Surgical instrument life calculation method, control method and device

Abstract

The invention relates to a service life calculation method and device of a surgical instrument, a control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that the output energy amplitude of the tail end of a surgical instrument is obtained; acquiring at least one of stress information of the tail end of the surgical instrument, the tolerance degree of a material of the tail end of the surgical instrument to energy, a characteristic value coefficient of energy output to life loss of each joint of the surgical instrument and each joint angle; integrating the obtained at least one parameter value and the output energy amplitude at the tail end of the surgical instrument on a time axis to obtain impulse; taking the absolute value of each impulse, and accumulating the absolute values to obtain the current used life of the surgical instrument. The control method comprises the steps that the remaining life is determined based on the current used life of the surgical instrument, the surgical instrument is controlled based on the remaining life to prolong the life of the surgical instrument, and the life calculation accuracy can be improved by adopting the method.

Description

Technical Field

[0001] The present application relates to the field of intelligent medical technology, and in particular to a life calculation method, control method, device, equipment and medium for a surgical instrument. Background Art

[0002] Surgical robotic systems have been used for minimally invasive medical procedures. Some surgical robotic systems include a console that supports a surgical robotic arm and surgical instruments mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument to enable it to operate and move.

[0003] Typically, when a surgical robot is used for surgery, the service life of the surgical instrument is defined as 10 times. The service life of the instrument decreases after each operation, and the service life of the instrument is exhausted after 10 uses.

[0004] However, this instrument life identification method cannot fully utilize the instrument. When the operation intensity is not large, the life of a surgical instrument can be used more than 10 times. Therefore, a method that can accurately measure the life of surgical instruments is urgently needed. Summary of the invention

[0005] Based on this, it is necessary to provide a life calculation method, control method, device, computer equipment, computer-readable storage medium and computer program product for surgical instruments that can improve the accuracy of life calculation in order to address the above technical problems.

[0006] In a first aspect, the present application provides a method for calculating the life of a surgical instrument, the method comprising:

[0007] Obtaining the output energy amplitude of the end of the surgical instrument;

[0008] Obtaining at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each of the joint angles;

[0009] Integrate the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain the impulse;

[0010] The absolute value of each impulse is taken, and the absolute values ​​are accumulated to obtain the current used life of the surgical instrument.

[0011] In one embodiment, obtaining the output energy amplitude of the end of the surgical instrument includes:

[0012] Determining a reference energy amplitude based on the output power of the energy base station of the surgical instrument and an energy transfer attenuation model;

[0013] Acquiring a measured energy amplitude of the distal end of the surgical instrument collected by an energy sensor;

[0014] The output energy amplitude of the surgical instrument tip is determined based on the reference energy amplitude and the measured energy amplitude.

[0015] In one embodiment, the method for obtaining the force information of the end of the surgical instrument includes:

[0016] Determine the instrument joint torque of the joint at the end of the surgical instrument based on the tension information of the guide wire collected by the tension sensor;

[0017] Acquiring feedback information of the motor at the end of the surgical instrument, and calculating an initial torque based on a kinematic model according to the feedback information;

[0018] Based on the initial torque and the instrument joint torque, a target external torque of the surgical instrument tip is determined.

[0019] In one embodiment, determining the target external torque of the end of the surgical instrument based on the initial torque and the instrument joint torque includes:

[0020] Determining a current external torque measurement value based on the difference between the initial torque and the instrument joint torque;

[0021] If the current moment is the initial moment, an initial torque value is obtained, and based on the initial torque value and the external torque measurement value at the current moment, a target external torque at the current moment is predicted by a Kalman filter;

[0022] If the current moment is not the initial moment, the target external torque at the previous moment is obtained, and based on the target external torque at the previous moment and the external torque measurement value at the current moment, the target external torque at the current moment is predicted through Kalman filtering.

[0023] In one embodiment, after accumulating the absolute values ​​to obtain the current used life of the surgical instrument, the method further comprises:

[0024] Get the service life of this operation;

[0025] Based on the service life of the operation and the used service life, the service life of the operation is obtained;

[0026] Displays the life usage of this operation.

[0027] In a second aspect, the present application further provides a surgical instrument control method, the surgical instrument control method comprising:

[0028] Obtaining the current used life of the surgical instrument calculated based on the above-mentioned surgical instrument life calculation method;

[0029] Determining the remaining life of the surgical instrument based on the currently used life of the surgical instrument;

[0030] Acquiring the type of output energy of the surgical instrument;

[0031] acquiring a target control strategy corresponding to at least one of the remaining life and the type of the output energy;

[0032] The surgical instrument is controlled based on the target control strategy.

[0033] In one embodiment, controlling the surgical instrument based on the target control strategy includes:

[0034] When the remaining life is greater than or equal to a first preset value, controlling the surgical instrument to output energy at full power and to output drive at full torque;

[0035] When the remaining life is greater than or equal to a second preset value and less than the first preset value, it is determined whether the energy intensity output by the end of the surgical instrument meets the surgical requirements; the first preset value is greater than the second preset value;

[0036] When the energy intensity output by the end of the surgical instrument reaches the surgical requirement, an energy gain coefficient inversely proportional to the energy intensity output by the end of the surgical instrument is used to control the energy output by the end of the surgical instrument;

[0037] When the output energy intensity of the end of the surgical instrument does not meet the surgical requirements, the output energy power and output torque of the surgical instrument are increased, and the increased output energy power is less than a first energy power threshold, and the increased output torque is less than a first torque threshold;

[0038] When the remaining life is less than the second preset value, the surgical instrument is controlled to output energy with a preset power and to output drive with a preset torque, the preset power is less than a second energy power threshold, the preset torque is less than a second torque threshold, the second energy power threshold is less than the first energy power threshold, and the second torque threshold is less than the first torque threshold.

[0039] In one embodiment, controlling the surgical instrument based on the target control strategy includes:

[0040] When the output energy type is electrocoagulation and the coagulation rate is less than the coagulation rate threshold, reducing the output energy intensity of the surgical instrument end;

[0041] When the output energy type is electric cutting and the cutting is completed, turning off the energy output at the end of the surgical instrument;

[0042] When the output energy type is electric cutting and the remaining tissue thickness is less than a thickness threshold, the output energy intensity of the surgical instrument tip is reduced.

[0043] In a third aspect, the present application further provides a device for calculating the life of a surgical instrument, the device comprising:

[0044] An output energy amplitude acquisition module, used to acquire the output energy amplitude of the end of the surgical instrument;

[0045] A parameter acquisition module, used to acquire at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each of the joint angles;

[0046] An integration module, for integrating the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain an impulse;

[0047] The life calculation module is used to obtain the absolute value of each impulse and accumulate the absolute values ​​to obtain the current used life of the surgical instrument.

[0048] In a fourth aspect, the present application further provides a surgical instrument control device, the surgical instrument control device comprising:

[0049] A used life acquisition module, used to acquire the current used life of the surgical instrument calculated by the surgical instrument life calculation device in any one of the above embodiments;

[0050] A remaining life calculation module, used to determine the remaining life of the surgical instrument based on the currently used life of the surgical instrument;

[0051] An energy type acquisition module, used to acquire the type of output energy of the surgical instrument;

[0052] a target strategy determination module, configured to obtain a target control strategy corresponding to at least one of the remaining life and the type of output energy;

[0053] A dynamic control module is used to control the surgical instrument based on the target control strategy.

[0054] In a fifth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.

[0055] In a sixth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method in any one of the above embodiments are implemented.

[0056] In a seventh aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method in any one of the above embodiments.

[0057] The above-mentioned surgical instrument life calculation method, control method, device, computer equipment, storage medium and computer program product obtain the output energy amplitude of the end of the surgical instrument, as well as the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and at least one of each joint angle, so as to obtain the impulse by integration on the time axis, take the absolute value of each impulse, and accumulate the absolute values ​​to obtain the current used life of the surgical instrument, which fully takes into account the influence of energy transfer on the life of the surgical instrument, thereby improving the accuracy of the calculation of the life of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A diagram showing an application environment of a method for calculating the life of a surgical instrument in one embodiment;

[0060] Figure 2 is a schematic diagram of the structure of a doctor's console in one embodiment;

[0061] Figure 3 is a schematic diagram of a surgical instrument in one embodiment;

[0062] Figure 4 is a schematic diagram of system control in one embodiment;

[0063] Figure 5 is a flow chart of a method for calculating the life of a surgical instrument in one embodiment;

[0064] Figure 6 is a schematic diagram of an impulse processing step in an embodiment;

[0065] Figure 7 A flowchart of the steps of calculating the output energy amplitude in one embodiment;

[0066] Figure 8 is a flow chart of a step of obtaining force information in an embodiment;

[0067] Fig. 9 is a schematic diagram of a tension sensor in one embodiment;

[0068] Fig.10 is a schematic diagram of the principle of a tension sensor in an embodiment;

[0069] Fig.11 is a flow chart of a surgical instrument control method in one embodiment;

[0070] Fig.12 is a flow chart of life-segment-based processing steps in one embodiment;

[0071] Fig.13 A flowchart of energy type-based control steps in one embodiment;

[0072] Fig.14 is an energy and torque control flow chart in one embodiment;

[0073] Fig.15 is a schematic diagram of energy control in one embodiment;

[0074] Fig.16 is a structural block diagram of a life calculation device for a surgical instrument in one embodiment;

[0075] Fig.17 is a structural block diagram of a surgical instrument control device in one embodiment;

[0076] Fig.18 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0078] The life calculation method and control method of the surgical instrument provided in the embodiments of the present application can be applied to Figure 1 In the application environment shown. In an exemplary embodiment, the surgical robot system includes a doctor's console 100, an operating trolley 200, an image trolley 300, and a tool trolley 400, and a master operator is provided on the doctor's console 100. The operating trolley 200 has at least two mechanical arms 201, and surgical instruments and endoscopes can be mounted on the mechanical arms respectively. The operator (for example, a surgeon) remotely operates the doctor's console 100 and the master operator to perform minimally invasive surgery on the patient on the bed. Among them, the master operator and the mechanical arm 201 and the surgical instrument form a master-slave control relationship. Specifically, the mechanical arm 201 and the surgical instrument move according to the movement of the master operator during the operation, that is, according to the operation of the operator's hand. Further, the master operator also receives the force information of the human tissue and organ on the surgical instrument and feeds it back to the operator's hand, so that the operator can feel the surgical operation more intuitively. The doctor's console 100 has a display device, which is connected to the endoscope mounted on the mechanical arm of the operating trolley 200, and can receive and display the image collected by the endoscope. The operator controls the movement of the robot arm and the surgical instrument through the main operator according to the image displayed on the display device on the doctor console 100. The endoscope and the surgical instrument enter the patient's position through the wound on the patient's body.

[0079] Optionally, in some surgeries, the surgical robot also includes auxiliary components such as a ventilator and an anesthesia machine 500 for use in the surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, and no further description will be given here.

[0080] Combination Figure 2 As shown, Figure 2The figure is a schematic diagram of the structure of a doctor's console in an embodiment. In this embodiment, the doctor's console 100 includes: an adjustment component 110, a manipulation arm 120, a trolley component 130, and an image component 140. The two manipulation arms 120 detect the operator's hand motion information through the control handles at the ends thereof as the motion control input of the entire system; the trolley part 130 is a basic bracket for installing other components, and the control trolley has movable casters and can be moved or fixed as needed; a foot switch is installed on the trolley component 130 to detect the switch control signal sent by the operator; the adjustment component 110 can electrically adjust the position of the manipulation arm, the image component, the operator's armrest and other devices, that is, the human-machine parameter adjustment function. The image component 140 can provide the operator with a stereoscopic image detected from the image system, and provide the operator with reliable image information for performing surgical operations. During the operation, the operator sitting in front of the doctor's console is located outside the disinfection area, and the operator controls the surgical instruments and laparoscope by operating the control handle at the end of the manipulation arm. The surgeon observes the intracavitary images transmitted back by the imaging component and uses both hands to control the movement of the robotic arm and instruments of the patient's surgical platform to complete various operations, thereby achieving the purpose of performing surgery on the patient. At the same time, the surgeon can control some actions through the foot switch, such as completing electroresection, electrocoagulation and other related operation inputs through the foot switch.

[0081] Combination Figure 3 As shown, Figure 3 This is a schematic diagram of a surgical instrument in an embodiment. The surgical instrument includes a wire transmission unit for driving a joint, a front-end actuator, wherein the wire transmission unit includes a guide wire, a transmission wheel, a driving wheel and other structures; the surgical instrument has a tension sensor on the transmission wire; during normal surgical operation, the surgeon controls the end position and posture of the surgical instrument through master-slave remote operation under the guidance of the endoscopic image. The end position of the surgical instrument includes the translational movement of the instrument along the three directions of X, Y, and Z, and the posture includes the pitch, yaw and rotation of the end of the instrument. This type of surgical instrument achieves the movement of the end by controlling multiple continuous joints by motor traction.

[0082] Combination Figure 4 As shown, Figure 4The figure is a schematic diagram of system control in an embodiment. In this embodiment, the control system includes a processor, a surgical instrument, an energy detection device and a force detection device, wherein the processor mainly includes two functions, one is to calculate the life span, and the other is to control the surgical instrument based on the calculated life span. The steps of the processor to calculate the life span mainly include obtaining the output energy amplitude of the end of the surgical instrument, and in addition, the force information of the end of the surgical instrument, the tolerance of the material of the end of the surgical instrument to energy, the characteristic value coefficient of the energy output to the life loss of each joint of the surgical instrument, and at least one of the joint angles, so that the force information of the end of the surgical instrument, the tolerance of the material of the end of the surgical instrument to energy, the characteristic value coefficient of the energy output to the life loss of each joint of the surgical instrument, and at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument are integrated on the time axis to obtain impulses; the absolute values ​​of each impulse are taken, and the absolute values ​​are accumulated to obtain the current used life span of the surgical instrument, so as to realize the calculation of the life span of the surgical instrument. The processor controls the surgical instrument mainly including the processor receiving the instruction signal and the target external force, and outputting the driving torque based on the instruction signal and the target external force to drive the surgical instrument to perform the surgical operation. The processor may include a life calculation module, a life judgment module, a constraint control module and a dynamic control module, wherein the life judgment module is mainly used to judge and control the life of the surgical instrument based on the life calculation module, the constraint control module is used to constrain the output torque and energy power based on the result of the life judgment module, and the dynamic control module is used to realize dynamic control of the output torque and output energy power. The force detection device can detect the force on the end of the surgical instrument, and the energy detection device detects the energy output by the end of the surgical instrument.

[0083] In an exemplary embodiment, Figure 5 As shown, a method for calculating the life of a surgical instrument is provided, comprising the following steps 502 to 508. Among them:

[0084] S502: Obtain the output energy amplitude of the distal end of the surgical instrument.

[0085] The surgical instrument is an instrument that can output energy, such as an ultrasonic knife that outputs electrocoagulation energy or electroresection energy. The end of the surgical instrument releases energy to the tissue, causing the energy output amplitude of the end of the instrument to change. The energy output amplitude can be obtained by an energy sensor installed on the energy excitation structure of the instrument. The output energy amplitude can be calculated by the output power of the energy sensor and the energy base station and the energy transfer attenuation model. The energy sensor can be installed at the end of the surgical instrument. When the surgical instrument outputs energy, the measured energy amplitude output by the surgical instrument is periodically collected, and the reference energy amplitude is determined based on the output power of the energy base station and the energy transfer attenuation model. In this way, the output energy amplitude of the end of the surgical instrument can be determined based on the reference energy amplitude and the measured energy amplitude.

[0086] S504: Obtain at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each joint angle.

[0087] The force information of the surgical instrument is determined based on the instrument joint torque and the initial torque calculated based on the feedback information of the motor and the kinematic model. The tolerance of the end material of the surgical instrument to energy is a fixed value, which is determined by the end material of the surgical instrument. The characteristic coefficient of energy output on the life loss of each joint of the surgical instrument is determined based on the energy output value of the surgical instrument. The joint angle is determined based on the feedback information of the motor.

[0088] S506: Integrate the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain the impulse.

[0089] Among them, integration is performed on the time axis to determine the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and the life loss of at least one of the joint angles. In addition, the output energy amplitude of the end of the surgical instrument is also integrated on the time axis to determine the life loss, so that the accurate life can be obtained.

[0090] Specifically, the ways of scoring may include:

[0091]

[0092] Among them, L amp It represents the loss of surgical instrument life due to the combination of energy and torque output, that is, impulse, E extrepresents the energy amplitude output by the joint, η represents the tolerance of the surgical instrument material to energy, and λ 1 …λ N The characteristic coefficient of energy output on the life loss of each joint of the surgical instrument, θ 1 …θ N represents the joint angles of each joint of the surgical instrument, τ 1 …τ N Represents the target external force on each joint of the surgical instrument, where N represents the number of joints.

[0093] S508: taking the absolute value of each impulse, and accumulating the absolute values ​​to obtain the current used life of the surgical instrument.

[0094] Among them, combined Figure 6 As shown, Figure 6 FIG. 1 is a schematic diagram of an impulse processing step in an embodiment. In this embodiment, since the impulse is positive or negative, in order to avoid accumulation errors, the absolute value operation is performed on the weight before accumulation:

[0095] L used =absL amp

[0096] Finally, the impulse accumulation and summation are used to obtain the used life of the surgical instrument.

[0097] In other optional embodiments, after accumulating the absolute values ​​to obtain the current used life of the surgical instrument, it includes: obtaining the serviceable life of this operation; obtaining the service life usage of this operation based on the serviceable life of this operation and the current used life; and displaying the service life usage of this operation.

[0098] Among them, the service life of this operation is L Offset is the remaining life of the surgical instrument obtained before the operation. The remaining life is stored after each operation. The used life L used It is obtained in real time during the operation based on the force information of the end of the surgical instrument, the energy tolerance of the material at the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument. The remaining life L of the surgical instrument can be determined based on the difference between the two. act , thereby obtaining the life usage of this operation. In one of the optional embodiments, the life usage of this operation can also be displayed for the doctor to view, so as to facilitate timely replacement of surgical instruments.

[0099] The above-mentioned method for calculating the life of the surgical instrument obtains the output energy amplitude of the end of the surgical instrument, the force information of the end of the surgical instrument, the energy tolerance of the material at the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and at least one of the joint angles. In this way, the impulse is integrated on the time axis, and the absolute value of each impulse is taken, and the absolute values ​​are accumulated to obtain the current used life of the surgical instrument. The influence of energy transfer on the life of the surgical instrument is fully considered, thereby improving the accuracy of the calculation of the life of the surgical instrument.

[0100] In one of the optional embodiments, the output energy amplitude of the end of the surgical instrument is obtained, including: determining a reference energy amplitude based on the output power of the energy base station of the surgical instrument and an energy transfer attenuation model; obtaining the measured energy amplitude of the end of the surgical instrument collected by an energy sensor; and determining the output energy amplitude of the end of the surgical instrument based on the reference energy amplitude and the measured energy amplitude.

[0101] Specifically, combined Figure 7 As shown, Figure 7 This is a flow chart of the output energy amplitude calculation steps in an embodiment. In this embodiment, the reference energy amplitude is determined based on the energy base station output power of the surgical instrument and the energy transfer attenuation model. The end of the surgical instrument releases energy to the tissue, causing the energy output amplitude of the end of the instrument to change. The energy output amplitude can be obtained by an energy sensor installed on the energy excitation structure of the instrument, that is, the measured energy amplitude of the end of the surgical instrument collected by the energy sensor. Finally, the reference energy amplitude and the measured energy amplitude are fused to obtain the output energy amplitude of the end of the surgical instrument. Specifically, the fusion method can be through Kalman filtering to avoid errors caused by energy sensor measurements. Specifically,

[0102] E ext =Fusion(E exp , E fdb )

[0103] Among them, E ext Represents the output energy amplitude of the surgical instrument end, E exp represents the reference energy amplitude at the end of the surgical instrument calculated by the energy attenuation model, E fdb It represents the measured energy amplitude collected by the sensor, and Fusion represents the data fusion step, which is used to accurately estimate the actual value, such as Kalman filtering.

[0104] In this embodiment, the output energy amplitude is calculated by Kalman filtering, combining the reference energy amplitude at the end of the surgical instrument calculated by the energy attenuation model and the measured energy amplitude collected by the sensor, thereby avoiding measurement errors and improving accuracy.

[0105] In one embodiment, the method for obtaining the force information of the end of the surgical instrument includes: determining the instrument joint torque of the joint at the end of the surgical instrument based on the tension information of the guide wire collected by the tension sensor; obtaining feedback information of the motor at the end of the surgical instrument, and calculating the initial torque based on the kinematic model according to the feedback information; and determining the target external torque of the end of the surgical instrument based on the initial torque and the instrument joint torque.

[0106] Specifically, combined Figures 8 to 10 As shown, Figure 8 is a flow chart of the force information acquisition steps in one embodiment, Fig. 9 This is a schematic diagram of a tension sensor in an embodiment, wherein the tension sensor is installed on a surgical instrument guide wire, and can obtain the tension at both ends of the guide wire, and further convert it into an instrument joint torque of the joint at the end of the surgical instrument, wherein the two ends of the guide wire are fixed to the two ends of the packaged sensor so that the sensor is suspended in the air, and the force on the guide wire will cause the sensor to be compressed or stretched along the axial direction.

[0107] The instrument joint torque τjoint=J*f*r, where J is the mapping matrix of the motor and the joint torque, f represents the tension information of the guide wire collected by the tension sensor, and r represents the force arm from the tension to the rotating shaft.

[0108] Combination Fig.10 As shown, Fig.10 FIG. 1 is a schematic diagram of the principle of a tension sensor in an embodiment, wherein the tension sensor uses a fiber Bragg grating, and when a force acts on the grating, its reflection center wavelength will change. The linear relationship between the reflection center wavelength of the fiber Bragg grating and the axial stress acting on the FBG sensor can be detected, as shown in the following formula

[0109] Δλ B =K σ *σ z

[0110] Where: Δλ B Indicates the change in the reflection center wavelength of the grating, K σ represents the stress coefficient, which is a constant, σ Z Indicates the axial stress of the grating sensor, that is, the tension information of the guide wire collected by the tension sensor. In one optional embodiment, the tension sensor has an outer diameter of 2 mm and a total length of 7 mm, which can be well used in the narrow space of surgical instruments.

[0111] Specifically, in this embodiment, the tension information of the guide wire is obtained by the tension sensor in the external force detection device, and then the instrument joint torque of the corresponding joint is calculated based on the tension information of the guide wire. Figure 3Taking the surgical instrument in as an example, the instrument joint torques of the four joints can be obtained.

[0112] The feedback information of the motor includes angle and speed. The angle and speed of the instrument joint can be calculated based on the angle and speed of the motor, and then the initial torque can be calculated according to the kinematic model.

[0113] Among them, the force on the end of the instrument causes the force on the guide wire that controls the movement of the joint in the instrument to change. The force on the guide wire can be obtained by the tension sensor installed on the instrument guide wire. The initial torque can be calculated based on the feedback information of the motor. In this way, the target external torque at the end of the surgical instrument is determined based on the initial torque and the instrument joint torque. Specifically:

[0114] τ ext =τ exp -τf db

[0115] f ext =(J T ) -1 *τ ext

[0116] where τ ext represents the external torque measurement of the joint at the end of the surgical instrument, τ exp represents the initial torque calculated by the dynamic model, τ fdb represents the joint torque of the instrument, f ext Represents the external force on the end of the surgical instrument, and J represents the Jacobian matrix from the Cartesian space of the end to the joint space.

[0117] Finally, the target external torque of the end of the surgical instrument can be determined based on the external torque measurement value. For example, the target external torque at the current moment can be predicted based on the external torque measurement value at the current moment and the target external torque at the previous moment by means of Kalman filtering.

[0118] In one embodiment, the target external torque of the end of the surgical instrument is determined based on the initial torque and the instrument joint torque, including: determining the external torque measurement value at the current moment based on the difference between the initial torque and the instrument joint torque; if the current moment is the initial moment, obtaining the initial torque value, and predicting the target external torque at the current moment through Kalman filtering based on the initial torque value and the external torque measurement value at the current moment; if the current moment is not the initial moment, obtaining the target external torque at the previous moment, and predicting the target external torque at the current moment through Kalman filtering based on the target external torque at the previous moment and the external torque measurement value at the current moment.

[0119] In this embodiment, the external torque measurement value obtained by combining the initial torque obtained by the motor feedback torque sensor with the instrument dynamics model and the instrument joint torque measured by the guide wire tension sensor is used as the input signal, and Kalman filtering is performed to obtain the final estimated target external torque.

[0120] The Kalman filter processing algorithm combines the external torque measurement value of the current cycle with the target external torque estimated in the previous cycle to obtain the target external torque estimated in the current cycle, thereby reducing the error in the target external torque caused by the error in sensor detection. The core principle of Kalman filter processing of multiple external torque measurement values ​​is to subtract the target external torque estimated in the previous cycle from the external torque measurement value of the current cycle, multiply the difference by the Kalman gain and add the target external torque estimated in one cycle as the target external torque of the current cycle.

[0121] If the current moment is the initial moment, the initial torque value, that is, the initial state, the initial estimation error is obtained. If the current moment is not the initial moment, the target external torque at the current moment is obtained, and the target external torque at the next moment is predicted through Kalman filtering based on the target external torque at the current moment and the external torque measurement value at the current moment.

[0122] In the above embodiment, the error caused by measurement is reduced by using the Kalman filter algorithm.

[0123] In an exemplary embodiment, Fig.11 As shown, a surgical instrument control method is provided, including the following steps 1102 to 1110. Among them:

[0124] S1102: Obtain the current used life of the surgical instrument calculated based on the surgical instrument life calculation method in any one of the above embodiments.

[0125] S1104: Determine the remaining life of the surgical instrument based on the current used life of the surgical instrument.

[0126] Specifically, the calculation method of the used life and remaining life can be found above and will not be repeated here.

[0127] S1106: Obtain the type of output energy of the surgical instrument.

[0128] The type of output energy is differentiated according to the function of the output energy, and specifically includes electrical energy and electrical cutting energy. In this embodiment, the type of output energy can be determined according to the type of surgical instrument.

[0129] S1108: Obtain a target control strategy corresponding to at least one of the types of remaining life and output energy.

[0130] The target control strategy is obtained based on at least one of the remaining life and the type of output energy, wherein the relationship between at least one of the remaining life and the type of output energy and the target control strategy can be pre-set, so that after determining the type of remaining life and the type of output energy, the corresponding target control strategy can be obtained based on the remaining life and the type of output energy.

[0131] S1110: Controlling surgical instruments based on target control strategy.

[0132] In one of the optional embodiments, the constraint control module of the above-mentioned processor is used to constrain the output of the surgical instrument, including the output energy power and the output torque, based on the target control strategy obtained by the life judgment module based on the remaining life and the type of output energy, and the dynamic control module of the above-mentioned processor is used to realize dynamic control based on the constrained output energy power and output torque.

[0133] Therefore, controlling the surgical instrument based on the target control strategy includes constraining the output energy power and output torque based on the target control strategy, and dynamically controlling the output energy power and output torque based on the constraints. The output energy power and output torque are constrained mainly to ensure the achievement of the surgical purpose while extending the service life of the surgical instrument, that is, to control the output energy power and output torque within a reasonable range, and the dynamic control is to achieve dynamic control of the output energy power and output torque based on the feedback information of the surgical instrument, such as through a PID algorithm.

[0134] In the above embodiments, based on at least one of the remaining life and the type of output energy, dynamic control of the output energy power and output torque of the surgical instrument is implemented to extend the life of the surgical instrument.

[0135] In one of the embodiments, the surgical instrument is controlled based on the target control strategy, including: when the remaining life is greater than or equal to a first preset value, controlling the surgical instrument to output energy at full power and output drive at full torque; when the remaining life is greater than or equal to a second preset value and less than the first preset value, judging whether the output energy intensity of the surgical instrument end meets the surgical requirements; the first preset value is greater than the second preset value; when the output energy intensity of the surgical instrument end meets the surgical requirements, using an energy gain coefficient inversely proportional to the output energy intensity of the surgical instrument end to control the output energy of the surgical instrument end; when the output energy intensity of the surgical instrument end does not meet the surgical requirements, increasing the output energy power and output torque of the surgical instrument, and the increased output energy power is less than the first energy power threshold, and the increased output torque is less than the first torque threshold; when the remaining life is less than the second preset value, controlling the surgical instrument to output energy at a preset power and output drive at a preset torque, the preset power is less than the second energy power threshold, the preset torque is less than the second torque threshold, the second energy power threshold is less than the first energy power threshold, and the second torque threshold is less than the first torque threshold.

[0136] In this embodiment, for the convenience of explanation, the remaining life is divided into three sections to achieve control of the surgical instrument based on the remaining life. In other embodiments, the remaining life can be divided into other numbers of sections, which are not specifically limited here.

[0137] The first preset value and the second preset value in this embodiment are only for realizing segmentation based on the remaining life, which is not limited to a specific value. The remaining life is divided into three segments by the first preset value and the second preset value. In the first segment, which is greater than the first preset value, the remaining life of the surgical instrument is the longest. In the second segment, which is greater than or equal to the second preset value and less than the first preset value, the remaining life of the surgical instrument is medium. In the third segment, which is less than the second preset value, the remaining life of the surgical instrument is the least.

[0138] Combination Fig.12 As shown, Fig.12 The flowchart is based on the life segment processing steps. In the first segment, the remaining life of the surgical instrument is the largest, so the surgical instrument is controlled to output energy at full power and drive at full torque.

[0139] In the second segment, when the surgical needs are met, for example, the feedback current, voltage, torque, etc. are used to determine whether the surgical needs are met, and when the surgical needs are met, the terminal energy is limited by a preset coefficient, and the size of the preset coefficient is inversely proportional to the energy intensity of the terminal feedback, wherein the value of the preset coefficient can be 0 to 0.8, and 0.8 of the two endpoint values ​​is within the value range. If the surgical needs are not met, the output energy power and output torque of the surgical instrument are increased, and the increased output energy power is less than the first energy power threshold, and the increased output torque is less than the first torque threshold. The first energy power threshold and the first torque threshold can be a certain white component of the full power and full torque, respectively, such as 80%, and other values ​​can also be taken in other embodiments, which are not specifically limited here.

[0140] In the third segment, due to the short remaining life, the output energy power and output torque of the surgical instrument are limited, and the energy is output at a preset power and a preset torque. By limiting certain instrument control performances, the service life of the instrument is extended as much as possible, and the doctor is reminded to prevent surgical risks. The preset power is less than the second energy power threshold, the preset torque is less than the second torque threshold, the second energy power threshold is less than the first energy power threshold, and the second torque threshold is less than the first torque threshold. In one optional embodiment, the preset power is half power, and the preset torque is half torque. In other embodiments, other values ​​may also be used, and no specific limitation is made here.

[0141] In the above embodiments, the output energy power and output torque of the surgical instrument are controlled based on the difference in the remaining life, so as to extend the life of the surgical instrument.

[0142] In one of the embodiments, the surgical instrument is controlled based on a target control strategy, including: when the output energy type is electrocoagulation and the coagulation rate is less than a coagulation rate threshold, reducing the output energy intensity at the end of the surgical instrument; when the output energy type is electroresection and the cutting is completed, turning off the energy output at the end of the surgical instrument; when the output energy type is electroresection and the remaining tissue thickness is less than a thickness threshold, reducing the output energy intensity at the end of the surgical instrument.

[0143] Combination Fig.13 As shown, Fig.13This is a flow chart of the energy type control steps in one embodiment. In this embodiment, during the electrocoagulation energy excitation process, when the tissue coagulation rate is less than the coagulation rate threshold, it is considered that the resistance in the tissue is small, and the energy output amplitude is reduced; conversely, when the coagulation is about to end, the resistance in the tissue is large, and the energy output amplitude is dynamically amplified. It is considered here that for energy devices, when the current at the end reaches a certain value, the surgical effect is certain, and the energy output can be dynamically controlled at this time. When the current is too large, the voltage is limited to reduce the energy intensity at the end, thereby extending the life of the device.

[0144] During the excitation of electrosurgical energy, there are two stages: during cutting and after cutting. During the cutting process, the energy is dynamically controlled in combination with the shear torque output. When the shear force feedback is large, it means that the tissue is harder and thicker, and a faster and larger energy amplitude is required for electrosurgical cutting. The normal rated electrosurgical energy is output. When the shear feedback force is small, it means that the tissue is thinner or close to the cutting completion, that is, the remaining thickness of the tissue is less than the thickness threshold. At this time, the energy output amplitude is appropriately reduced. After the cutting is completed, the end of the instrument is closed, and the resistance is lower at this time. The energy output will be automatically turned off when the feedback observer observes this energy change.

[0145] In the above embodiments, by dynamically controlling the energy output, the amplitude of energy flowing through the end of the instrument is reduced as a whole, and the time that high energy flows through the end of the instrument is reduced, thereby reducing the loss of instrument life and extending the life of the energy instrument.

[0146] For ease of understanding, combined Fig.14 As shown, Fig.14 This is a flow chart of energy and torque control in an embodiment. In this embodiment, when the doctor gives an action and triggers an energy signal, the processor calculates the command energy and torque intensity in real time through negative feedback. The calculation method of torque and energy intensity follows the target control strategy currently used. Among them, the energy is transmitted to the energy platform through analog quantities through but not limited to IO, serial port, bus, etc., and the energy output amplitude is adjusted in real time. The torque is converted into current through the driver and output to the end of the instrument to generate torque. After the energy and torque are output, the real output is used as feedback input to the control system to enhance the control accuracy. In this way, surgical operations can be performed with the most appropriate energy through dynamic regulation, so that the output of the instrument does not have to always maintain the rated output, thereby extending the service life of the energy surgical instrument.

[0147] Combination Fig.15 , Fig.15 A schematic diagram of energy control is given. In this embodiment, the energy of the device is controlled at a specified amplitude through the gain link G(s) and the negative feedback link H(s). An observer is added to the output end to accurately measure the feedback energy intensity, and feedback control is added to improve the control accuracy.

[0148] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0149] Based on the same inventive concept, the embodiment of the present application also provides a surgical instrument life calculation device for implementing the above-mentioned surgical instrument life calculation method, and a surgical instrument control device for the surgical instrument control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more surgical instrument life calculation devices and surgical instrument control devices provided below can refer to the limitations of the surgical instrument life calculation method and surgical instrument control method above, and will not be repeated here.

[0150] In an exemplary embodiment, Fig.16 As shown, a life calculation device for a surgical instrument is provided, comprising: an output energy amplitude acquisition module 1601, a parameter acquisition module 1602, an integration module 1603 and a life calculation module 1604, wherein:

[0151] An output energy amplitude acquisition module 1601 is used to acquire the output energy amplitude of the end of the surgical instrument;

[0152] The parameter acquisition module 1602 is used to acquire at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each joint angle;

[0153] The integration module 1603 is used to integrate the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the angles of each joint, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain the impulse;

[0154] The life calculation module 1604 is used to obtain the absolute value of each impulse and accumulate the absolute value to obtain the current used life of the surgical instrument.

[0155] In one of the embodiments, the output energy amplitude calculation module is also used to determine a reference energy amplitude based on the energy base station output power of the surgical instrument and an energy transfer attenuation model; obtain the measured energy amplitude of the end of the surgical instrument collected by the energy sensor; and determine the output energy amplitude of the end of the surgical instrument based on the reference energy amplitude and the measured energy amplitude.

[0156] In one embodiment, the parameter acquisition module 1602 is also used to determine the instrument joint torque of the joint at the end of the surgical instrument based on the tension information of the guide wire collected by the tension sensor; obtain feedback information of the motor at the end of the surgical instrument, and calculate the initial torque based on the kinematic model according to the feedback information; determine the target external torque of the end of the surgical instrument based on the initial torque and the instrument joint torque.

[0157] In one embodiment, the parameter acquisition module 1602 is also used to determine the external torque measurement value at the current moment based on the difference between the initial torque and the instrument joint torque; if the current moment is the initial moment, the initial torque value is obtained, and based on the initial torque value and the external torque measurement value at the current moment, the target external torque at the current moment is predicted through Kalman filtering; if the current moment is not the initial moment, the target external torque at the previous moment is obtained, and based on the target external torque at the previous moment and the external torque measurement value at the current moment, the target external torque at the current moment is predicted through Kalman filtering.

[0158] In one embodiment, the life calculation module 1604 is also used to obtain the service life of this operation; based on the service life of this operation and the used life, obtain the service life of this operation; and display the service life of this operation.

[0159] In an exemplary embodiment, Fig.17 As shown, a surgical instrument control device is provided, including: a used life acquisition module 1701, a remaining life calculation module 1702, an energy type acquisition module 1703, a target strategy determination module 1704 and a dynamic control module 1705, wherein:

[0160] The used life acquisition module 1701 is used to acquire the current used life of the surgical instrument calculated by the surgical instrument life calculation device in any one of the above embodiments;

[0161] The remaining life calculation module 1702 is used to determine the remaining life of the surgical instrument based on the current used life of the surgical instrument;

[0162] An energy type acquisition module 1703 is used to acquire the type of output energy of the surgical instrument;

[0163] A target strategy determination module 1704 is used to obtain a target control strategy corresponding to at least one of the remaining life and the type of output energy;

[0164] The dynamic control module 1705 is used to control the surgical instrument based on the target control strategy.

[0165] In one embodiment, the dynamic control module 1705 is also used to control the surgical instrument to output energy at full power and output drive at full torque when the remaining life is greater than or equal to a first preset value; when the remaining life is greater than or equal to a second preset value and less than the first preset value, determine whether the output energy intensity of the surgical instrument end meets the surgical requirements; the first preset value is greater than the second preset value; when the output energy intensity of the surgical instrument end meets the surgical requirements, use an energy gain coefficient inversely proportional to the output energy intensity of the surgical instrument end to control the output energy of the surgical instrument end; when the output energy intensity of the surgical instrument end does not meet the surgical requirements, increase the output energy power and output torque of the surgical instrument, and the increased output energy power is less than the first energy power threshold, and the increased output torque is less than the first torque threshold; when the remaining life is less than the second preset value, control the surgical instrument to output energy at a preset power and output drive at a preset torque, the preset power is less than the second energy power threshold, the preset torque is less than the second torque threshold, the second energy power threshold is less than the first energy power threshold, and the second torque threshold is less than the first torque threshold.

[0166] In one embodiment, the dynamic control module 1705 is also used to reduce the output energy intensity of the end of the surgical instrument when the output energy type is electrocoagulation and the coagulation rate is less than the coagulation rate threshold; when the output energy type is electroresection and the cutting is completed, turn off the energy output of the end of the surgical instrument; when the output energy type is electroresection and the remaining tissue thickness is less than the thickness threshold, reduce the output energy intensity of the end of the surgical instrument.

[0167] Each module in the above-mentioned surgical instrument life calculation device and surgical instrument control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0168] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.18As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for calculating the life of a surgical instrument and a method for controlling a surgical instrument are implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0169] Those skilled in the art will understand that Fig.18 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0170] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0171] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0172] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0173] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0174] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0175] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for calculating the life of a surgical instrument, characterized in that: The method comprises: Obtaining the output energy amplitude of the end of the surgical instrument; Obtaining at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each of the joint angles; Integrate the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain the impulse; The absolute value of each impulse is taken, and the absolute values ​​are accumulated to obtain the current used life of the surgical instrument.

2. The method according to claim 1, characterized in that The step of obtaining the output energy amplitude of the end of the surgical instrument comprises: Determining a reference energy amplitude based on the output power of the energy base station of the surgical instrument and an energy transfer attenuation model; Acquiring a measured energy amplitude of the distal end of the surgical instrument collected by an energy sensor; The output energy amplitude of the surgical instrument tip is determined based on the reference energy amplitude and the measured energy amplitude.

3. The method according to claim 1, characterized in that The method for obtaining the force information of the end of the surgical instrument includes: Determine the instrument joint torque of the joint at the end of the surgical instrument based on the tension information of the guide wire collected by the tension sensor; Acquiring feedback information of the motor at the end of the surgical instrument, and calculating an initial torque based on a kinematic model according to the feedback information; Based on the initial torque and the instrument joint torque, a target external torque of the surgical instrument tip is determined.

4. The method according to claim 3, characterized in that The step of determining the target external torque of the end of the surgical instrument based on the initial torque and the instrument joint torque comprises: Determining a current external torque measurement value based on the difference between the initial torque and the instrument joint torque; If the current moment is the initial moment, an initial torque value is obtained, and based on the initial torque value and the external torque measurement value at the current moment, a target external torque at the current moment is predicted by a Kalman filter; If the current moment is not the initial moment, the target external torque at the previous moment is obtained, and based on the target external torque at the previous moment and the external torque measurement value at the current moment, the target external torque at the current moment is predicted through Kalman filtering.

5. The method according to any one of claims 1 to 4, characterized in that: After the absolute values ​​are accumulated to obtain the current used life of the surgical instrument, the method further comprises: Get the life span of this operation; Based on the service life of the operation and the used service life, the service life of the operation is obtained; Displays the life usage of this operation.

6. A surgical instrument control method, characterized in that: The surgical instrument control method comprises: Obtaining the current used life of the surgical instrument calculated by the surgical instrument life calculation method; Determining the remaining life of the surgical instrument based on the currently used life of the surgical instrument; Acquiring the type of output energy of the surgical instrument; acquiring a target control strategy corresponding to at least one of the remaining life and the type of the output energy; The surgical instrument is controlled based on the target control strategy.

7. The surgical instrument control method according to claim 6, characterized in that: The controlling the surgical instrument based on the target control strategy includes: When the remaining life is greater than or equal to a first preset value, controlling the surgical instrument to output energy at full power and to output drive at full torque; When the remaining life is greater than or equal to a second preset value and less than the first preset value, it is determined whether the energy intensity output by the end of the surgical instrument meets the surgical requirements; the first preset value is greater than the second preset value; When the energy intensity output by the end of the surgical instrument reaches the surgical requirement, an energy gain coefficient inversely proportional to the energy intensity output by the end of the surgical instrument is used to control the energy output by the end of the surgical instrument; When the output energy intensity of the end of the surgical instrument does not meet the surgical requirements, the output energy power and output torque of the surgical instrument are increased, and the increased output energy power is less than a first energy power threshold, and the increased output torque is less than a first torque threshold; When the remaining life is less than the second preset value, the surgical instrument is controlled to output energy with a preset power and to output drive with a preset torque, the preset power is less than a second energy power threshold, the preset torque is less than a second torque threshold, the second energy power threshold is less than the first energy power threshold, and the second torque threshold is less than the first torque threshold.

8. The surgical instrument control method according to claim 6, characterized in that: The controlling the surgical instrument based on the target control strategy includes: When the output energy type is electrocoagulation and the coagulation rate is less than the coagulation rate threshold, reducing the output energy intensity of the surgical instrument end; When the output energy type is electric cutting and the cutting is completed, turning off the energy output at the end of the surgical instrument; When the output energy type is electric cutting and the remaining tissue thickness is less than a thickness threshold, the output energy intensity of the surgical instrument tip is reduced.

9. A device for calculating the life of a surgical instrument, characterized in that: The device comprises: An output energy amplitude acquisition module, used to acquire the output energy amplitude of the end of the surgical instrument; A parameter acquisition module, used to acquire at least one of the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, and each of the joint angles; An integration module, for integrating the force information of the end of the surgical instrument, the energy tolerance of the material of the end of the surgical instrument, the characteristic value coefficient of the energy output on the life loss of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the end of the surgical instrument on the time axis to obtain an impulse; The life calculation module is used to obtain the absolute value of each impulse and accumulate the absolute values ​​to obtain the current used life of the surgical instrument.

10. A surgical instrument control device, characterized in that: The surgical instrument control device comprises: A used life acquisition module, used to acquire the current used life of the surgical instrument calculated by the surgical instrument life calculation device; A remaining life calculation module, used to determine the remaining life of the surgical instrument based on the currently used life of the surgical instrument; An energy type acquisition module, used to acquire the type of output energy of the surgical instrument; a target strategy determination module, configured to obtain a target control strategy corresponding to at least one of the remaining life and the type of output energy; A dynamic control module is used to control the surgical instrument based on the target control strategy.

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