Surgical instrument control method and device

Abstract

The invention relates to a surgical instrument control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps of obtaining a target external force at the tail end of the surgical instrument, and determining the remaining life of the surgical instrument based on the target external force. When the residual life is greater than a preset value, obtaining segmented control information corresponding to the residual life; and controlling the surgical instrument based on the segmented control information. And when the residual life is less than or equal to a preset value, outputting a life depletion prompt. By adopting the method, the service life of the surgical instrument can be prolonged.

Description

Technical Field

[0001] The present application relates to the field of intelligent medical technology, and in particular to a surgical instrument control method and device. 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 for extending the life of surgical instruments is urgently needed. Summary of the invention

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

[0006] In a first aspect, the present application provides a surgical instrument control method, the method comprising:

[0007] Acquire a target external force at the end of the surgical instrument, and determine the remaining life of the surgical instrument based on the target force;

[0008] When the remaining life is greater than a preset value, obtaining segment control information corresponding to the remaining life;

[0009] Controlling the surgical instrument based on the segmented control information;

[0010] When the remaining life is less than or equal to a preset value, a life expiration prompt is output.

[0011] In one embodiment, controlling the surgical instrument based on the segmented control information includes:

[0012] Obtaining a feedback angle of a joint at the end of the surgical instrument;

[0013] Adjust the target external force within the external force range corresponding to the segment control information;

[0014] Obtaining a target actual angle based on the adjusted target external force;

[0015] Performing dynamic control based on the target actual angle, the feedback angle, and the operation instruction of the surgical instrument to obtain a command torque;

[0016] The surgical instrument is controlled based on the command torque.

[0017] In one embodiment, adjusting the target external force within the external force range corresponding to the segment control information includes:

[0018] Acquire external force magnitude adjustment information corresponding to the segment control information, and scale the target external force based on the external force magnitude adjustment information;

[0019] The external force magnitude range information corresponding to the segmented control information is obtained, and the scaled target external force is adjusted based on the external force range to obtain an adjusted target external force.

[0020] In one embodiment, obtaining the target actual angle based on the adjusted target external force includes:

[0021] The adjusted target external forces corresponding to each joint are balanced to obtain the balanced target external forces;

[0022] Based on the balanced target external force, the admittance control is performed to obtain the initial actual angle;

[0023] Mechanical limit information is acquired, and the initial actual angle is processed based on the mechanical limit information to obtain a target actual angle.

[0024] In one embodiment, the dynamic control based on the target actual angle, the feedback angle and the operation instruction of the surgical instrument to obtain the command torque includes:

[0025] determining a desired angle based on an operating instruction of the surgical instrument;

[0026] Obtaining an angle deviation based on the target actual angle and the expected angle;

[0027] Obtaining a preset angle threshold, and processing the angle deviation according to the angle threshold to obtain a simulation angle;

[0028] Derivative the simulation angle to obtain a simulation speed;

[0029] Proportional control, integral control and differential control are performed based on the simulation angle, the simulation speed and the feedback angle to obtain a command torque.

[0030] In one embodiment, controlling the surgical instrument based on the command torque includes:

[0031] Acquire the life limiting torque in the segment control information;

[0032] Processing the command torque based on the life limit torque to obtain a target command torque;

[0033] The surgical instrument is controlled based on the target command torque.

[0034] In one embodiment, after obtaining the target external force on the end of the surgical instrument, the method further includes:

[0035] Determining whether the target external force is greater than an external force threshold;

[0036] When the target external force is greater than the external force threshold, a warning message is output.

[0037] In one embodiment, obtaining the target external torque of the end of the surgical instrument and determining the remaining life of the surgical instrument based on the target torque includes:

[0038] 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;

[0039] 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;

[0040] Determining a target external torque of the surgical instrument end based on the initial torque and the instrument joint torque;

[0041] Determining a target external force applied to the distal end of the surgical instrument based on the target external torque;

[0042] Integrating the target external force on the time axis to obtain impulse;

[0043] Taking the absolute value of each impulse, and accumulating the absolute values ​​to obtain the used life of the surgical instrument;

[0044] Obtaining the currently set usable life of the surgical instrument;

[0045] The remaining life of the surgical instrument is determined based on the currently available life and the used life.

[0046] In one embodiment, the method further comprises:

[0047] At least one of the remaining life, total life, life used in this operation, and target external force of the surgical instrument is displayed.

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

[0049] A remaining life acquisition module, used to acquire a target external force at the end of the surgical instrument, and determine the remaining life of the surgical instrument based on the target force;

[0050] A control module, configured to obtain segmented control information corresponding to the remaining life when the remaining life is greater than a preset value; and control the surgical instrument based on the segmented control information;

[0051] The output module is used to output a life expiration prompt when the remaining life is less than or equal to a preset value.

[0052] In a third 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-mentioned embodiments when executing the computer program.

[0053] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method in any one of the above-mentioned embodiments.

[0054] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the method in any one of the above-mentioned embodiments when executed by a processor.

[0055] The above-mentioned surgical instrument control method, device, computer equipment, computer-readable storage medium and computer program product first determine the remaining life of the surgical instrument based on the target external force at the end of the surgical instrument. When the remaining life is less than or equal to the preset value, a prompt indicating that the life is exhausted is output. When the remaining life is greater than the preset value, segmented control information is obtained, and the surgical instrument is controlled based on the segmented control information, thereby avoiding the surgical instrument being controlled according to one control information all the time, and extending the life of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] 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.

[0057] Figure 1 is an application environment diagram of a surgical instrument control method in one embodiment;

[0058] Figure 2 is a schematic diagram of the structure of a doctor's console in one embodiment;

[0059] Figure 3 is a schematic diagram of a surgical instrument in one embodiment;

[0060] Figure 4 is a schematic diagram of system control in one embodiment;

[0061] Figure 5 is a flow chart of a surgical instrument control method in one embodiment;

[0062] Figure 6 is a schematic diagram of the structure of a processor in an embodiment;

[0063] Figure 7 is a schematic structural diagram of a life judgment unit in an embodiment;

[0064] Figure 8 is a flow chart of the segmented control steps in one embodiment;

[0065] Fig. 9 is a schematic diagram of a force deviation setting unit in one embodiment;

[0066] Fig.10 is a schematic diagram of a control constraint unit in one embodiment;

[0067] Fig.11 is a structural diagram of an admittance model design unit in an embodiment;

[0068] Fig.12 is a schematic diagram of a dynamic control unit in one embodiment;

[0069] Fig.13 is a schematic diagram of a command torque limiting step in one embodiment;

[0070] Fig.14 is a schematic diagram of a force control step in an embodiment;

[0071] Fig.15 is a schematic diagram of a display interface in an embodiment;

[0072] Fig.16 is a flow chart of a method for calculating the life of a surgical instrument in one embodiment;

[0073] Fig.17 is a schematic diagram of a tension sensor in one embodiment;

[0074] Fig.18 is a schematic diagram of the principle of a tension sensor in an embodiment;

[0075] Fig.19 is a schematic diagram of a method for calculating target external torque based on Kalman filtering in one embodiment;

[0076] Fig. 20 is a schematic diagram of an impulse absolute value processing step in an embodiment;

[0077] Fig.21 is a structural block diagram of a surgical instrument control device in one embodiment;

[0078] Fig. 22 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0079] 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.

[0080] The surgical instrument control method provided in the embodiment 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.

[0081] 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.

[0082] 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.

[0083] Combination Figure 3 As shown, Figure 3 This is a schematic diagram of a surgical instrument in an embodiment. During normal surgical operations, the surgeon controls the position and posture of the instrument end through master-slave remote control under the guidance of the endoscopic image. The position of the instrument end 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 instrument end. This type of continuum instrument achieves the movement of the end by controlling multiple continuous joints by motor traction. The pitch and rotation joints are controlled by a guide wire driven by a motor, and the yaw joint is controlled by two motors driving two yaw plates respectively.

[0084] Combination Figure 4 As shown, Figure 4The schematic diagram of system control in one embodiment is shown in FIG. 1 . In this embodiment, the control system includes a processor, a surgical instrument, and an external force detection device, wherein the external force detection device is used to detect the target external force on the surgical instrument, and the life calculation unit in the processor is used to calculate the current service life of the instrument based on the target external force, and obtain the remaining life of the surgical instrument based on the available life of the surgical instrument obtained at the beginning of this operation and the current service life, so that the life judgment unit, the control constraint unit, and the dynamic control unit in the processor control the surgical instrument based on the remaining life, the received instruction signal, and the feedback angle of the joint fed back by the surgical instrument. The life judgment unit is mainly used to judge and control the life of the surgical instrument based on the life calculation unit, the constraint control unit is used to constrain and limit the output torque based on the result of the life judgment unit, and the dynamic control unit is used to realize dynamic control of the output torque. The force detection device can detect the force on the end of the surgical instrument.

[0085] In an exemplary embodiment, Figure 5 As shown, a surgical instrument control method is provided, including the following steps 502 to 506.

[0086] in:

[0087] S502: Obtain a target external force at the end of the surgical instrument, and determine the remaining life of the surgical instrument based on the target force.

[0088] Specifically, the method for calculating the remaining life of the surgical instrument can be found below and will not be repeated here.

[0089] S504: When the remaining life is greater than a preset value, obtaining segmented control information corresponding to the remaining life; and controlling the surgical instrument based on the segmented control information.

[0090] S506: When the remaining life is less than or equal to a preset value, output a life expiration prompt.

[0091] In this embodiment, the medical device is controlled according to the remaining life. When the remaining life is less than or equal to a preset value, such as 0, a life exhaustion prompt is output to facilitate doctors to replace surgical instruments in time. When the remaining life is greater than the preset value, the surgical instrument is continued to be used for surgery, and during the surgery, the corresponding segmented control information is determined based on the size of the remaining life, and the control strategy of the surgical instrument is adjusted based on the segmented control information.

[0092] The above-mentioned surgical instrument control method first determines the remaining life of the surgical instrument based on the target external force at the end of the surgical instrument. When the remaining life is less than or equal to the preset value, a prompt indicating that the life is exhausted is output. When the remaining life is greater than the preset value, segmented control information is obtained, and the surgical instrument is controlled based on the segmented control information, thereby avoiding the surgical instrument being controlled according to one control information all the time, thereby extending the life of the surgical instrument.

[0093] In one of the optional embodiments, the segmented control information of different remaining lifespans is different. In one of the optional embodiments, the surgical instrument is controlled based on the segmented control information, including: obtaining the target external force exerted on the end of the surgical instrument and the feedback angle of the joint of the surgical instrument; the target external force is determined based on the target external torque, and the target external torque is obtained based on the initial torque and the instrument joint torque, the initial torque is calculated based on the kinematic model according to the feedback information of the motor at the end of the surgical instrument, and the instrument joint torque is determined based on the tension information of the guide wire collected by the tension sensor; adjusting the target external force within the external force range corresponding to the segmented control information; obtaining the target actual angle based on the adjusted target external force; performing dynamic control based on the target actual angle, the feedback angle and the operating instructions of the surgical instrument to obtain the command torque; and controlling the surgical instrument based on the command torque.

[0094] Among them, for Figure 4 The processor in Figure 6 As shown, it may include a life judgment unit, a control constraint unit and a dynamic control unit. The life judgment unit is used to judge whether the remaining life is greater than a preset value. If so, the surgical instrument is controlled based on the remaining life. Otherwise, a prompt indicating that the life is exhausted is directly output, for example, a prompt indicating that the life is exhausted is displayed through the display device of the doctor console 100 at the main end. The control constraint unit is used to constrain the target external force, and generate a corresponding target actual angle based on the target external force, and constrain the target actual angle. The dynamic control unit is used to realize dynamic balance control of the surgical instrument.

[0095] Combination Figure 7As shown, the life judgment unit may include a remaining life judgment unit, a segment control unit and a force deviation setting unit, wherein the remaining life judgment unit is used to judge whether the remaining life is greater than a preset value, and if so, the segment control unit dynamically adjusts the segment control information according to the remaining life. In one optional embodiment, the segment control information includes at least one of the maximum tension of the guide wire at the end of the surgical instrument (i.e., the instrument joint limiting torque), the external force size adjustment information corresponding to the force deviation setting unit, and the deviation external force limit, wherein the maximum tension of the guide wire is due to the fact that the longer the surgical instrument is used, the smaller the tension that the guide wire can withstand, so the maximum tension that the guide wire can withstand is set in segments. The external force size adjustment information can be represented by a gain matrix. Due to the use of the surgical instrument, the external force that it can withstand is different at different stages. For this reason, as the surgical instrument is used, the target external force is reduced, that is, the target external force is multiplied by the gain matrix to achieve the reduction of the target external force. The deviation external force limit is to limit the maximum value of the target external force after reducing the target external force, and limit the target external force within the deviation external force limit range to avoid excessive torque output by the surgical instrument, thereby achieving the purpose of extending the life of the surgical instrument.

[0096] Combination Figure 8 As shown, Figure 8 FIG. 1 is a flow chart of the segmented control steps in an embodiment. In this embodiment, after the instrument has been used for multiple surgeries, the transmission structure of the surgical instrument will change, and the segmented control information needs to be adjusted according to the remaining life of the surgical instrument. Figure 8 As shown, the remaining life can be divided into three sections, including 0 to 25% of the total life, 25% to 50% of the total life and greater than 50% of the total life. In other embodiments, the remaining life can be divided into other sections, which are not limited to the examples given here, wherein each section corresponds to different section control information, the section control information is determined based on the remaining life, and the target force is processed based on the section control information, including the control of the life judgment unit, the control constraint unit and the dynamic processor.

[0097] In one of the optional embodiments, adjusting the target external force within the external force range corresponding to the segmented control information includes: obtaining external force magnitude adjustment information corresponding to the segmented control information, and scaling the target external force based on the external force magnitude adjustment information; obtaining external force magnitude range information corresponding to the segmented control information, and adjusting the scaled target external force based on the external force range to obtain the adjusted target external force.

[0098] Specifically, combined Fig. 9 As shown, Fig. 9FIG. 1 is a schematic diagram of a force deviation setting unit in an embodiment, wherein the force deviation setting unit includes a first space conversion unit, a gain matrix processing unit, and a life setting unit, wherein the first space conversion unit is used to convert the target external force from the joint space to the Cartesian space. Specifically, the target external force f ext , the Cartesian deviation external force f is obtained by inverting the Jacobian transposition of the instrument err , the kinematic principle is as follows:

[0099] f err =(J1 T ) -1 *f ext

[0100] Among them, J1 T Represents the transpose of the device Jacobian matrix.

[0101] The gain matrix processing unit is used to scale the target external force based on the external force magnitude adjustment information, wherein the external force adjustment information can be represented by a gain matrix. The Cartesian gain deviation external force is calculated, where the matrix is ​​a diagonal matrix, different constants are set according to the different life margins of the surgical instrument, and n is equal to the number of joints; the calculation principle is as follows:

[0102] f err_inc =R x(n) *f err

[0103] where the gain matrix is ​​a parameter of different Cartesian dimensions and n represents the Cartesian degrees of freedom.

[0104] The life setting unit is used to obtain the external force range information corresponding to the segmented control information, and adjust the scaled target external force based on the external force range to obtain the adjusted target external force. Specifically, the Cartesian gain deviation external force f err_inc Through the life adjustment matrix Zx(n), the Cartesian adjustment deviation external force f is obtained err_output(n) . Zx(n) is composed of n external force setting values ​​f life(x) The diagonal matrix formed by life(x) Different values ​​are set according to the life margin, and the maximum deviation force output is limited within the deviation external force allowed in the life stage to prevent the instrument setting force from being too large and damaging the end of the instrument to extend the service life of the instrument. Specifically, when the Cartesian gain deviation external force is greater than the positive external force setting value, the Cartesian setting deviation external force is set to the positive external force setting value; when the Cartesian gain deviation external force is less than the negative external force setting value, the Cartesian setting deviation external force is set to the negative external force setting value; when the Cartesian gain deviation external force is greater than or equal to the negative external force setting value, and less than or equal to the positive external force setting value, the Cartesian setting deviation external force is set to the Cartesian gain deviation external force.

[0105] In the above embodiment, a segmented control method is adopted to set the corresponding maximum bearing force of the instrument end, the instrument external force deviation gain matrix and the instrument movement range limit according to different life margins to extend the life of the instrument.

[0106] In one of the embodiments, the target actual angle is obtained based on the adjusted target external force, including: balancing the adjusted target external forces corresponding to each joint to obtain the balanced target external force; performing admittance control based on the balanced target external force to obtain the initial actual angle; obtaining mechanical limit information, and processing the initial actual angle based on the mechanical limit information to obtain the target actual angle.

[0107] Specifically, combined Fig.10 As shown, Fig.10 FIG. 1 is a schematic diagram of a control constraint unit in an embodiment. In this embodiment, the control constraint unit includes a Cartesian deviation force limitation unit, an admittance model design unit, and an angle dynamic limitation unit. The Cartesian deviation force limitation unit is used to balance the adjusted target external forces corresponding to each joint to obtain the balanced target external force. Specifically, the Cartesian set deviation external force f err_output(n) , from 1 to 3 represent the Cartesian XYZ forces respectively; the Cartesian limit deviation external torque τ is obtained through the Cartesian deviation force limit module cart , through the weight design in each direction, the uniform control of the force in each direction is achieved:

[0108]

[0109]

[0110] Among them, τ cart[i] Represents the uniform external torque output by the uniform joint after restriction.

[0111] The admittance model design unit may include a first-order admittance model and a second-order admittance model, and finally obtains the initial actual angle. Specifically, combined with Fig.11 As shown, Fig.11 is a structural diagram of an admittance model design unit in an embodiment, which includes a second space conversion unit, a first-order admittance model and a second-order admittance model, wherein the Cartesian limit deviation external force f cart The joint limit deviation torque [τ1, τ2...τ n-1 , τ n ], the admittance model design includes the optional first-order admittance model and the second-order admittance model, and finally obtains the initial actual angle, which are implemented as follows: the first-order model is The second-order model is In the design of the admittance model controller, the k1 and k2 coefficients are used as the weights of the first-order model and the second-order model, respectively, where k1+k2=1. Finally, the expected deviation angle of the joint is obtained by summing up the admittance model calculations, where J is the inertia coefficient, b is the damping coefficient, k is also a coefficient, and θ is the initial actual angle.

[0112] The angle dynamic limitation unit processes the initial actual angle output by the admittance mode design unit, and completes the angle output within the achievable working space by comparing the mechanical limit, to prevent the expected angle from being too large and outputting a large force that damages the instrument. For example, the initial actual angle is limited to the mechanical limit angle to obtain the target actual angle. Specifically, when the initial actual angle is greater than the positive angle threshold, the target actual angle is set to the positive angle threshold, when the initial actual angle is less than the negative angle threshold, the target actual angle is set to the negative angle threshold, and when the initial actual angle is greater than or equal to the negative angle torque, and less than or equal to the positive angle threshold, the target actual angle is set to the initial actual angle. This avoids the loss of surgical instruments caused by excessive angles.

[0113] In one of the embodiments, dynamic control is performed based on the target actual angle, feedback angle and operating instructions of the surgical instrument to obtain a command torque, including: determining the desired angle based on the operating instructions of the surgical instrument; obtaining an angle deviation based on the target actual angle and the desired angle; obtaining a preset angle threshold, and processing the angle deviation according to the angle threshold to obtain a simulation angle; derivatizing the simulation angle to obtain a simulation speed; and performing proportional control, integral control and differential control based on the simulation angle, simulation speed and feedback angle to obtain the command torque.

[0114] Please combine Fig.12 and Fig.13 The dynamic controller of this embodiment realizes the control of the dynamic position and speed of the instrument through the controller design principles of proportional control, integral control and differential control links, and provides real-time feedback on the current surgical status of the instrument, so that the force on the transmission wire is controlled within the optimal range, thereby achieving overall dynamic balance.

[0115] The proportional link realizes the control of joint deviation and achieves the optimal force control effect through saturation limitation. The implementation principle is as follows:

[0116] τ p =limit(-τ pmax , K p *(θ sim -θ), τ pmax )

[0117] Among them, θ sim represents the simulation angle, θ represents the feedback angle, K p is the position controller stiffness, τpmax is the maximum torque of the position loop, τ p Represents the command torque after limitation, limit is a limiting function.

[0118] The integral link realizes the integral control of joint deviation and achieves the optimal force control effect through saturation limitation. The implementation principle is as follows:

[0119] τ i =limit(-τ imax , K i *∫(θ sim -θ)dt,τ imax )

[0120] Among them, K i is the position controller stiffness, τ imax is the maximum torque of the position loop, τ i Represents the torque after limitation, limit is a limiting function.

[0121] The differential link realizes the proportional control of the joint velocity deviation and achieves the optimal force control effect through saturation limitation. The implementation principle is as follows:

[0122]

[0123] Among them, K d is the position controller stiffness, τ dmax is the maximum torque of the position loop, τ d Represents the torque after limitation, limit is a limiting function.

[0124] In one of the optional embodiments, the surgical instrument is controlled based on the command torque, including: obtaining the life-limiting torque in the segmented control information; processing the command torque based on the life-limiting torque to obtain a target command torque; and controlling the surgical instrument based on the target command torque.

[0125] Specifically, combined Fig.13 As shown, after the command torque is obtained, the command torque is output limited according to the life limit torque, so that the command torque is within the range of the life limit torque, thereby extending and protecting the life of the surgical instrument. Specifically, when the command torque is greater than the positive life limit torque, the target command torque is set to the positive life limit torque, when the command torque is less than the negative life limit torque, the target command torque is set to the negative life limit torque, and when the command torque is greater than or equal to the negative life limit torque and less than or equal to the positive life limit torque, the target command torque is set to the command torque.

[0126] In one of the embodiments, after obtaining the target external force exerted on the end of the surgical instrument, it also includes: determining whether the target external force is greater than an external force threshold; when the target external force is greater than the external force threshold, outputting a warning message.

[0127] Specifically, combined Fig.14 As shown, Fig.14 It is a schematic diagram of the force control step in an embodiment. In this embodiment, master-slave operation and master-slave mapping are performed, and then the target external force at the end of the surgical instrument is detected and obtained to determine whether the target external force is greater than the external force threshold. If so, an alarm message is output, otherwise the next cycle of detection is continued. In this way, not only the target command torque output by the end of the surgical instrument is actively controlled, but also the force at the surgical end is detected by detection, so as to avoid the loss of the surgical instrument and extend the life of the surgical instrument.

[0128] In one embodiment, the above method also includes: displaying at least one of the remaining life, total life, service life of the surgical instrument in this operation, and target external force, wherein the total life is the total life of the surgical instrument set in advance, and the service life of the surgical instrument in this operation is obtained by accumulating the absolute value of the impulse during the operation, and the impulse is obtained by integrating the target external force on the time axis during the operation.

[0129] Specifically, combined Fig.15 As shown, Fig.15 This is a schematic diagram of a display interface in an embodiment, in which at least one of the remaining life, total life, life of the current operation, and target external force of the surgical instrument is displayed. The method can adjust the maximum bearing force of the instrument end, the surgical instrument external force deviation gain matrix, and the instrument motion range according to the type and life of the current instrument. When the contact force at the end of the surgical instrument reaches the maximum value, even if the command of the main end is received, the surgical instrument will not continue to move in the direction of increasing the external force, so as to avoid damage to the instrument due to excessive external force.

[0130] In an exemplary embodiment, Fig.16 As shown, a method for calculating the life of a surgical instrument is provided, including the following steps 1602 to 1608. Among them:

[0131] S1602: 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.

[0132] Among them, combined Fig.17 As shown, Fig.17This 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.

[0133] 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.

[0134] Combination Fig.18 As shown, Fig.18 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

[0135] Δλ B =K σ *σ Z

[0136] 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.

[0137] 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 3 Taking the surgical instrument in as an example, the instrument joint torques of the four joints can be obtained.

[0138] S1604: 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.

[0139] Specifically, 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.

[0140] S1606: Determine the target external torque of the end of the surgical instrument based on the initial torque and the instrument joint torque.

[0141] 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:

[0142] τ ext =τ exp -τ fdb

[0143] f ext =(J T ) -1 *τ ext

[0144] 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.

[0145] 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.

[0146] S1608: Determine the life of the surgical instrument based on the target external torque.

[0147] The life of the surgical instrument can be determined based on the target external torque in a cumulative manner, that is, the target external torque is integrated on the time axis to determine the life of the surgical instrument.

[0148] The above-mentioned method for calculating the life of the surgical instrument determines the instrument joint torque of the joint at the end of the surgical instrument based on the tension information of the guide wire, and determines the initial torque based on the feedback information of the motor based on the kinematic model. In this way, the target torque of the external force exerted on the end of the surgical instrument is determined based on the initial torque and the instrument joint torque. The life is determined based on the target torque rather than the number of times it is used, which is more accurate.

[0149] In one of the optional embodiments, 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.

[0150] Combination Fig.19 As shown, Fig.19 This is a schematic diagram of a method for calculating a target external torque based on Kalman filtering in an embodiment. 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 an input signal, and Kalman filtering is performed to obtain the final estimated target external torque.

[0151] 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.

[0152] 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.

[0153] In the above embodiment, the error caused by measurement is reduced by using the Kalman filter algorithm.

[0154] In one embodiment, the life of a surgical instrument is determined based on a target external torque, including: determining a target external force on the end of the surgical instrument based on the target external torque; integrating the target external force on a time axis to obtain an impulse; taking the absolute value of each impulse, and accumulating the absolute values ​​to obtain the used life of the surgical instrument; obtaining a preset current available life of the surgical instrument; and determining the remaining life of the surgical instrument based on the current available life and the used life.

[0155] Specifically, combined Fig. 20 As shown, Fig. 20 FIG. 1 is a schematic diagram of an impulse absolute value processing step in an embodiment. In this embodiment, the target external force on the end of the surgical instrument is first determined based on the target external torque; the impulse is obtained by integrating the target external force on the time axis. Specifically, the target external force f on the end of the surgical instrument is ext , and the impulse It is obtained by integrating it on the time axis. As the impulse is a vector and has positive and negative values, the impulse calculation value is processed by absolute value, so the impulse calculation value is:

[0156]

[0157] The life span calculation process during surgery is as follows:

[0158] I aclife =I life -I t

[0159] I aclife It represents the remaining life of the surgical instrument, I life represents the preset usable life of the surgical instrument, that is, the usable life of the surgical instrument at the beginning of the operation. t It is the real-time used life of the surgical instrument.

[0160] In the above embodiment, the absolute value of the integral of the force and the time axis is used to calculate the total force on the end of the instrument during an operation, so that the life calculation is more accurate.

[0161] 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.

[0162] Based on the same inventive concept, the embodiment of the present application also provides a surgical instrument control device for implementing the above-mentioned surgical instrument control method. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above-mentioned method, so the specific limitations in one or more surgical instrument control device embodiments provided below can refer to the limitations of the surgical instrument control method above, and will not be repeated here.

[0163] In an exemplary embodiment, Fig.21 As shown, a surgical instrument control device is provided, including: a remaining life acquisition module 2101, a control module 2102 and an output module 2103, wherein:

[0164] The remaining life acquisition module 2101 is used to acquire the target external force of the end of the surgical instrument and determine the remaining life of the surgical instrument based on the target external force;

[0165] The control module 2102 is used to obtain segmented control information corresponding to the remaining life when the remaining life is greater than a preset value; and control the surgical instrument based on the segmented control information;

[0166] The output module 2103 is used to output a life expiration prompt when the remaining life is less than or equal to a preset value.

[0167] In one embodiment, the control module 2102 is also used to obtain the feedback angle of the joint at the end of the surgical instrument; adjust the target external force within the external force range corresponding to the segmented control information; obtain the target actual angle based on the adjusted target external force; perform dynamic control based on the target actual angle, the feedback angle and the operating instructions of the surgical instrument to obtain the command torque; and control the surgical instrument based on the command torque.

[0168] In one of the embodiments, the control module 2102 is also used to obtain external force magnitude adjustment information corresponding to the segmented control information, and scale the target external force based on the external force magnitude adjustment information; obtain external force magnitude range information corresponding to the segmented control information, and adjust the scaled target external force based on the external force range to obtain the adjusted target external force.

[0169] In one of the embodiments, the control module 2102 is also used to balance the adjusted target external forces corresponding to each joint to obtain the balanced target external forces; perform admittance control based on the balanced target external forces to obtain the initial actual angle; obtain mechanical limit information, and process the initial actual angle based on the mechanical limit information to obtain the target actual angle.

[0170] In one embodiment, the control module 2102 is also used to determine the desired angle based on the operating instructions of the surgical instrument; obtain the angle deviation based on the target actual angle and the desired angle; obtain a preset angle threshold, and process the angle deviation according to the angle threshold to obtain a simulation angle; derive the simulation angle to obtain a simulation speed; perform proportional control, integral control and differential control based on the simulation angle, simulation speed and feedback angle to obtain a command torque.

[0171] In one embodiment, the control module 2102 is further used to obtain the life limit torque in the segmented control information; process the command torque based on the life limit torque to obtain the target command torque; and control the surgical instrument based on the target command torque.

[0172] In one of the embodiments, the above-mentioned device also includes an alarm module, which is used to determine whether the target external force is greater than the external force threshold; when the target external force is greater than the external force threshold, a warning message is output.

[0173] In one of the embodiments, the above-mentioned remaining life acquisition module 2102 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 the 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; determine the target external force exerted on the end of the surgical instrument based on the target external torque; integrate the target external force on the time axis to obtain the impulse; take the absolute value of each impulse, and accumulate the absolute values ​​to obtain the used life of the surgical instrument; obtain the preset current available life of the surgical instrument; and determine the remaining life of the surgical instrument based on the current available life and the used life.

[0174] In one of the embodiments, the above-mentioned device further includes: a display module for displaying at least one of the remaining life, total life, service life of the current operation and target external force of the surgical instrument.

[0175] Each module in the above surgical instrument control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0176] 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. 22As 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 surgical instrument control method is 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.

[0177] Those skilled in the art will understand that Fig. 22 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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 surgical instrument control method, characterized in that: The method comprises: Acquiring a target external force at the end of the surgical instrument, and determining a remaining life of the surgical instrument based on the target force; When the remaining life is greater than a preset value, obtaining segment control information corresponding to the remaining life; Controlling the surgical instrument based on the segmented control information; When the remaining life is less than or equal to a preset value, a life expiration prompt is output.

2. The surgical instrument control method according to claim 1, characterized in that: The controlling of the surgical instrument based on the segmented control information includes: Obtaining a feedback angle of a joint at the end of the surgical instrument; Adjust the target external force within the external force range corresponding to the segment control information; Obtaining a target actual angle based on the adjusted target external force; Performing dynamic control based on the target actual angle, the feedback angle, and the operation instruction of the surgical instrument to obtain a command torque; The surgical instrument is controlled based on the command torque.

3. The surgical instrument control method according to claim 2, characterized in that: The adjusting the target external force within the external force range corresponding to the segment control information includes: Acquire external force magnitude adjustment information corresponding to the segment control information, and scale the target external force based on the external force magnitude adjustment information; The external force magnitude range information corresponding to the segmented control information is obtained, and the scaled target external force is adjusted based on the external force range to obtain an adjusted target external force.

4. The surgical instrument control method according to claim 2, characterized in that: The step of obtaining the target actual angle based on the adjusted target external force comprises: The adjusted target external forces corresponding to each joint are balanced to obtain the balanced target external forces; Based on the balanced target external force, admittance control is performed to obtain the initial actual angle; Mechanical limit information is acquired, and the initial actual angle is processed based on the mechanical limit information to obtain a target actual angle.

5. The surgical instrument control method according to claim 2, characterized in that: The step of dynamically controlling the target actual angle, the feedback angle and the operation instruction of the surgical instrument to obtain the instruction torque includes: determining a desired angle based on an operating instruction of the surgical instrument; Obtaining an angle deviation based on the target actual angle and the expected angle; Obtaining a preset angle threshold, and processing the angle deviation according to the angle threshold to obtain a simulation angle; Derivative the simulation angle to obtain a simulation speed; Proportional control, integral control and differential control are performed based on the simulation angle, the simulation speed and the feedback angle to obtain a command torque.

6. The surgical instrument control method according to claim 2, characterized in that: The controlling the surgical instrument based on the command torque comprises: Acquire the life limiting torque in the segment control information; Processing the command torque based on the life limit torque to obtain a target command torque; The surgical instrument is controlled based on the target command torque.

7. The surgical instrument control method according to claim 2, characterized in that: After obtaining the target external force on the end of the surgical instrument, the method further includes: Determining whether the target external force is greater than an external force threshold; When the target external force is greater than the external force threshold, a warning message is output.

8. The surgical instrument control method according to claim 1, characterized in that: The step of obtaining a target external torque at the end of the surgical instrument and determining the remaining life of the surgical instrument based on the target torque 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; Determining a target external torque of the surgical instrument end based on the initial torque and the instrument joint torque; Determining a target external force applied to the distal end of the surgical instrument based on the target external torque; Integrating the target external force on the time axis to obtain impulse; Taking the absolute value of each impulse, and accumulating the absolute values ​​to obtain the used life of the surgical instrument; Obtaining the currently set usable life of the surgical instrument; The remaining life of the surgical instrument is determined based on the currently available life and the used life.

9. The surgical instrument control method according to claim 8, characterized in that: The method further comprises: At least one of the remaining life, total life, life used in this operation, and target external force of the surgical instrument is displayed.

10. A surgical instrument control device, characterized in that: The device comprises: A remaining life acquisition module, used to acquire a target external force at the end of the surgical instrument, and determine the remaining life of the surgical instrument based on the target force; A control module, configured to obtain segmented control information corresponding to the remaining life when the remaining life is greater than a preset value; and control the surgical instrument based on the segmented control information; The output module is used to output a life expiration prompt when the remaining life is less than or equal to a preset value.

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