shown in the figure, but it should be understood that all the shown components are not required to be implemented, and more or less components can be alternatively implemented. Among them, the computer device herein is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, and the hardware thereof includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0095] The computer device can be a desktop computer, a notebook computer, a palm computer and a cloud server, etc. The computer device can interact with a user through a keyboard, a mouse, a remote controller, a touchpad or a sound control device, etc.

[0096] The memory 51 includes at least one type of readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an 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 a 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, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 5. Of course, the memory 51 can also include both the internal storage unit and the external storage device of the computer device 5. In this embodiment, the memory 51 is generally used to store an operating system and various application software installed on the computer device 5, such as program codes of the pressure calibration method based on acceleration compensation, etc. In addition, the memory 51 can also be used to temporarily store various data that have been output or will be output.

[0097] The processor 52 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip 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 program codes or process data stored in the memory 51, such as running program codes of the pressure calibration method based on acceleration compensation.

[0098] The network interface 53 can include a wireless network interface or a wired network interface, which is generally used to establish a communication connection between the computer device 5 and other electronic devices.

[0099] The present embodiment can effectively and accurately adjust the position of the camera device by setting the 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 more convenient to observe.

[0100] The present application also provides another embodiment, i.e., to provide a computer readable storage medium storing a pressure calibration program based on acceleration compensation, which can be executed by at least one processor to enable the at least one processor to perform the steps of the pressure calibration method based on acceleration compensation as described above.

[0101] The embodiment sets the computer readable storage medium corresponding to the pressure calibration method based on acceleration compensation, and can correct the pressure detection value and improve the detection precision.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application 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 plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present application.

[0103] Obviously, the above-described embodiments are only some of the embodiments of the present application, not all the embodiments, and the preferred embodiments of the present application are given in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing specific embodiments, or make equivalent replacements to some technical features. Any equivalent structure made by using the content of the specification and drawings, directly or indirectly applied to other related technical fields, is also within the scope of the patent protection of the present application.

Claims

1. A method for pressure calibration based on acceleration compensation for an interventional robot, the interventional robot comprising at least a first drive unit connected to a first interventional consumable, characterized in that, The method comprises: obtaining 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; updating the first pressure detection value according to the acceleration force value; The intervention robot further comprises a second driving unit not connected with the first intervention consumable, and when the first pressure detection value and the acceleration of the first driving unit are obtained, the method further comprises: synchronizing the second driving unit with the first driving unit to obtain a second pressure detection value of the second driving unit in an empty state; calculating the acceleration according to the second pressure detection value.

2. The acceleration compensation based pressure calibration method of claim 1, wherein, The step of synchronizing the second driving unit with the first driving unit comprises: obtaining a working parameter of the first driving unit, and configuring the second driving unit according to the working parameter to synchronize the second driving unit with the first driving unit.

3. The acceleration compensation based pressure calibration method of claim 1, wherein, The step of calculating the acceleration according to the second pressure detection value comprises:

4. The acceleration compensation based pressure calibration method of claim 1, wherein, obtaining a second mass of the second driving unit, and calculating the acceleration according to the second pressure detection value and the second mass. The step of calculating the acceleration force value of the first driving unit according to the acceleration comprises:

5. The acceleration compensation based pressure calibration method of claim 1, wherein, obtaining a first mass of the first driving unit, and calculating the acceleration force value according to the acceleration and the first mass. The step of updating the first pressure detection value according to the acceleration force value comprises:

6. A pressure calibration device based on acceleration compensation for performing the method of any one of claims 1 to 5, characterized in that subtracting the acceleration force value from the first pressure detection value to obtain an updated first pressure detection value. It comprises: a collection unit for obtaining the first pressure detection value and the acceleration of the first driving unit; a calculation unit for calculating an acceleration force value of the first driving unit according to the acceleration; 7. A computer device, comprising: a correction unit for updating the first pressure detection value according to the acceleration force value.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer readable instructions, and the computer readable instructions are executed by the processor to realize the pressure calibration method based on acceleration compensation. The computer readable storage medium stores computer readable instructions, and the computer readable instructions are executed by the processor to realize the pressure calibration method based on acceleration compensation.

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