Surgical instrument gap identification method, device, equipment, medium and product

Abstract

The invention discloses a surgical instrument gap identification method, device and equipment, a medium and a product. The method is applied to the surgical robot and comprises the steps that in the process that a surgical instrument executes closing operation, first driving currents corresponding to a first driving motor at multiple moments and second driving motor currents corresponding to a second driving motor at multiple moments are obtained, and the first driving currents and the second driving motor currents are obtained; acquiring first position information corresponding to the first component at a plurality of moments and second position information corresponding to the second component; and determining a first component gap according to the plurality of first driving currents and the plurality of pieces of first position information, determining a second component gap according to the plurality of second driving currents and the plurality of pieces of second position information, and taking the first component gap and the second component gap as instrument gaps corresponding to the surgical instrument. According to the technical scheme, the effect of automatically recognizing the instrument gap of the surgical instrument without the help of other tools is achieved, the gap recognition process of the surgical instrument is simplified, and the gap recognition efficiency of the surgical instrument is improved.

Description

Technical Field

[0001] The present invention relates to the field of surgical robot control technology, and in particular to a surgical instrument gap recognition method, device, equipment, medium and product. Background Art

[0002] With the rapid development of medical technology, surgical robots play an increasingly important role in modern medical surgery. However, in the application of surgical robots, surgical instruments have assembly inconsistencies, deformation of steel wires and structural parts, and other problems, which cause instrument gaps that greatly affect the accuracy of surgical instruments. In order to improve the quality and effect of surgery, there is an urgent need for a method that can accurately identify instrument gaps.

[0003] In the related art, the instrument gap of the surgical instrument is usually identified by means of an external gap identification tool. This gap identification method may have the problems of complicated operation process, time-consuming and labor-intensive, and high gap identification cost. The gap identification efficiency of the surgical instrument is low, which may affect the accuracy compensation efficiency of the surgical instrument. Summary of the invention

[0004] The present invention provides a surgical instrument gap recognition method, device, equipment, medium and product to achieve the effect of automatically identifying the instrument gap of surgical instruments without the aid of other tools, simplify the surgical instrument gap recognition process, and improve the surgical instrument gap recognition efficiency.

[0005] According to one aspect of the present invention, a method for identifying a gap between surgical instruments is provided. The method is applied to a surgical robot and comprises:

[0006] During the closing operation of the surgical instrument connected to the end of the robotic arm, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments are obtained, and first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments are obtained; wherein the surgical instrument includes a clamp:

[0007] Determine a first component gap corresponding to the first component according to the plurality of first drive currents and the plurality of first position information, and determine a second component gap corresponding to the second component according to the plurality of second drive currents and the plurality of second position information, and use the first component gap and the second component gap as an instrument gap corresponding to the surgical instrument;

[0008] The instrument gap is a basic gap amount that needs to be compensated when the surgical instrument performs each preset operation.

[0009] According to another aspect of the present invention, a surgical instrument gap recognition device is provided, the device being configured on a surgical robot, comprising:

[0010] A driving current acquisition module is used to acquire, during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments, and to acquire first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments; wherein the surgical instrument includes a clamp:

[0011] An instrument gap determination module is used to determine a first component gap corresponding to the first component based on multiple first drive currents and multiple first position information, and to determine a second component gap corresponding to the second component based on multiple second drive currents and multiple second position information, and use the first component gap and the second component gap as the instrument gap corresponding to the surgical instrument; wherein the instrument gap is a basic gap amount that the surgical instrument needs to compensate for when performing each preset operation.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical instrument gap identification method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument gap identification method described in any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for identifying a gap between surgical instruments according to any embodiment of the present invention is implemented.

[0018] The technical solution of the embodiment of the present invention obtains the first driving current corresponding to the first driving motor controlling the first component of the surgical instrument at multiple moments and the second driving motor current corresponding to the second driving motor controlling the second component of the surgical instrument at multiple moments during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, and obtains the first position information corresponding to the first component at multiple moments and the second position information corresponding to the second component at multiple moments; further, according to the multiple first driving currents and the multiple first position information, the first component gap corresponding to the first component is determined, and, according to the multiple second driving currents and the multiple second position information, the second component gap corresponding to the second component is determined, and the first component gap and the second component gap are used as the instrument gap corresponding to the surgical instrument, which solves the problems of complicated instrument gap recognition operation process, time-consuming and labor-intensive, and high gap recognition cost existing in the related art, and achieves the effect of automatically identifying the instrument gap of the surgical instrument without the aid of other tools, simplifies the gap recognition process of the surgical instrument, improves the gap recognition efficiency of the surgical instrument, and further improves the precision compensation efficiency of the surgical instrument, and improves the surgical execution efficiency and surgical execution accuracy.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a surgical instrument gap identification method provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a surgical instrument gap identification method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 is a schematic structural diagram of a surgical instrument gap identification device provided according to Embodiment 3 of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the surgical instrument gap recognition method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 This is a flow chart of a surgical instrument gap recognition method provided by the first embodiment of the present invention. This embodiment can be applied to the case of recognizing the instrument gap of the surgical instrument connected to the end of the robotic arm in the surgical robot. The method is applied to the surgical robot and can be executed by a surgical instrument gap recognition device. The surgical instrument gap recognition device can be implemented in the form of hardware and / or software. The surgical instrument gap recognition device can be configured in a terminal and / or a server. Figure 1 As shown, the method includes:

[0029] S110. During the closing operation of the surgical instrument connected to the end of the robotic arm, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments are obtained, as well as first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments are obtained.

[0030] Among them, the surgical robot is an instrument used to assist medical staff in performing surgical operations. Exemplarily, the surgical robot can be a laparoscopic surgical robot. It can be understood that the surgical robot includes a console, a robotic arm and / or a video imaging system. Generally, when a surgical robot is used to perform a corresponding surgical operation, the surgical instrument is usually connected to the end of the robotic arm, and then the robotic arm can be controlled to make the connected surgical instrument perform the corresponding operation. In this embodiment, the surgical instrument connected to the end of the robotic arm can be a surgical instrument for performing a closing operation. Optionally, the surgical instrument includes a clamp; it can also include surgical forceps, a needle holder and other surgical instruments capable of performing a closing operation. The closing operation can be understood as starting to close when the surgical instrument is in an open state and ending when the surgical instrument is in a closed state. The closed state is used to indicate the corresponding state when the first component and the second component are in contact with each other and no clamping force is applied. In other words, when the surgical instrument is in a closed state, the first component and the second component of the surgical instrument do not apply a clamping force to the object to be clamped, that is, the surgical instrument cannot clamp the object to be clamped. The first component and the second component are instrument components in the surgical instrument used to directly clamp the object to be clamped. Optionally, the first component may be a left clamp or a right clamp in a surgical instrument. The second component may be a left clamp or a right clamp in a surgical instrument. Exemplarily, in the case where the first component is a left clamp of a surgical instrument, the second component may be a right clamp of a surgical instrument. The first drive motor may be a motor that controls the first component to perform a corresponding operation. The second drive motor may be a motor that controls the second component to perform a corresponding operation. The multiple moments may be moments included in the process of the surgical instrument performing a closing operation. The multiple moments at least include the moments corresponding to when the surgical instrument is in a closed state. In this embodiment, the first component of the surgical instrument can be driven by the first drive motor to perform a closing operation, and during the process of the first component performing the closing operation, the current of the first drive motor is collected, and the collected driving current is used as the first driving current. And, the second component of the surgical instrument can be driven by the second drive motor to perform a closing operation, and during the process of the second component performing the closing operation, the current of the second drive motor is collected, and the collected driving current is used as the second driving current.

[0031] Among them, the first position information can be used to characterize the position of the first component of the surgical instrument at the corresponding moment when the surgical instrument performs a closing operation. The first position information can include multiple representations, optionally including instrument component angles and / or instrument component position coordinates. Exemplarily, assuming that the surgical instrument is a clamp, the first component is the left clamp head of the clamp, and the first position information is the instrument component angle. The clamp centerline can be taken as the 0 degree line, and the angle between the left clamp head and the clamp centerline can be taken as the first position information of the first component. Alternatively, in the case where the first position information is the instrument component position coordinate, the clamp centerline can be taken as the horizontal axis, and the vertical line of the clamp centerline can be taken as the vertical axis to construct a coordinate system, and the position coordinates of the end of the first component in the constructed coordinate system are taken as the first position information. The second position information can be used to characterize the position of the second component of the surgical instrument at the corresponding moment when the surgical instrument performs a closing operation. The second position information can include multiple representations, optionally including instrument component angles and / or instrument component position coordinates. Exemplarily, in the case where the second position information is represented as the instrument component angle, the second position information can be the angle between the second component and the clamp centerline. When the second position information is expressed in the form of position coordinates of an instrument component, the second position information may be the position coordinates of the end of the second component in a coordinate system constructed based on the surgical instrument.

[0032] In this embodiment, the surgical instrument connected to the end of the mechanical arm of the surgical robot can be controlled to perform a closing operation. Further, in the process of the surgical instrument performing a closing operation, for the multiple moments included in the closing operation process, the motor current of the first drive motor that drives the first component of the surgical instrument to perform the closing operation at each moment can be collected, and the collected motor current can be used as the first drive current corresponding to the first drive motor at each moment. While collecting the motor current, the position information corresponding to the first component of the surgical instrument at each moment can also be collected, and the collected position information can be used as the first position information corresponding to the first component at each moment. And, the motor current of the second drive motor that drives the second component of the surgical instrument to perform the closing operation at each moment is collected, and the collected motor current is used as the second drive current corresponding to the second drive motor at each moment. While collecting the drive current, the position information corresponding to the second component of the surgical instrument at each moment can also be collected, and the collected position information can be used as the second position information corresponding to the second component at each moment.

[0033] Exemplarily, it is assumed that the surgical instrument is a clamp, the first component is the left clamp head of the clamp, and the second component is the right clamp head of the clamp. During the process of the clamp performing a closing operation, for the multiple moments included in the closing operation process, the motor current of the first drive motor that drives the left clamp head to perform the closing operation at each moment can be collected, and the collected motor current is used as the first drive current corresponding to the first drive motor at each moment. While collecting the motor current, the clamp head angle corresponding to the left clamp head at each moment can also be collected, and the collected clamp head angle is used as the first position information corresponding to the left clamp head at each moment. And, the motor current of the second drive motor that drives the right clamp head to perform the closing operation at each moment is collected, and the collected motor current is used as the second drive current corresponding to the second drive motor at each moment. While collecting the drive current, the clamp head angle corresponding to the right clamp head at each moment can also be collected, and the collected clamp head angle is used as the second position information corresponding to the right clamp head at each moment.

[0034] S120. Determine a first component gap corresponding to the first component based on multiple first driving currents and multiple first position information, and determine a second component gap corresponding to the second component based on multiple second driving currents and multiple second position information, and use the first component gap and the second component gap as the instrument gap corresponding to the surgical instrument.

[0035] Among them, the first component gap can be the basic instrument gap corresponding to the first component. In other words, the first component gap is the gap amount that needs to be compensated for the first component when the first component is used to perform each operation. The second component gap is the basic instrument gap corresponding to the second component. The second component gap can be the gap amount that needs to be compensated for the second component when the second component is used to perform each operation. The instrument gap is the basic gap amount that the surgical instrument needs to compensate for when performing each preset operation. The preset operation can include any operation that the surgical instrument can perform, optionally including opening operation, closing operation, clamping operation and rotation operation, etc.

[0036] It should be noted that wire rope transmission is mostly used between surgical instruments and robotic arms, that is, when the corresponding instrument assembly is controlled by the drive motor to perform a closing operation, the force and movement of the drive motor are transmitted to the corresponding instrument assembly through the wire rope, and the wire rope is first pulled by the drive motor, and the corresponding instrument assembly will be driven to move only when the wire rope is in a tensioned state. However, as the use time and the number of times of use increase, the wire rope will be slowly stretched, which will lead to a certain gap. When the corresponding instrument assembly is controlled by the drive motor to perform a closing operation, the drive motor will first go through the gap. At this time, the drive motor does not do work. After going through all the gaps, the force of the drive motor can actually act on the corresponding instrument assembly to drive the corresponding instrument assembly to perform a closing operation. Based on this, when determining the first component gap of the first component and the second component gap of the second component, the moment when the drive motor just acts on the corresponding instrument assembly can be determined, and the instrument gap of the corresponding instrument assembly can be determined according to the position information corresponding to the moment.

[0037] In this embodiment, when the first driving current corresponding to the first driving motor at multiple moments and the first position information corresponding to the first component at multiple moments are obtained, data analysis can be performed on the multiple first driving currents to determine the moment corresponding to the sudden change of the first driving current, and the moment is used as the target gap moment. Further, the first position information corresponding to the target gap moment can be used as the first component gap corresponding to the first component. And, when the second driving current corresponding to the second driving motor at multiple moments and the second position information corresponding to the second component at multiple moments are obtained, data analysis can be performed on the multiple second driving currents to determine the moment corresponding to the sudden change of the second driving current, and the moment is used as the target gap moment. Further, the second position information corresponding to the target gap moment can be used as the second component gap corresponding to the second component. Further, after obtaining the first component gap and the second component gap, the first component gap and the second component gap can be used as the instrument gap corresponding to the surgical instrument. It should be noted that the moment corresponding to the sudden change of the current is used as the target gap moment because the driving motor does almost no work when walking the gap, and can only do work when the driving motor actually acts on the corresponding instrument component. The moment corresponding to the sudden change in current can be understood as the moment corresponding to when the drive motor actually acts on the corresponding instrument component.

[0038] In this embodiment, the method of determining the time corresponding to the sudden change of the first driving current according to the multiple first driving currents may include multiple methods. Optionally, the current change coefficient corresponding to each moment is determined according to the multiple first driving currents, and the time corresponding to the minimum current change coefficient is used as the time corresponding to the sudden change of the current; or the current change curve is determined according to the multiple first driving currents, and the time corresponding to the inflection point of the current change curve is used as the time corresponding to the sudden change of the current.

[0039] In this embodiment, after the instrument gap is determined, accuracy compensation can be performed based on the instrument gap when the surgical instrument performs a corresponding operation.

[0040] Optionally, based on the above technical solutions, it also includes: when controlling the surgical instrument to perform a preset operation, precision compensation is performed based on the instrument gap corresponding to the surgical instrument.

[0041] Among them, the preset operations include opening operation, closing operation, clamping operation and rotating operation.

[0042] In this embodiment, after the instrument gap corresponding to the surgical instrument is determined, when the surgical instrument is controlled to perform a preset operation, accuracy compensation may be performed based on the instrument gap corresponding to the surgical instrument.

[0043] It should be noted that the surgical instrument includes a first component and a second component that can perform a preset operation, and further, controlling the surgical instrument to perform the preset operation may include only the first component performing the preset operation, only the second component performing the preset operation, and the first component and the second component performing the preset operation. Further, when performing precision compensation on the surgical instrument, precision compensation may be performed on the corresponding instrument components respectively.

[0044] Optionally, precision compensation is performed based on an instrument gap corresponding to the surgical instrument, including: precision compensation for a first component based on a first component gap, and / or precision compensation for a second component based on a second component gap.

[0045] As an optional implementation of this embodiment, when the preset operation performed by the surgical instrument involves the first component, in the process of controlling the surgical instrument to perform the preset operation, the first component can be precision compensated based on the first component gap. When the preset operation performed by the surgical instrument involves the second component, in the process of controlling the surgical instrument to perform the preset operation, the second component can be precision compensated based on the second component gap. When the preset operation performed by the surgical instrument involves the first component and the second component, in the process of controlling the surgical instrument to perform the preset operation, the first component can be precision compensated based on the first component gap, and the second component can be precision compensated based on the second component gap.

[0046] The technical solution of the embodiment of the present invention obtains the first driving current corresponding to the first driving motor controlling the first component of the surgical instrument at multiple moments and the second driving motor current corresponding to the second driving motor controlling the second component of the surgical instrument at multiple moments during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, and obtains the first position information corresponding to the first component at multiple moments and the second position information corresponding to the second component at multiple moments; further, according to the multiple first driving currents and the multiple first position information, the first component gap corresponding to the first component is determined, and, according to the multiple second driving currents and the multiple second position information, the second component gap corresponding to the second component is determined, and the first component gap and the second component gap are used as the instrument gap corresponding to the surgical instrument, which solves the problems of complicated instrument gap recognition operation process, time-consuming and labor-intensive, and high gap recognition cost existing in the related art, and achieves the effect of automatically identifying the instrument gap of the surgical instrument without the aid of other tools, simplifies the gap recognition process of the surgical instrument, improves the gap recognition efficiency of the surgical instrument, and further improves the precision compensation efficiency of the surgical instrument, and improves the surgical execution efficiency and surgical execution accuracy.

[0047] Embodiment 2

[0048] Figure 2 This is a flow chart of a surgical instrument gap identification method provided in Embodiment 2 of the present invention. On the basis of the above embodiments, the process of determining the gap of the first component is further refined. Optionally, the first component gap corresponding to the first component is determined based on multiple first drive currents and multiple first position information, including: determining the target position information based on multiple first drive currents and multiple first position information; determining the first component gap corresponding to the first component based on the target position information. The specific implementation method can be found in the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above embodiments are not repeated here.

[0049] like Figure 2 As shown, the method includes:

[0050] S210. During the closing operation of the surgical instrument connected to the end of the robotic arm, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments are obtained, as well as first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments are obtained.

[0051] S220 , determining first target position information according to the plurality of first driving currents and the plurality of first position information.

[0052] Among them, the first target position information may be the first position information corresponding to the first component at a corresponding moment.

[0053] In this embodiment, when multiple first driving currents are obtained, the target gap moment can be determined according to the multiple driving currents, and the first position information corresponding to the first component at the target gap moment is used as the first target position information.

[0054] Optionally, the first target position information is determined based on multiple first driving currents and multiple first position information, including: for multiple moments, determining the current change rate corresponding to the current moment based on the first driving current corresponding to the current moment and the first driving current corresponding to the moment before the current moment, and determining the current change coefficient corresponding to the current moment based on the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment; determining the minimum current change coefficient from the multiple current change coefficients, taking the moment corresponding to the minimum current change coefficient as the target gap moment, and taking the first position information corresponding to the first component at the target gap moment as the first target position information.

[0055] Among them, the current change rate can be used to indicate the change trend of the current over time. The current change coefficient can be used to indicate the change trend of the current change rate over time. The current change parameter can be used to describe the acceleration or deceleration rate of the current change.

[0056] As an optional implementation of this embodiment, for multiple moments, the current difference between the first driving current corresponding to the first component at the current moment and the first driving current corresponding to the previous moment of the current moment can be determined, and the moment difference between the current moment and the previous moment can be determined. Further, the ratio between the current difference and the moment difference can be determined, and the ratio is used as the current change rate corresponding to the current moment. Further, after obtaining the current change rate corresponding to each moment, for multiple moments, the change rate difference between the current change rate corresponding to the current moment and the current change rate corresponding to the previous moment of the current moment can be determined, and the moment difference between the current moment and the previous moment can be determined. Further, the ratio between the change rate difference and the moment difference can be determined, and the ratio is used as the current change coefficient corresponding to the current moment. Further, after obtaining the current change coefficient corresponding to each moment, the minimum current change coefficient can be determined from the multiple current change coefficients, and the moment corresponding to the minimum current change coefficient is used as the target gap moment. Furthermore, the first position information corresponding to the first component at the target gap moment can be used as the first target position information.

[0057] Optionally, the first target position information is determined based on multiple first drive currents and multiple first position information, including: fitting the first drive currents corresponding to multiple moments to obtain a current change curve; determining the inflection point of the current change curve, taking the moment corresponding to the inflection point of the curve as the target gap moment, and taking the first position information corresponding to the first component at the target gap moment as the first target position information.

[0058] Among them, the current change curve can be used to characterize the change trend of the current of the first drive current over time. The current change curve can be a curve generated by taking the moment as the horizontal coordinate value and the first drive current as the vertical coordinate value. The inflection point of the curve refers to the point where the curve changes upward or downward, that is, the concave and convex dividing point of the curve. In general, the curve function corresponding to the current change curve can be determined, and the second-order continuous derivative function corresponding to the curve function can be determined. Furthermore, the point where the second-order continuous derivative function is zero can be used as the inflection point of the curve.

[0059] As another optional implementation of this embodiment, when multiple first drive currents are obtained, the multiple first drive currents can be fitted, and the curve obtained by fitting is used as the current change curve. Further, the curve function of the current change curve is determined, the second-order derivative function of the curve function is determined, and the second-order derivative function is set equal to zero to obtain the equation to be solved. After that, the equation to be solved is solved, and the inflection point of the curve is determined according to the obtained solution of the equation. Further, the moment corresponding to the inflection point of the curve can be used as the target gap moment, and the first position information corresponding to the first component at the target gap moment can be used as the first target position information.

[0060] S230. Determine a first component gap corresponding to the first component according to the first target position information, and determine a second component gap corresponding to the second component according to a plurality of second driving currents and a plurality of second position information, and use the first component gap and the second component gap as instrument gaps corresponding to the surgical instrument.

[0061] In this embodiment, after the first target position information is obtained, the first component gap corresponding to the first component may be determined according to the first target position information.

[0062] It should be noted that there may be multiple ways to determine the first component gap based on the first target position information. Optionally, the first target position information may be directly used as the first component gap; or, the first component gap may be determined based on the first target position information and a preset gap coefficient, for example, the product of the first target position information and the preset gap coefficient may be used as the first component gap; or, the sum of the first target position information and the preset gap coefficient may be used as the first component gap, etc.

[0063] Optionally, determining a first component gap corresponding to the first component according to the first target position information includes: using the first target position information as the first component gap corresponding to the first component.

[0064] As an optional implementation of this embodiment, after obtaining the first target position information, the first target position information can be used as a first component gap corresponding to the first component.

[0065] It should be noted that the second component gap can be determined in the same manner as the first component gap. That is, the second component gap corresponding to the second component is determined based on multiple second drive currents and multiple second position information, including: determining the second target position information based on multiple second drive currents and multiple second position information; determining the second component gap corresponding to the second component based on the second target position information. Further, the second target position information is determined based on multiple second drive currents and multiple second position information, including: for multiple moments, determining the current change rate corresponding to the current moment based on the second drive current corresponding to the current moment and the second drive current corresponding to the previous moment of the current moment, and determining the current change coefficient corresponding to the current moment based on the current change rate corresponding to the current moment and the current change rate corresponding to the previous moment; determining the minimum current change coefficient from the multiple current change coefficients, taking the moment corresponding to the minimum current change coefficient as the target gap moment, and taking the second position information corresponding to the second component at the target gap moment as the second target position information. Or, determining the second target position information based on multiple second drive currents and multiple second position information includes: fitting the second drive currents corresponding to multiple moments to obtain a current change curve; determining the inflection point of the current change curve, taking the moment corresponding to the inflection point as the target gap moment, and taking the second position information corresponding to the second component at the target gap moment as the second target position information. Further, determining the second component gap corresponding to the second component based on the second target position information includes: taking the second target position information as the second component gap corresponding to the second component.

[0066] The technical solution of the embodiment of the present invention determines the first target position information according to multiple first driving currents and multiple first position information; determines the first component gap corresponding to the first component according to the target position information, and determines the second component gap corresponding to the second component according to multiple second driving currents and multiple second position information, and uses the first component gap and the second component gap as the instrument gap corresponding to the surgical instrument, thereby achieving the effect of determining the component gap of the relevant instrument component based on the driving current, and then determining the instrument gap of the surgical instrument, simplifying the difficulty of gap recognition of the surgical instrument, and improving the gap recognition efficiency of the surgical instrument.

[0067] Embodiment 3

[0068] Figure 3 Schematic diagram of the structure of a surgical instrument gap recognition device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device is configured in a surgical robot, and includes: a driving current acquisition module 310 and an instrument gap determination module 320 .

[0069] Among them, the driving current acquisition module 310 is used to obtain the first driving current corresponding to the first driving motor controlling the first component of the surgical instrument at multiple moments and the second driving motor current corresponding to the second driving motor controlling the second component of the surgical instrument at multiple moments during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, and to obtain the first position information corresponding to the first component at multiple moments and the second position information corresponding to the second component at multiple moments; wherein the surgical instrument includes a clamp; the instrument gap determination module 320 is used to determine the first component gap corresponding to the first component according to multiple first driving currents and multiple first position information, and to determine the second component gap corresponding to the second component according to multiple second driving currents and multiple second position information, and use the first component gap and the second component gap as the instrument gap corresponding to the surgical instrument; wherein the instrument gap is the basic gap amount that the surgical instrument needs to compensate for when performing each preset operation.

[0070] The technical solution of the embodiment of the present invention obtains the first driving current corresponding to the first driving motor controlling the first component of the surgical instrument at multiple moments and the second driving motor current corresponding to the second driving motor controlling the second component of the surgical instrument at multiple moments during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, and obtains the first position information corresponding to the first component at multiple moments and the second position information corresponding to the second component at multiple moments; further, according to the multiple first driving currents and the multiple first position information, the first component gap corresponding to the first component is determined, and, according to the multiple second driving currents and the multiple second position information, the second component gap corresponding to the second component is determined, and the first component gap and the second component gap are used as the instrument gap corresponding to the surgical instrument, which solves the problems of complicated instrument gap recognition operation process, time-consuming and labor-intensive, and high gap recognition cost existing in the related art, and achieves the effect of automatically identifying the instrument gap of the surgical instrument without the aid of other tools, simplifies the gap recognition process of the surgical instrument, improves the gap recognition efficiency of the surgical instrument, and further improves the precision compensation efficiency of the surgical instrument, and improves the surgical execution efficiency and surgical execution accuracy.

[0071] Optionally, the equipment gap determination module 320 includes: a position information determination unit and an equipment gap determination unit.

[0072] a position information determining unit, configured to determine first target position information according to a plurality of the first driving currents and a plurality of the first position information;

[0073] An equipment gap determination unit is used to determine a first component gap corresponding to the first component according to the target position information.

[0074] Optionally, the position information determination unit includes: a variation coefficient determination subunit and a position information determination subunit.

[0075] a change coefficient determination subunit, for determining, for a plurality of the moments, a current change rate corresponding to the current moment according to a first drive current corresponding to the current moment and a first drive current corresponding to a moment before the current moment, and determining a current change coefficient corresponding to the current moment according to the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment;

[0076] The position information determination subunit is used to determine the minimum current change coefficient from the multiple current change coefficients, use the moment corresponding to the minimum current change coefficient as the target gap moment, and use the first position information corresponding to the first component at the target gap moment as the first target position information.

[0077] Optionally, the position information determining unit further includes: a change curve generating subunit and a position information determining subunit.

[0078] A change curve generating subunit, used for performing fitting processing on the first driving current corresponding to the plurality of said moments to obtain a current change curve;

[0079] The position information determination subunit is used to determine the inflection point of the current change curve, take the time corresponding to the inflection point of the curve as the target gap time, and take the first position information corresponding to the first component at the target gap time as the first target position information.

[0080] Optionally, the component gap determination unit is specifically configured to use the first target position information as a first component gap corresponding to the first component.

[0081] Optionally, the device further includes: a precision compensation module.

[0082] A precision compensation module, used to perform precision compensation based on the instrument gap corresponding to the surgical instrument when controlling the surgical instrument to perform a preset operation; wherein the preset operation includes an opening operation, a closing operation, a clamping operation, and a rotating operation;

[0083] The precision compensation module is specifically used to perform precision compensation on the first component based on the first component gap, and / or to perform precision compensation on the second component based on the second component gap.

[0084] The surgical instrument gap recognition device provided in the embodiment of the present invention can execute the surgical instrument gap recognition method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Embodiment 4

[0086] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0087] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0088] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0089] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a surgical instrument gap recognition method.

[0090] In some embodiments, the surgical instrument gap identification method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the surgical instrument gap identification method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the surgical instrument gap identification method in any other appropriate manner (for example, by means of firmware).

[0091] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0093] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0095] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0096] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical instrument gap recognition method, characterized in that: Applied to surgical robots, including: During the closing operation of the surgical instrument connected to the end of the robotic arm, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments are obtained, and first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments are obtained; wherein the surgical instrument includes a clamp: Determine a first component gap corresponding to the first component according to the plurality of first drive currents and the plurality of first position information, and determine a second component gap corresponding to the second component according to the plurality of second drive currents and the plurality of second position information, and use the first component gap and the second component gap as an instrument gap corresponding to the surgical instrument; The instrument gap is a basic gap amount that needs to be compensated when the surgical instrument performs each preset operation.

2. The surgical instrument gap recognition method according to claim 1, characterized in that: The determining, according to the plurality of the first driving currents and the plurality of the first position information, a first component gap corresponding to the first component comprises: determining first target position information according to the plurality of first driving currents and the plurality of first position information; A first component gap corresponding to the first component is determined according to the target position information.

3. The surgical instrument gap recognition method according to claim 2, characterized in that: The determining the first target position information according to the plurality of the first driving currents and the plurality of the first position information comprises: For the plurality of moments, determining a current change rate corresponding to the current moment according to a first drive current corresponding to the current moment and a first drive current corresponding to a moment before the current moment, and determining a current change coefficient corresponding to the current moment according to the current change rate corresponding to the current moment and the current change rate corresponding to the moment before the current moment; A minimum current change coefficient is determined from the multiple current change coefficients, a moment corresponding to the minimum current change coefficient is used as a target gap moment, and first position information of the first component corresponding to the target gap moment is used as first target position information.

4. The surgical instrument gap recognition method according to claim 2, characterized in that: The determining the first target position information according to the plurality of the first driving currents and the plurality of the first position information comprises: Performing fitting processing on the first driving currents corresponding to the plurality of moments to obtain a current variation curve; Determine the inflection point of the current change curve, take the time corresponding to the inflection point of the curve as the target gap time, and take the first position information of the first component corresponding to the target gap time as the first target position information.

5. The surgical instrument gap recognition method according to claim 2, characterized in that: The determining a first component gap corresponding to the first component according to the first target position information includes: The first target position information is used as a first component gap corresponding to the first component.

6. The surgical instrument gap recognition method according to claim 1, characterized in that: Also includes: When controlling the surgical instrument to perform a preset operation, precision compensation is performed based on an instrument gap corresponding to the surgical instrument; wherein the preset operation includes an opening operation, a closing operation, a clamping operation, and a rotating operation; The precision compensation based on the instrument gap corresponding to the surgical instrument comprises: The first component is precision compensated based on the first component gap, and / or the second component is precision compensated based on the second component gap.

7. A surgical instrument gap recognition device, characterized in that: Configured in surgical robots, including: A driving current acquisition module is used to acquire, during the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at multiple moments and a second driving motor current corresponding to a second driving motor controlling a second component of the surgical instrument at multiple moments, and to acquire first position information corresponding to the first component at multiple moments and second position information corresponding to the second component at multiple moments; wherein the surgical instrument includes a clamp: An instrument gap determination module is used to determine a first component gap corresponding to the first component based on multiple first drive currents and multiple first position information, and to determine a second component gap corresponding to the second component based on multiple second drive currents and multiple second position information, and use the first component gap and the second component gap as the instrument gap corresponding to the surgical instrument; wherein the instrument gap is a basic gap amount that the surgical instrument needs to compensate for when performing each preset operation.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the surgical instrument gap identification method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical instrument gap identification method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the surgical instrument gap identification method according to claims 1-6.

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