Surgical instrument lifespan calculation methods, control methods, and devices

Abstract

This application relates to a method, control method, device, computer equipment, storage medium, and computer program product for calculating the lifespan of a surgical instrument. The method includes: acquiring the output energy amplitude of the surgical instrument's distal end; acquiring force information of the surgical instrument's distal end, the energy tolerance of the material at the surgical instrument's distal end, characteristic coefficients of energy output affecting the lifespan loss of each joint of the surgical instrument, and at least one of the joint angles; integrating the acquired at least one parameter value and the output energy amplitude of the surgical instrument's distal end on a time axis to obtain an impulse; taking the absolute value of each impulse and summing the absolute values ​​to obtain the current used lifespan of the surgical instrument. The control method includes determining the remaining lifespan based on the current used lifespan of the surgical instrument and controlling the surgical instrument based on the remaining lifespan to extend the lifespan of the surgical instrument. This method can improve the accuracy of lifespan calculation.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a method, control method, device, equipment and medium for calculating the lifespan of a surgical instrument. Background Technology

[0002] Surgical robotic systems have been used in minimally invasive medical procedures. Some surgical robotic systems consist of a console that supports the robotic arm and surgical instruments mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instruments to operate and move them.

[0003] Typically, when using a surgical robot for surgery, the lifespan of surgical instruments is defined as 10 uses. Each time a surgery is performed, the number of uses of the instrument decreases by one. After 10 uses, the instrument's lifespan is exhausted.

[0004] However, this method of instrument lifespan identification cannot fully utilize the instruments, as a single surgical instrument can be used more than 10 times when the surgical intensity is not high. Therefore, there is an urgent need for a method that can accurately measure the lifespan of surgical instruments. Summary of the Invention

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

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

[0007] Obtain the output energy amplitude at the tip of the surgical instrument;

[0008] The force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of energy output on the life loss of each joint of the surgical instrument, and at least one of the joint angles are obtained.

[0009] The impulse is obtained by integrating the force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic 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 surgical instrument tip on the time axis.

[0010] Take the absolute value of each impulse and sum the absolute values ​​to obtain the current service life of the surgical instrument.

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

[0012] Based on the energy base station output power of the surgical instrument and the energy transfer attenuation model, the reference energy amplitude is determined.

[0013] Acquire the measured energy amplitude of the surgical instrument tip as collected by the 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 at the tip of the surgical instrument includes:

[0016] Based on the tension information of the guidewire collected by the tension sensor, the instrument joint torque of the joint at the end of the surgical instrument is determined;

[0017] The feedback information of the motor at the end of the surgical instrument is obtained, and the initial torque is calculated based on the kinematic model according to the feedback information.

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

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

[0020] Based on the difference between the initial torque and the joint torque of the instrument, the measured value of the external torque at the current moment is determined;

[0021] If the current time is the initial time, obtain the initial torque value, and based on the initial torque value and the measured external torque value at the current time, predict the target external torque at the current time using Kalman filtering;

[0022] If the current time is not the initial time, the target external torque of the previous time is obtained. Based on the target external torque of the previous time and the measured external torque value of the current time, the target external torque of the current time is predicted by Kalman filtering.

[0023] In one embodiment, after summing the absolute values ​​to obtain the current used life of the surgical instrument, the process includes:

[0024] Obtain the lifespan of this surgery;

[0025] Based on the estimated lifespan of this surgery and the lifespan already used, the lifespan of this surgery is calculated.

[0026] This displays the lifespan usage of the procedure performed.

[0027] Secondly, this application also provides a surgical instrument control method, the surgical instrument control method comprising:

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

[0029] The remaining lifespan of the surgical instrument is determined based on its current service life.

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

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

[0032] The surgical instruments are 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 lifespan is greater than or equal to a first preset value, the surgical instrument is controlled to output energy at full power and drive at full torque.

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

[0036] When the output energy intensity of the surgical instrument tip reaches the surgical requirement, the output energy of the surgical instrument tip is controlled by an energy gain coefficient that is inversely proportional to the output energy intensity of the surgical instrument tip.

[0037] When the output energy intensity of the surgical instrument tip 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 the first energy power threshold, and the increased output torque is less than the first torque threshold.

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

[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, the output energy intensity of the surgical instrument tip is reduced.

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

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

[0043] Thirdly, this application also provides a device for calculating the lifespan of surgical instruments, the device comprising:

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

[0045] The parameter acquisition module is used to acquire 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 the angles of each joint.

[0046] An integration module is used to integrate the force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of the energy output on 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 surgical instrument tip on the time axis to obtain the impulse.

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

[0048] Fourthly, this application also provides a surgical instrument control device, the surgical instrument control device comprising:

[0049] The used life acquisition module is used to acquire the current used life of the surgical instrument calculated by the surgical instrument life calculation device in any of the above embodiments.

[0050] The remaining lifespan calculation module is used to determine the remaining lifespan of the surgical instrument based on its current used lifespan.

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

[0052] The target strategy determination module is used to obtain a target control strategy corresponding to at least one of the remaining lifetime and the type of output energy;

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

[0054] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0055] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0056] In a seventh aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0057] The aforementioned method, control method, device, computer equipment, storage medium, and computer program product for calculating the lifespan of surgical instruments acquire the output energy amplitude of the surgical instrument tip, as well as the force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of energy output on the lifespan loss of each joint of the surgical instrument, and at least one of the joint angles. This impulse is obtained by integrating over time, and the absolute value of each impulse is taken. The absolute values ​​are then summed to obtain the current used lifespan of the surgical instrument. This fully considers the impact of energy transfer on the lifespan of the surgical instrument, thereby improving the accuracy of the lifespan calculation. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is an application environment diagram of a method for calculating the lifespan of surgical instruments in one embodiment;

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

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

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

[0063] Figure 5 This is a flowchart illustrating a method for calculating the lifespan of surgical instruments in one embodiment;

[0064] Figure 6 This is a schematic diagram of the impulse processing steps in one embodiment;

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

[0066] Figure 8 This is a flowchart of the force information acquisition steps in one embodiment;

[0067] Figure 9 This is a schematic diagram of a tension sensor in one embodiment;

[0068] Figure 10 This is a schematic diagram of the tensile sensor in one embodiment;

[0069] Figure 11 This is a flowchart illustrating a surgical instrument control method in one embodiment;

[0070] Figure 12 This is a flowchart of a lifetime-segmentation-based processing step in one embodiment;

[0071] Figure 13 This is a flowchart of the energy type-based control steps in one embodiment;

[0072] Figure 14 This is a flowchart of energy and torque control in one embodiment;

[0073] Figure 15 This is a schematic diagram of energy control in one embodiment;

[0074] Figure 16 This is a structural block diagram of a surgical instrument lifespan calculation device in one embodiment;

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

[0076] Figure 18 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0078] The surgical instrument lifespan calculation and control methods provided in this application can be applied to, for example... Figure 1 The application environment is illustrated. In an exemplary embodiment, the surgical robot system includes a doctor's console 100, a surgical cart 200, an image cart 300, and a tool cart 400. The doctor's console 100 is equipped with a master operator. The surgical cart 200 has at least two robotic arms 201, on which surgical instruments and endoscopes can be mounted. An operator (e.g., a surgeon) remotely operates the system via the doctor's console 100 and the master operator to perform minimally invasive surgery on a patient in a hospital bed. The master operator, robotic arms 201, and surgical instruments form a master-slave control relationship. Specifically, the robotic arms 201 and surgical instruments move according to the movement of the master operator during the surgery, i.e., according to the operator's hand movements. Furthermore, the master operator also receives information about the force exerted by human tissues and organs on the surgical instruments and feeds it back to the operator's hand, allowing the operator to more intuitively experience the surgical procedure. The doctor's console 100 has a display device that is communicatively connected to the endoscope mounted on the robotic arm of the surgical cart 200, and can receive and display images acquired by the endoscope. Based on the images displayed on the monitor on the doctor's console 100, the operator controls the movement of the robotic arm and surgical instruments via the main operator hand. The endoscope and surgical instruments are inserted into the patient's position through the incision in the patient's body.

[0079] Optionally, in some surgeries, the surgical robot may also include auxiliary components such as a ventilator and anesthesia machine 500 for use during the procedure. Those skilled in the art can select and configure these auxiliary components according to existing technology, which will not be described in detail here.

[0080] Combination Figure 2 As shown, Figure 2This is a schematic diagram of a doctor's console 100 in one embodiment. The console includes an adjustment component 110, manipulator arms 120, a carriage component 130, and an imaging component 140. The two manipulator arms 120 detect the surgeon's hand movements via control handles at their ends, serving as motion control inputs for the entire system. The carriage component 130 is a basic support for mounting other components; it has movable casters for movement or fixation as needed. A foot switch is installed on the carriage component 130 to detect on / off control signals from the surgeon. The adjustment component 110 electrically adjusts the positions of the manipulator arms, imaging component, operator's handrails, etc., providing human-machine interface parameter adjustment. The imaging component 140 provides the surgeon with stereoscopic images detected from the imaging system, offering reliable image information for surgical procedures. During surgery, the surgeon, seated at the console, is outside the sterilization area and controls surgical instruments and the laparoscope by operating the control handles at the ends of the manipulator arms. The surgeon observes the transmitted intracavitary images through the imaging component, and controls the movement of the robotic arms and instruments on the patient's surgical platform with hand movements 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 related operations inputs such as electrocautery and electrocoagulation through the foot switch.

[0081] Combination Figure 3 As shown, Figure 3 This is a schematic diagram of a surgical instrument in one embodiment. The surgical instrument includes a wire drive unit that drives the joints and a front-end actuator. The wire drive unit includes a guide wire, a drive wheel, a drive wheel, and other structures. A tension sensor is located on the drive wire of the surgical instrument. During normal surgical operations, the surgeon, guided by endoscopic images, controls the position and orientation of the surgical instrument's distal end via master-slave teleoperation. The position of the surgical instrument's distal end includes translational movement along the X, Y, and Z directions, while its orientation includes pitch, yaw, and rotation. This type of surgical instrument achieves distal end movement by using a motor-driven traction control of multiple continuous joints.

[0082] Combination Figure 4 As shown, Figure 4This is a schematic diagram of system control in one embodiment. In this embodiment, the control system includes a processor, surgical instruments, an energy detection device, and a force detection device. The processor mainly has two functions: calculating the lifespan of the surgical instruments and controlling the surgical instruments based on the calculated lifespan. The steps of the processor in calculating the lifespan mainly include acquiring the output energy amplitude of the surgical instrument's end effector. Additionally, it can acquire the force information of the surgical instrument's end effector, the energy tolerance of the material at the end effector, the characteristic coefficients of the energy output affecting the lifespan of each joint of the surgical instrument, and at least one of the joint angles. Then, on the time axis, it integrates the force information of the surgical instrument's end effector, the energy tolerance of the material at the end effector, the characteristic coefficients of the energy output affecting the lifespan of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the surgical instrument's end effector to obtain the impulse. The absolute values ​​of each impulse are taken and accumulated to obtain the current used lifespan of the surgical instrument, thus realizing the calculation of the surgical instrument's lifespan. The processor's control of the surgical instruments mainly includes receiving command signals and target external forces, and outputting driving torque based on the command signals and target external forces to drive the surgical instruments to perform surgical operations. The processor may include a lifespan calculation module, a lifespan determination module, a constraint control module, and a dynamic control module. The lifespan determination module is primarily used to determine and control the lifespan of the surgical instrument based on the lifespan calculated by the lifespan calculation module. The constraint control module is used to constrain and limit the output torque and energy power based on the results of the lifespan determination module. The dynamic control module is used to dynamically control the output torque and output energy power. A force detection device can detect the force applied to the end effector of the surgical instrument, and an energy detection device detects the energy output from the end effector.

[0083] In one exemplary embodiment, such as Figure 5 As shown, a method for calculating the lifespan of a surgical instrument is provided, including steps 502 to 508. Wherein:

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

[0085] Surgical instruments are devices that can output energy, such as ultrasonic scalpels that output electrocoagulation or electro-cutting energy. The energy released by the tip of the surgical instrument onto the tissue causes a change in the energy output amplitude at the instrument's tip. This energy output amplitude can be obtained by an energy sensor mounted on the energy excitation structure of the instrument. The output energy amplitude can be calculated using the energy sensor, the output power of the energy base station, and an energy transfer attenuation model. This energy sensor can be mounted on the tip of the surgical instrument. When the surgical instrument outputs energy, the measured energy amplitude is periodically collected, and a reference energy amplitude is determined based on the output power of the energy base station and the energy transfer attenuation model. Thus, the output energy amplitude of the surgical instrument tip can be determined based on this reference energy amplitude and the measured energy amplitude.

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

[0087] The force information of the surgical instrument is determined based on the joint torque of the instrument and the initial torque calculated according to the feedback information from the motor and the kinematic model. The energy tolerance of the end-effector material is a fixed value determined by the end-effector material. The characteristic coefficient of energy output on the lifespan 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 from the motor.

[0088] S506: The impulse is obtained by integrating the force information of the surgical instrument tip, the energy tolerance of the surgical instrument tip material, the characteristic coefficient of 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 surgical instrument tip on the time axis.

[0089] Specifically, the force information of the surgical instrument tip is determined by integrating on the time axis, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of the energy output on the life loss of each joint of the surgical instrument, and at least one of the joint angles on the life loss. In addition, the output energy amplitude of the surgical instrument tip is also integrated on the time axis to determine the life loss, so that the accurate life can be obtained.

[0090] Specifically, the integration methods can include:

[0091]

[0092] Among them, L amp The impulse E represents the loss in the lifespan of surgical instruments caused by the combined energy and torque output. extλ1…λ2 represents the energy output amplitude of the joint, η represents the energy tolerance of the surgical instrument material, and λ1…λ2…λ3… N The characteristic coefficients representing the effect of energy output on the lifespan loss of each joint of the surgical instrument, θ1…θ N The joint angles of the surgical instruments are represented by τ1…τ2. N This represents the target external force acting on each joint of the surgical instrument, where N represents the number of joints.

[0093] S508: Take the absolute value of each impulse and sum the absolute values ​​to obtain the current service life of the surgical instrument.

[0094] Among them, combined Figure 6 As shown, Figure 6 This is a schematic diagram of the impulse processing steps in one embodiment. In this embodiment, since the impulse can be positive or negative, to avoid errors during accumulation, the absolute value of the impulse is taken before accumulation.

[0095] L used =absL amp

[0096] Finally, the used life of the surgical instrument is obtained by summing the impulses.

[0097] In other alternative embodiments, after summing the absolute values ​​to obtain the current used life of the surgical instrument, the process includes: obtaining the current usable life of the surgery; obtaining the current lifespan usage based on the current usable lifespan and the current used lifespan; and displaying the current lifespan usage.

[0098] Among them, the lifespan of this surgery is L Offset This refers to the remaining lifespan of surgical instruments obtained preoperatively. This remaining lifespan is stored after each surgery, and the used lifespan L in this case... used The remaining lifespan L of the surgical instrument is determined in real time during the operation based on the force information at the tip of the surgical instrument, the energy tolerance of the material at the tip of the surgical instrument, the characteristic coefficients of energy output affecting the lifespan of each joint of the surgical instrument, at least one of the joint angles, and the output energy amplitude of the tip of the surgical instrument. The difference between these two values ​​can be used to determine the remaining lifespan L of the surgical instrument. act This allows for the determination of the lifespan of surgical instruments used in this procedure. In one optional embodiment, the lifespan of surgical instruments can also be displayed for the doctor to review, facilitating timely replacement of surgical instruments.

[0099] The above-mentioned method for calculating the lifespan of surgical instruments obtains the output energy amplitude of the surgical instrument tip, as well as the force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of energy output on the lifespan loss of each joint of the surgical instrument, and at least one of the joint angles. Then, the impulse is obtained by integrating on the time axis, and the absolute value of each impulse is taken. The absolute values ​​are then accumulated to obtain the current used lifespan of the surgical instrument. This method fully considers the influence of energy transfer on the lifespan of the surgical instrument, thereby improving the accuracy of the calculation of the lifespan of the surgical instrument.

[0100] In one optional embodiment, obtaining the output energy amplitude of the surgical instrument tip includes: determining a reference energy amplitude based on the output power of the surgical instrument's energy base station and an energy transfer attenuation model; obtaining the measured energy amplitude of the surgical instrument tip collected by an energy sensor; and determining the output energy amplitude of the surgical instrument tip based on the reference energy amplitude and the measured energy amplitude.

[0101] Specifically, in combination Figure 7 As shown, Figure 7 This is a flowchart of the output energy amplitude calculation steps in one embodiment. In this embodiment, a reference energy amplitude is determined based on the output power of the surgical instrument's energy base station and an energy transfer attenuation model. The energy released by the surgical instrument tip onto the tissue causes a change in the energy output amplitude of the instrument tip. The energy output amplitude can be obtained by an energy sensor installed on the instrument's energy excitation structure, i.e., the measured energy amplitude of the surgical instrument tip acquired by the energy sensor. Finally, the reference energy amplitude and the measured energy amplitude are fused to obtain the output energy amplitude of the surgical instrument tip. Specifically, the fusion method can be Kalman filtering to avoid errors introduced by the energy sensor measurement.

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

[0103] Among them, E ext E represents the output energy amplitude at the tip of a surgical instrument. exp E represents the reference energy amplitude of the surgical instrument tip calculated using the energy decay model. fdb This indicates the measured energy amplitude acquired by the sensor. Fusion represents the data fusion step used to accurately predict the actual value, such as Kalman filtering.

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

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

[0106] Specifically, in combination Figures 8 to 10 As shown, Figure 8 This is a flowchart of the force information acquisition steps in one embodiment. Figure 9 This is a schematic diagram of a tension sensor in one embodiment, wherein the tension sensor is mounted on a surgical instrument guidewire, which can acquire the tension at both ends of the guidewire and further convert it into instrument joint torque at the end of the surgical instrument. The two ends of the guidewire are fixed to the two ends of the encapsulated sensor, so that the sensor is suspended. When the guidewire is subjected to force, the sensor will be compressed or stretched along the axial direction.

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

[0108] Combination Figure 10 As shown, Figure 10 This is a schematic diagram of a tension sensor in one embodiment, where the tension sensor uses a fiber Bragg grating (FBG). When a force is applied to the grating, its reflection center wavelength changes. A linear relationship between the reflection center wavelength of the FBG and the axial force acting on the FBG sensor can be used to detect the axial force, as shown in the following formula.

[0109] Δλ B =K σ *σ z

[0110] Where: Δλ B K represents the change in the reflection center wavelength of the grating. σ The stress coefficient, σ, is a constant. Z This represents the axial stress of the grating sensor, i.e., 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, making it well-suited for use within the confined space of surgical instruments.

[0111] Specifically, in this embodiment, the tension information of the guidewire is obtained through the tension sensor in the external force detection device, and then the joint torque of the corresponding joint is calculated based on the tension information of the guidewire. Figure 3Taking surgical instruments as an example, it is possible to obtain the joint torque of the four joints of the instrument.

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

[0113] The force applied to the end of the instrument causes a change in the force on the guidewire controlling the joint movement within the instrument. This force can be obtained using a tension sensor mounted on the guidewire. Based on feedback from the motor, the initial torque can be calculated. Then, based on the initial torque and the instrument joint torque, the target external torque at the end of the surgical instrument is determined. Specifically:

[0114] τ ext =τ exp -τf db

[0115] f ext =(J T ) -1 *τ ext

[0116] Where τ ext τ represents the measured external torque value of the joint at the end of a surgical instrument. exp τ represents the initial torque calculated by the dynamic model. fdb f represents the joint torque of the instrument. ext Let J represent the external force acting on the end of the surgical instrument, and let J represent the Jacobian matrix from the end-of-art Cartesian space to the joint space.

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

[0118] In one embodiment, determining the target external torque at the end of the surgical instrument based on the initial torque and the instrument joint torque includes: determining the measured external torque 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 using Kalman filtering based on the initial torque value and the measured external torque 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 using Kalman filtering based on the target external torque at the previous moment and the measured external torque value at the current moment.

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

[0120] The Kalman filter algorithm combines the measured external torque value of the current cycle with the estimated target external torque of the previous cycle to obtain the estimated target external torque of the current cycle, reducing the error in the target external torque caused by sensor detection errors. The core principle of Kalman filtering for processing multiple external torque measurements is to subtract the estimated target external torque of the previous cycle from each measured external torque value of the current cycle, multiply the difference by the Kalman gain, and add it to the estimated target external torque of the previous cycle to obtain the target external torque for the current cycle.

[0121] If the current time is the initial time, the initial torque value, i.e., the initial state and the initial estimation error, are obtained. If the current time is not the initial time, the target external torque at the current time is obtained. Based on the target external torque at the current time and the measured external torque value at the current time, the target external torque at the next time is predicted by Kalman filtering.

[0122] In the above embodiments, the Kalman filtering algorithm is used to reduce the error caused by measurement.

[0123] In one exemplary embodiment, such as Figure 11 As shown, a surgical instrument control method is provided, including steps 1102 to 1110. Wherein:

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

[0125] S1104: Determine the remaining lifespan of the surgical instruments based on their current service life.

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

[0127] S1106: Type of output energy obtained from surgical instruments.

[0128] The type of output energy is distinguished according to its function; specifically, it can include electrical energy and electrosurgical cutting energy. In this embodiment, the type of output energy can be determined based on the type of surgical instrument.

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

[0130] The target control strategy is obtained based on at least one of the remaining lifetime and the type of output energy. The relationship between at least one of the remaining lifetime and the type of output energy and the target control strategy can be preset, so that after the remaining lifetime and the type of output energy are determined, the corresponding target control strategy can be obtained based on the remaining lifetime and the type of output energy.

[0131] S1110: Control of surgical instruments based on target control strategies.

[0132] In one optional embodiment, the constraint control module of the processor is used to constrain the output of the surgical instrument, including the output power and output torque, based on the target control strategy obtained by the lifespan determination module based on the remaining lifespan and the type of output energy. The dynamic control module of the processor is then used to achieve dynamic control based on the constrained output power and output torque.

[0133] Therefore, controlling surgical instruments based on a target control strategy includes constraining the output power and torque based on the target control strategy, and then dynamically controlling the output power and torque based on the constrained output power and torque. Constraining the output power and torque is primarily to ensure the achievement of the surgical objective while extending the lifespan of the surgical instruments, i.e., controlling the output power and torque within a reasonable range. Dynamic control, on the other hand, is based on feedback information from the surgical instruments to dynamically control the output power and torque, for example, through a PID algorithm.

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

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

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

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

[0138] Combination Figure 12 As shown, Figure 12 The flowchart is based on the lifespan segmentation process. In the first segment, the surgical instrument has the longest remaining lifespan, 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 requirements are met, such as through feedback of current, voltage, and torque, it is determined whether the surgical requirements are met. If the surgical requirements are met, the end-effector energy is limited by a preset coefficient. The magnitude of this preset coefficient is inversely proportional to the energy intensity of the end-effector feedback. The preset coefficient can range from 0 to 0.8, with 0.8 being within this range. If the surgical requirements are not met, the output power and torque of the surgical instrument are increased. The increased output power is less than a first power threshold, and the increased output torque is less than a first torque threshold. The first power threshold and the first torque threshold can be certain components of full power and full torque, respectively, such as 80%. Other values ​​can be used in other embodiments, and are not specifically limited here.

[0140] In the third segment, due to the limited remaining lifespan, the output power and torque of the surgical instruments are restricted to a preset power and torque. This limitation on instrument control performance aims to extend the instrument's lifespan as much as possible, while simultaneously alerting the surgeon and preventing surgical risks. Specifically, the preset power is less than a second power threshold, the preset torque is less than a second torque threshold, the second power threshold is less than a first 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. Other values ​​may be used in other embodiments, and no specific limitations are imposed here.

[0141] In the above embodiments, the output power and output torque of the surgical instruments are controlled based on the different remaining lifespans, so as to extend the lifespan of the surgical instruments.

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

[0143] Combination Figure 13 As shown, Figure 13This is a flowchart of an energy type-based control step in one embodiment. In this embodiment, during the electrocoagulation energy excitation process, when the tissue coagulation rate is less than the coagulation rate threshold, the tissue resistance is considered low, and the energy output amplitude is reduced. Conversely, when coagulation is nearing completion, the tissue resistance is high, and the energy output amplitude is dynamically amplified. It is assumed that for the energy device, when the current at the tip reaches a certain value, the surgical effect is consistent. Therefore, the energy output can be dynamically controlled. When the current is too high, the voltage is limited to reduce the energy intensity at the tip, thereby extending the device's lifespan.

[0144] The electrosurgical energy excitation process involves two phases: during and after cutting. During cutting, energy is dynamically controlled in conjunction with the shear torque output. A large shear force feedback indicates harder and thicker tissue, requiring faster and higher energy amplitude for electrosurgical cutting, at which point the normal rated electrosurgical energy is output. Conversely, a small shear force feedback indicates thinner tissue or near-complete cutting, meaning the remaining tissue thickness is less than the thickness threshold; in this case, the energy output amplitude is appropriately reduced. After cutting, the instrument tip closes, resulting in lower resistance. This energy change is observed in the feedback monitor, and the energy output is automatically shut off.

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

[0146] For ease of understanding, combined with Figure 14 As shown, Figure 14 This is a flowchart illustrating the energy and torque control process in one embodiment. In this embodiment, when the doctor provides the action and trigger energy signal, the processor calculates the command energy and torque intensity in real time through negative feedback. The calculation method for torque and energy intensity follows the currently used target control strategy. Energy is transmitted to the energy platform via analog signals through, but not limited to, I / O, serial ports, and buses, allowing for real-time adjustment of the energy output amplitude. Torque is converted into current by a driver and output to the instrument's end effector to generate torque. After outputting energy and torque, the actual output serves as feedback input to the control system, enhancing control accuracy. In this way, dynamic adjustment allows for surgical operations with the most suitable energy, preventing the instrument's output from always remaining at its rated output, thereby extending the lifespan of the energy-based surgical instruments.

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

[0148] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0149] Based on the same inventive concept, this application also provides a surgical instrument lifespan calculation device for implementing the surgical instrument lifespan calculation method described above, and a surgical instrument control device for implementing the surgical instrument control method. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more surgical instrument lifespan calculation devices and surgical instrument control devices provided below can be found in the limitations of the surgical instrument lifespan calculation method and surgical instrument control method described above, and will not be repeated here.

[0150] In one exemplary embodiment, such as Figure 16 As shown, a lifespan calculation device for surgical instruments is provided, comprising: an output energy amplitude acquisition module 1601, a parameter acquisition module 1602, an integration module 1603, and a lifespan calculation module 1604, wherein:

[0151] The output energy amplitude acquisition module 1601 is used to acquire the output energy amplitude of the surgical instrument tip.

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

[0153] The integration module 1603 is used to integrate the force information of the surgical instrument tip, the energy tolerance of the material of the surgical instrument tip, the characteristic coefficient of the energy output on 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 surgical instrument tip on the time axis to obtain the impulse.

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

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

[0156] In one embodiment, the parameter acquisition module 1602 is further configured 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; acquire 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; and determine the target external torque at 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 further configured to determine the measured value of the external torque at the current moment based on the difference between the initial torque and the joint torque of the instrument; if the current moment is the initial moment, the initial torque value is acquired, and the target external torque at the current moment is predicted by Kalman filtering based on the initial torque value and the measured value of the external torque at the current moment; if the current moment is not the initial moment, the target external torque at the previous moment is acquired, and the target external torque at the current moment is predicted by Kalman filtering based on the target external torque at the previous moment and the measured value of the external torque at the current moment.

[0158] In one embodiment, the lifespan calculation module 1604 is further configured to obtain the available lifespan of the current surgery; based on the available lifespan of the current surgery and the lifespan already used, obtain the lifespan usage status of the current surgery; and display the lifespan usage status of the current surgery.

[0159] In one exemplary embodiment, such as Figure 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 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] Energy type acquisition module 1703 is used to acquire the type of output energy of surgical instruments;

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

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

[0165] In one embodiment, the dynamic control module 1705 is further configured to: control the surgical instrument to output energy at full power and drive it at full torque when the remaining lifespan is greater than or equal to a first preset value; determine whether the output energy intensity of the surgical instrument tip meets the surgical requirements when the remaining lifespan is greater than or equal to a second preset value and less than the first preset value; the first preset value is greater than the second preset value; when the output energy intensity of the surgical instrument tip meets the surgical requirements, control the output energy of the surgical instrument tip using an energy gain coefficient inversely proportional to the output energy intensity of the surgical instrument tip; when the output energy intensity of the surgical instrument tip 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 a first energy power threshold and the increased output torque is less than a first torque threshold; when the remaining lifespan is less than the second preset value, control the surgical instrument to output energy at a preset power and drive it 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 aforementioned dynamic control module 1705 is further configured to reduce the output energy intensity of the surgical instrument tip when the output energy type is electrocoagulation and the coagulation rate is less than the coagulation rate threshold; to turn off the energy output of the surgical instrument tip when the output energy type is electro-cutting and the cutting is completed; and to reduce the output energy intensity of the surgical instrument tip when the output energy type is electro-cutting and the remaining tissue thickness is less than the thickness threshold.

[0167] The various modules in the aforementioned surgical instrument lifespan calculation device and surgical instrument control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0168] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 18As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for calculating the lifespan of surgical instruments and a method for controlling surgical instruments. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0169] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0170] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

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

[0173] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0174] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of calculating the life of a surgical instrument, characterized by, The method comprises: acquiring an output energy amplitude of the surgical instrument tip; acquiring at least one of force information of the surgical instrument tip, a material tolerance of the surgical instrument tip to energy, a characteristic value coefficient of energy output to life consumption of each joint of the surgical instrument, and each joint angle of the surgical instrument; integrating the at least one of the force information of the surgical instrument tip, the material tolerance of the surgical instrument tip to energy, the characteristic value coefficient of energy output to life consumption of each joint of the surgical instrument, and each joint angle of the surgical instrument, and the output energy amplitude of the surgical instrument tip on a time axis to obtain an impulse; taking absolute values of each of the impulses, and accumulating the absolute values to obtain a used life of the surgical instrument this time; the acquisition method of the force information of the surgical instrument tip comprises: determining an instrument joint torque of a joint of the surgical instrument tip based on tension information of a guide wire collected by a tension sensor; acquiring feedback information of a motor of the surgical instrument tip, and calculating an initial torque based on a kinematics model according to the feedback information; determining a target external torque of the surgical instrument tip based on the initial torque and the instrument joint torque; the determination of the target external torque of the surgical instrument tip based on the initial torque and the instrument joint torque comprises: determining an external torque measurement value at a current time based on a difference between the initial torque and the instrument joint torque; if the current time is an initial time, acquiring an initial torque value, and predicting the target external torque at the current time by Kalman filtering based on the initial torque value and the external torque measurement value at the current time; if the current time is not the initial time, acquiring a target external torque at a previous time, and predicting the target external torque at the current time by Kalman filtering based on the target external torque at the previous time and the external torque measurement value at the current time.

2. The method of claim 1, wherein, the acquisition of the output energy amplitude of the surgical instrument tip comprises: determining a reference energy amplitude based on an output power of an energy base station of the surgical instrument and an energy transmission attenuation model; acquiring a measured energy amplitude of the surgical instrument tip collected by an energy sensor; determining the output energy amplitude of the surgical instrument tip according to the reference energy amplitude and the measured energy amplitude.

3. The method according to claim 1 or 2, characterized in that, after the accumulation of the absolute values to obtain the used life of the surgical instrument this time, comprising: acquiring a serviceable life of the current surgery; obtaining a service life use condition of the current surgery based on the serviceable life of the current surgery and the used life of the current surgery; displaying the service life use condition of the current surgery.

4. A life span calculation device for a surgical instrument, characterized by comprising: The device comprises: an output energy amplitude acquisition module configured to acquire an output energy amplitude of a surgical instrument tip; a parameter acquisition module configured to acquire at least one of force information of the surgical instrument tip, a material tolerance of the surgical instrument tip to energy, a characteristic value coefficient of energy output to life consumption of each joint of the surgical instrument, and each joint angle of the surgical instrument; an integral module configured to integrate at least one of the force information of the surgical instrument tip, the material tolerance of the surgical instrument tip to energy, the characteristic value coefficient of the energy output to the life consumption of each joint of the surgical instrument, and each joint angle of the surgical instrument, and the output energy amplitude of the surgical instrument tip, to obtain an impulse; a life calculation module configured to take the absolute value of each impulse and accumulate the absolute value to obtain the used life of the surgical instrument this time, The parameter acquisition module is specifically used for determining the instrument joint torque of the joint of the surgical instrument tip based on the pull force information of the guide wire collected by the pull force sensor; obtaining the feedback information of the motor at the tip of the surgical instrument, and calculating the initial torque based on the kinematic model according to the feedback information; determining the target external torque of the tip of the surgical instrument based on the initial torque and the instrument joint torque; The parameter acquisition module is also specifically used for determining the external torque measurement value at the current time based on the difference between the initial torque and the instrument joint torque; if the current time is the initial time, an initial torque value is obtained, and the target external torque at the current time is predicted by Kalman filtering based on the initial torque value and the external torque measurement value at the current time; if the current time is not the initial time, the target external torque at the previous time is obtained, and the target external torque at the current time is predicted by Kalman filtering based on the target external torque at the previous time and the external torque measurement value at the current time.

5. The apparatus of claim 4, wherein, The output energy amplitude acquisition module is specifically used for determining a reference energy amplitude based on the output power of the energy base station of the surgical instrument and an energy transmission attenuation model; and obtaining a measured energy amplitude of the tip of the surgical instrument collected by an energy sensor. The output energy amplitude of the tip of the surgical instrument is determined according to the reference energy amplitude and the measured energy amplitude.

6. The apparatus of claim 4 or 5, wherein, The life calculation module is also used for obtaining the available life of the current surgery; obtaining the life use condition of the current surgery based on the available life of the current surgery and the used life of the current surgery; and displaying the life use condition of the current surgery.

7. A surgical instrument control device characterized by comprising: The surgical instrument control device comprises: a used life acquisition module configured to obtain the used life of the surgical instrument calculated by the surgical instrument life calculation device according to any one of claims 4 to 6; a residual life calculation module configured to determine the residual life of the surgical instrument based on the used life of the surgical instrument this time; an energy type acquisition module configured to obtain 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 residual life and the type of output energy; a dynamic control module configured to control the surgical instrument based on the target control strategy.

8. The surgical instrument control device according to claim 7, characterized by The dynamic control module is specifically configured to control the surgical instrument to output energy at full power and to output driving torque 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 energy intensity output at the end of the surgical instrument reaches a surgical requirement. The first preset value is greater than the second preset value; when the energy intensity output at the end of the surgical instrument reaches the surgical requirement, an energy gain coefficient inversely proportional to the energy intensity output at the end of the surgical instrument is used to control the energy output at the end of the surgical instrument; when the energy intensity output at the end of the surgical instrument does not reach the surgical requirement, the output energy power and the 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 at a preset power and to output driving torque at 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.

9. The surgical instrument control device according to claim 7, characterized by The dynamic control module is specifically configured to reduce the output energy intensity at the end of the surgical instrument when the output energy type is electrocoagulation and the coagulation rate is less than a coagulation rate threshold; when the output energy type is electrotomy and the cutting is completed, the energy output at the end of the surgical instrument is turned off; when the output energy type is electrotomy and the remaining thickness of the tissue is less than a thickness threshold, the output energy intensity at the end of the surgical instrument is reduced.

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