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

Abstract

The application discloses a surgical instrument gap identification method, device, equipment, medium and product. The method is applied to a surgical robot, and comprises the following steps: in the process that a surgical instrument performs a closing operation, a first driving current corresponding to a first driving motor at multiple moments and a second driving motor current corresponding to a second driving motor are acquired, and first position information corresponding to a first component at the multiple moments and second position information corresponding to a second component are acquired; a first assembly gap is determined according to the multiple first driving currents and the multiple first position information, a second assembly gap is determined according to the multiple second driving currents and the multiple second position information, and the first assembly gap and the second assembly gap are taken as instrument gaps corresponding to the surgical instrument. The technical scheme realizes the effect that the instrument gap of the surgical instrument is automatically identified without the aid of other tools, simplifies the gap identification process of the surgical instrument, and improves the gap identification efficiency of the surgical instrument.

Description

Technical Field

[0001] This invention relates to the field of surgical robot control technology, and in particular to a method, device, equipment, medium, and product for identifying gaps between surgical instruments. Background Technology

[0002] With the rapid development of medical technology, surgical robots are playing an increasingly important role in modern surgical procedures. However, in the application of surgical robots, issues such as inconsistencies in the assembly of surgical instruments and deformation of wires and structural components can lead to instrument gaps that significantly affect the precision of surgical instruments. To improve the quality and effectiveness of surgery, there is an urgent need for a method that can accurately identify instrument gaps.

[0003] In related technologies, external gap identification tools are typically used to identify the gaps between surgical instruments. This gap identification method may have problems such as complex operation, time-consuming and labor-intensive process, and high gap identification cost. The gap identification efficiency of surgical instruments is low, which may affect the accuracy compensation efficiency of surgical instruments. Summary of the Invention

[0004] This invention provides a method, apparatus, device, medium, and product for identifying gaps in surgical instruments, thereby achieving the effect of automatically identifying gaps in surgical instruments without the need for other tools, simplifying the gap identification process, and improving the efficiency of gap identification.

[0005] According to one aspect of the present invention, a method for identifying gaps in surgical instruments is provided, the method being applied to a surgical robot, comprising:

[0006] During the closure operation of a surgical instrument connected to the end effector of a robotic arm, the system acquires a first drive current at multiple times corresponding to a first drive motor controlling a first component of the surgical instrument, and a second drive motor current at multiple times corresponding to a second drive motor controlling a second component of the surgical instrument. It also acquires first position information of the first component at multiple times and second position information of the second component at multiple times. The surgical instrument includes clamps.

[0007] Based on a plurality of first driving currents and a plurality of first position information, a first component gap corresponding to the first component is determined, and based on a plurality of second driving currents and a plurality of second position information, a 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;

[0008] The instrument gap is the basic gap that the surgical instrument needs to compensate for when performing each preset operation.

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

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

[0011] The instrument gap determination module is used to determine a first component gap corresponding to the first component based on a plurality of first drive currents and a plurality of first position information, and to determine a second component gap corresponding to the second component based on a plurality of second drive currents and a plurality of second position information, and to 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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the surgical instrument gap identification method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the surgical instrument gap identification method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the surgical instrument gap recognition method according to any embodiment of the present invention.

[0018] The technical solution of this invention, during the closure operation of a surgical instrument connected to the end of a robotic arm, acquires the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second drive motor of the second component controlling the surgical instrument at multiple times, and acquires the first position information of the first component and the second position information of the second component at multiple times. Furthermore, based on the multiple first drive currents and multiple first position information, a first component gap corresponding to the first component is determined, and based on the multiple second drive currents and multiple second position information, a second component gap corresponding to the second component is determined. The first component gap and the second component gap are then used as the instrument gap corresponding to the surgical instrument. This solves the problems of complex, time-consuming, and costly instrument gap identification processes in related technologies, achieving automatic identification of surgical instrument gaps without the need for other tools. It simplifies the surgical instrument gap identification process, improves the surgical instrument gap identification efficiency, and consequently improves the surgical instrument precision compensation efficiency, thereby improving surgical execution efficiency and surgical execution accuracy.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a surgical instrument gap identification method provided in Embodiment 1 of the present invention;

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

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

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the surgical instrument gap recognition method of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] Figure 1 This is a flowchart of a surgical instrument gap identification method provided in Embodiment 1 of the present invention. This embodiment is applicable to the identification of instrument gaps between surgical instruments connected to the end effector of a robotic arm in a surgical robot. This method, applied in a surgical robot, can be executed by a surgical instrument gap identification device. This device can be implemented in hardware and / or software and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0029] S110. During the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second drive motor of the second component controlling the surgical instrument at multiple times are acquired, and the first position information of the first component at multiple times and the second position information of the second component at multiple times are acquired.

[0030] A surgical robot is an instrument used to assist medical personnel in performing surgical procedures. For example, a surgical robot may be a laparoscopic surgical robot. It is understood that a surgical robot includes a console, a robotic arm, and / or a video imaging system. Generally, when using a surgical robot to perform a surgical procedure, surgical instruments are typically connected to the end of the robotic arm. The robotic arm can then be controlled to cause the connected surgical instruments to perform the corresponding operations. In this embodiment, the surgical instrument connected to the end of the robotic arm may be a surgical instrument for performing a closure operation. Optionally, the surgical instrument includes clamps; it may also include surgical forceps, needle holders, and other surgical instruments capable of performing closure operations. A closure operation can be understood as starting when the surgical instrument is in an open state and ending when the surgical instrument is in a closed state. The closed state indicates the state corresponding to when the first and second components 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 and second components of the surgical instrument do not apply clamping force to the object to be clamped, meaning the surgical instrument cannot clamp the object. The first and second components are instrument components in the surgical instrument used to directly clamp the object to be clamped. Optionally, the first component can be either the left or right clamp head of a surgical instrument. The second component can also be either the left or right clamp head of a surgical instrument. For example, if the first component is the left clamp head of a surgical instrument, the second component can be the right clamp head of the surgical instrument. The first drive motor can be a motor that controls the first component to perform a corresponding operation. The second drive motor can be a motor that controls the second component to perform a corresponding operation. Multiple moments can be moments included during the process of the surgical instrument performing a closing operation. The multiple moments include at least the moment corresponding to when the surgical instrument is in a closed state. In this embodiment, the first component of the surgical instrument can be driven to perform a closing operation based on the first drive motor, and during the process of the first component performing a closing operation, the current of the first drive motor is collected, and the collected drive current is used as the first drive current. Similarly, the second component of the surgical instrument can be driven to perform a closing operation based on the second drive motor, and during the process of the second component performing a closing operation, the current of the second drive motor is collected, and the collected drive current is used as the second drive current.

[0031] The first position information can be used to characterize the position of the first component at a given moment when the surgical instrument performs a closure operation. The first position information can include various representations, optionally including instrument component angles and / or instrument component position coordinates. For example, assuming the surgical instrument is a clamp, the first component is the left clamp head, and the first position information is the instrument component angle. The clamp centerline can be used as the 0-degree line, and the angle between the left clamp head and the clamp centerline can be used as the first position information of the first component. Alternatively, if the first position information is instrument component position coordinates, a coordinate system can be constructed with the clamp centerline as the horizontal axis and the vertical line of the clamp centerline as the vertical axis, and the position coordinates of the end of the first component in the constructed coordinate system can be used as the first position information. The second position information can be used to characterize the position of the second component at a given moment when the surgical instrument performs a closure operation. The second position information can include various representations, optionally including instrument component angles and / or instrument component position coordinates. For example, if the second position information is represented as an 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 represented as the position coordinates of the instrument component, the second position information can 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 effector of the surgical robot's robotic arm can be controlled to perform a closing operation. Furthermore, during the closing operation, the motor current of the first drive motor driving the first component of the surgical instrument to perform the closing operation can be collected at each of the multiple moments included in the closing operation process, and the collected motor current is used as the first drive current of the first drive motor at each moment. Simultaneously with collecting the motor current, the position information of the first component of the surgical instrument at each moment can also be collected, and the collected position information is used as the first position information of the first component at each moment. Similarly, the motor current of the second drive motor driving the second component of the surgical instrument to perform the closing operation is collected at each moment, and the collected motor current is used as the second drive current of the second drive motor at each moment. Simultaneously with collecting the drive current, the position information of the second component of the surgical instrument at each moment can also be collected, and the collected position information is used as the second position information of the second component at each moment.

[0033] For example, assuming the surgical instrument is a clamp, the first component is the left clamp head, and the second component is the right clamp head. During the clamp's closing operation, for multiple moments included in the closing operation, the motor current of the first drive motor driving the left clamp head to perform the closing operation can be collected at each moment, and the collected motor current can be used as the first drive current of the first drive motor at each moment. Simultaneously with collecting the motor current, the clamp head angle of the left clamp head at each moment can also be collected, and the collected clamp head angle can be used as the first position information of the left clamp head at each moment. Similarly, the motor current of the second drive motor driving the right clamp head to perform the closing operation can be collected at each moment, and the collected motor current can be used as the second drive current of the second drive motor at each moment. Simultaneously with collecting the drive current, the clamp head angle of the right clamp head at each moment can also be collected, and the collected clamp head angle can be used as the second position information of the right clamp head at each moment.

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

[0035] The first component gap can be the basic instrument gap corresponding to the first component. In other words, the first component gap is the amount of gap that needs to be compensated for 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 amount of gap that needs to be compensated for 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 operations, closing operations, clamping operations, and rotation operations, etc.

[0036] It should be noted that surgical instruments and robotic arms mostly use wire rope transmission. That is, when a drive motor controls a corresponding instrument component to perform a closing operation, the force and motion of the drive motor are transmitted to the corresponding instrument component through the wire rope. First, the drive motor pulls the wire rope; only when the wire rope is taut will it move the corresponding instrument component. However, with increased usage time and frequency, the wire rope will gradually lengthen, leading to a certain gap. When the drive motor controls the corresponding instrument component to perform a closing operation, it will first traverse the gap; at this time, the drive motor does no work. Only after traversing the entire gap can the force of the drive motor actually act on the corresponding instrument component to drive it to perform the 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 applies force to the corresponding instrument component can be determined, and the instrument gap of the corresponding instrument component can be determined based on the position information corresponding to that moment.

[0037] In this embodiment, after obtaining the first drive current of the first drive motor at multiple times and the first position information of the first component at multiple times, data analysis can be performed on the multiple first drive currents to determine the moment when the first drive current suddenly changes, and this moment is taken as the target gap moment. Further, the first position information corresponding to the target gap moment can be taken as the first component gap corresponding to the first component. Similarly, after obtaining the second drive current of the second drive motor at multiple times and the second position information of the second component at multiple times, data analysis can be performed on the multiple second drive currents to determine the moment when the second drive current suddenly changes, and this moment is taken as the target gap moment. Further, the second position information corresponding to the target gap moment can be taken as the second component gap corresponding to the second component. Furthermore, after obtaining the first component gap and the second component gap, the first component gap and the second component gap can be taken as the instrument gap corresponding to the surgical instrument. It should be noted that the moment when the current suddenly changes is taken as the target gap moment because the drive motor does almost no work when moving through the gap; it only does work when the drive motor actually acts on the corresponding instrument component. The moment when the current suddenly changes can be understood as the moment when the drive motor actually acts on the corresponding mechanical component.

[0038] In this embodiment, the method for determining the moment corresponding to the sudden change of the first driving current based on multiple first driving currents can include several methods. Optionally, the current change coefficient corresponding to each moment can be determined based on multiple first driving currents, and the moment corresponding to the smallest current change coefficient can be taken as the moment corresponding to the sudden change of current; or, a current change curve can be determined based on multiple first driving currents, and the moment corresponding to the inflection point of the current change curve can be taken as the moment corresponding to the sudden change of current.

[0039] In this embodiment, after determining the instrument gap, precision compensation can be performed based on the instrument gap while the surgical instruments are performing corresponding operations.

[0040] Optionally, based on the above technical solutions, the method further includes: performing precision compensation based on the instrument gap corresponding to the surgical instrument while controlling the surgical instrument to perform a preset operation.

[0041] The preset operations include opening, closing, clamping, and rotating operations.

[0042] In this embodiment, after determining the instrument gap corresponding to the surgical instrument, precision compensation can be performed based on the instrument gap corresponding to the surgical instrument while controlling the surgical instrument to perform a preset operation.

[0043] It should be noted that the surgical instrument includes a first component and a second component capable of performing preset operations. Therefore, controlling the surgical instrument to perform preset operations can include only the first component performing the preset operation, only the second component performing the preset operation, or both the first and second components performing the preset operation. Furthermore, when performing precision compensation on the surgical instrument, precision compensation can be performed separately on the respective instrument components.

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

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

[0046] The technical solution of this invention, during the closure operation of a surgical instrument connected to the end of a robotic arm, acquires the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second drive motor of the second component controlling the surgical instrument at multiple times, and acquires the first position information of the first component and the second position information of the second component at multiple times. Furthermore, based on the multiple first drive currents and multiple first position information, a first component gap corresponding to the first component is determined, and based on the multiple second drive currents and multiple second position information, a second component gap corresponding to the second component is determined. The first component gap and the second component gap are then used as the instrument gap corresponding to the surgical instrument. This solves the problems of complex, time-consuming, and costly instrument gap identification processes in related technologies, achieving automatic identification of surgical instrument gaps without the need for other tools. It simplifies the surgical instrument gap identification process, improves the surgical instrument gap identification efficiency, and consequently improves the surgical instrument precision compensation efficiency, thereby improving surgical execution efficiency and surgical execution accuracy.

[0047] Example 2

[0048] Figure 2 This is a flowchart of a surgical instrument gap identification method provided in Embodiment 2 of the present invention. Based on the above embodiments, the process of determining the gap of the first component is further refined. Optionally, determining the gap of the first component corresponding to the first component based on multiple first driving currents and multiple first position information includes: determining target position information based on multiple first driving currents and multiple first position information; and determining the gap of the first component corresponding to the first component based on the target position information. Specific implementation methods can be found in the technical solution of this embodiment. Technical terms that are the same as or similar to those in the above embodiments will not be repeated here.

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

[0050] S210. During the process of the surgical instrument connected to the end of the robotic arm performing a closing operation, the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second drive motor of the second component controlling the surgical instrument at multiple times are acquired, and the first position information of the first component at multiple times and the second position information of the second component at multiple times are acquired.

[0051] S220. Determine the first target position information based on multiple first drive currents and multiple first position information.

[0052] The first target location information can be the first location information of the first component at the corresponding time.

[0053] In this embodiment, when multiple first drive currents are obtained, the target gap time can be determined based on the multiple drive currents, and the first position information corresponding to the first component at the target gap time can be used as the first target position information.

[0054] Optionally, determining the first target position information based on multiple first drive currents and multiple first position information includes: for multiple moments, determining the current change rate corresponding to the current moment based on the first drive current corresponding to the current moment and the first drive current corresponding to the previous 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 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 of the first component at the target gap moment as the first target position information.

[0055] The rate of change of current can be used to indicate the trend of current change over time. The coefficient of change of current can be used to indicate the trend of the rate of change of current over time. Current change parameters can be used to describe the acceleration or deceleration rate of current change.

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

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

[0058] The current variation curve can be used to characterize the trend of the first driving current changing over time. The current variation curve can be generated by using time as the abscissa and the first driving current as the ordinate. The inflection point of the curve is the point where the curve changes direction upwards or downwards, i.e., the boundary between concavity and convexity. Generally, the curve function corresponding to the current variation curve can be determined, along with its corresponding second-order continuous derivative. Furthermore, the point where the second-order continuous derivative is zero can be considered the inflection point of the curve.

[0059] As another optional implementation of this embodiment, when multiple first driving currents are obtained, the multiple first driving currents can be fitted, and the fitted curve can be used as the current change curve. Further, the curve function of the current change curve is determined, the second derivative of the curve function is determined, and the second derivative is set to zero to obtain the equation to be solved. Then, the equation to be solved is solved, and the inflection point of the curve is determined based on the obtained solution. Further, the time corresponding to the inflection point of the curve can be used as the target gap time, and the first position information of the first component at the target gap time can be used as the first target position information.

[0060] S230. Determine the first component gap corresponding to the first component based on the first target position information, and determine the 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.

[0061] In this embodiment, after obtaining the first target location information, the gap between the first components corresponding to the first component can be determined based on the first target location information.

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

[0063] Optionally, determining the gap between the first component and the first component based on the first target location information includes: using the first target location information as the gap between the first component and the first component.

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

[0065] It should be noted that the gap between the second components can be determined using the same method as the gap between the first components. That is, the gap between the second components corresponding to the second components is determined based on multiple second drive currents and multiple second position information, including: determining second target position information based on the multiple second drive currents and multiple second position information; and determining the gap between the second components corresponding to the second components based on the second target position information. Further, determining the second target position information based on the multiple second drive currents and multiple second position information includes: for multiple time points, determining the current change rate corresponding to the current time point based on the second drive current corresponding to the current time point and the second drive current corresponding to the previous time point, and determining the current change coefficient corresponding to the current time point based on the current change rate corresponding to the current time point and the current change rate corresponding to the previous time point; determining the minimum current change coefficient from multiple current change coefficients, taking the time point corresponding to the minimum current change coefficient as the target gap time, and taking the second position information of the second component corresponding to the target gap time as the second target position information. Alternatively, the second target position information can be determined based on multiple second driving currents and multiple second position information, including: fitting the second driving currents corresponding to multiple time points to obtain current change curves; determining the inflection points of the current change curves, taking the time corresponding to the inflection points as the target gap time, and taking the second position information of the second component at the target gap time as the second target position information. Further, the second component gap corresponding to the second component can be determined based on the second target position information, including: taking the second target position information as the second component gap corresponding to the second component.

[0066] The technical solution of this invention determines first target position information based on multiple first driving currents and multiple first position information; determines a first component gap corresponding to a first component based on the target position information; and determines a second component gap corresponding to a second component based on multiple second driving currents and multiple second position information. The first component gap and the second component gap are used as the instrument gap corresponding to the surgical instrument. This achieves the effect of determining the component gap of the relevant instrument components based on the driving current, and thus determining the instrument gap of the surgical instrument. This simplifies the difficulty of gap identification of surgical instruments and improves the gap identification efficiency of surgical instruments.

[0067] Example 3

[0068] Figure 3 This is a schematic diagram of the structure of a surgical instrument gap identification device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device is configured in a surgical robot and includes a drive current acquisition module 310 and an instrument gap determination module 320.

[0069] The drive current acquisition module 310 is used to acquire, during the process of a surgical instrument connected to the end of the robotic arm performing a closing operation, the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second component controlling the surgical instrument at multiple times, and to acquire the first position information of the first component at multiple times and the second position information of the second component at multiple times; wherein the surgical instrument includes clamps; the instrument gap determination module 320 is used to determine the first component gap corresponding to the first component based on multiple first drive currents and multiple first position information, and to determine the second component gap corresponding to the second component based on multiple second drive currents and multiple second position information, and to 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.

[0070] The technical solution of this invention, during the closure operation of a surgical instrument connected to the end of a robotic arm, acquires the first drive current corresponding to the first drive motor of the first component controlling the surgical instrument at multiple times and the second drive motor current corresponding to the second drive motor of the second component controlling the surgical instrument at multiple times, and acquires the first position information of the first component and the second position information of the second component at multiple times. Furthermore, based on the multiple first drive currents and multiple first position information, a first component gap corresponding to the first component is determined, and based on the multiple second drive currents and multiple second position information, a second component gap corresponding to the second component is determined. The first component gap and the second component gap are then used as the instrument gap corresponding to the surgical instrument. This solves the problems of complex, time-consuming, and costly instrument gap identification processes in related technologies, achieving automatic identification of surgical instrument gaps without the need for other tools. It simplifies the surgical instrument gap identification process, improves the surgical instrument gap identification efficiency, and consequently improves the surgical instrument precision compensation efficiency, thereby improving surgical execution efficiency and surgical execution accuracy.

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

[0072] A position information determination unit is configured to determine first target position information based on a plurality of first driving currents and a plurality of first position information;

[0073] The instrument gap determination unit is used to determine the first component gap corresponding to the first component based on the target position information.

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

[0075] The coefficient of change determination subunit is used to determine the rate of change of current corresponding to the current time based on the first driving current corresponding to the current time and the first driving current corresponding to the previous time, and to determine the coefficient of change of current corresponding to the current time based on the rate of change of current corresponding to the current time and the rate of change of current corresponding to the previous time, for multiple times.

[0076] The position information determination subunit is used to determine the minimum current change coefficient from a plurality of current change coefficients, take the time corresponding to the minimum current change coefficient 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.

[0077] Optionally, the location information determination unit may further include: a change curve generation subunit and a location information determination subunit.

[0078] A curve change generation sub-unit is used to fit the first driving current corresponding to multiple said times to obtain the 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 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.

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

[0081] Optionally, the device may further include a precision compensation module.

[0082] The precision compensation module is used to perform precision compensation based on the instrument gap corresponding to the surgical instrument when controlling the surgical instrument to perform preset operations; wherein, the preset operations include opening operation, closing operation, clamping operation and rotation operation;

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

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

[0085] Example 4

[0086] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0091] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0094] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0095] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0096] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0097] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0098] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A surgical instrument gap identification method, characterized by, Applied to a surgical robot, comprising: During a process in which a surgical instrument connected at a terminal end of a mechanical arm performs a closing operation, a first driving current corresponding to a first driving motor controlling a first component of the surgical instrument at a plurality of time points and a second driving current corresponding to a second driving motor controlling a second component of the surgical instrument at the plurality of time points are acquired, and first position information corresponding to the first component at the plurality of time points and second position information corresponding to the second component at the plurality of time points are acquired; wherein the surgical instrument comprises a clamp: A first component gap corresponding to the first component is determined according to the plurality of first driving currents and the plurality of first position information, and a second component gap corresponding to the second component is determined according to the plurality of second driving currents and the plurality of second position information, and the first component gap and the second component gap are taken as an instrument gap corresponding to the surgical instrument; The instrument gap is a basic gap amount that needs to be compensated for by the surgical instrument in performing each preset operation.

2. The surgical instrument gap identification method of claim 1, wherein, The first component gap corresponding to the first component is determined according to the plurality of first driving currents and the plurality of first position information, comprising: First target position information is determined according to the plurality of first driving currents and the plurality of first position information; The first component gap corresponding to the first component is determined according to the first target position information.

3. The surgical instrument gap identification method of claim 2, wherein, The first target position information is determined according to the plurality of first driving currents and the plurality of first position information, comprising: For the plurality of time points, a current change rate corresponding to a current time point is determined according to a first driving current corresponding to the current time point and a first driving current corresponding to a previous time point of the current time point, and a current change coefficient corresponding to the current time point is determined according to the current change rate corresponding to the current time point and the current change rate corresponding to the previous time point; A minimum current change coefficient is determined from the plurality of current change coefficients, a time point corresponding to the minimum current change coefficient is taken as a target gap time point, and first position information corresponding to the first component at the target gap time point is taken as first target position information.

4. The surgical instrument gap identification method of claim 2, wherein, The first target position information is determined according to the plurality of first driving currents and the plurality of first position information, comprising: The first driving currents corresponding to the plurality of time points are fitted to obtain a current change curve; A curve inflection point of the current change curve is determined, the time point corresponding to the curve inflection point is taken as a target gap time point, and the first position information corresponding to the first component at the target gap time point is taken as first target position information.

5. The surgical instrument gap identification method of claim 2, wherein, The first component gap corresponding to the first component is determined according to the first target position information, comprising: The first target position information is taken as the first component gap corresponding to the first component.

6. A surgical instrument gap identification device, characterized by, Configured in a surgical robot, comprising: The drive current acquisition module is configured to acquire, during execution of a closing operation by a surgical instrument connected to an end of a mechanical arm, a first drive current corresponding to a first drive motor that controls a first component of the surgical instrument at a plurality of time points and a second drive current corresponding to a second drive motor that controls a second component of the surgical instrument at the plurality of time points, and acquire first position information corresponding to the first component at the plurality of time points and second position information corresponding to the second component at the plurality of time points; wherein the surgical instrument comprises a clamp. The instrument gap determination module is configured to 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 take the first component gap and the second component gap as an instrument gap corresponding to the surgical instrument; wherein the instrument gap is a basic gap amount that needs to be compensated for by the surgical instrument in execution of each preset operation.

7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the surgical instrument gap identification method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a processor to execute the surgical instrument gap identification method of any one of claims 1-5.

9. A computer program product, characterised in that, The computer program product comprises a computer program that, when executed by a processor, implements the surgical instrument gap identification method according to claims 1-5. The computer program product comprises a computer program that, when executed by a processor, implements the surgical instrument gap identification method according to claims 1-5.

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