Surgical instrument control method and apparatus

Abstract

The application relates to a surgical instrument control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a target external force at the end of a surgical instrument, and determining the remaining life of the surgical instrument based on the target force. When the remaining life is greater than a preset value, the segmented control information corresponding to the remaining life is acquired; the surgical instrument is controlled based on the segmented control information. When the remaining life is less than or equal to the preset value, a life consumption prompt is output. The method can prolong the life of the surgical instrument.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a method and apparatus for controlling surgical instruments. 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; when the surgical intensity is not high, a surgical instrument can be used more than 10 times. Therefore, there is an urgent need for a method to extend the lifespan of surgical instruments. Summary of the Invention

[0005] Therefore, 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 surgical instruments in response to the above-mentioned technical problems.

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

[0007] The target external force at the tip of the surgical instrument is obtained, and the remaining lifespan of the surgical instrument is determined based on the target force.

[0008] When the remaining lifespan is greater than a preset value, obtain the segmented control information corresponding to the remaining lifespan;

[0009] The surgical instruments are controlled based on the segmented control information.

[0010] When the remaining lifespan is less than or equal to a preset value, a lifespan exhaustion prompt will be output.

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

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

[0013] The target external force is adjusted to be within the range of the external force corresponding to the segmented control information;

[0014] The actual angle of the target is obtained based on the adjusted target external force;

[0015] The command torque is obtained by dynamic control based on the actual target angle, the feedback angle, and the operation command of the surgical instrument.

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

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

[0018] Obtain the 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;

[0019] Obtain the range of external force magnitude 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.

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

[0021] The adjusted target external force corresponding to each joint is balanced to obtain the balanced target external force.

[0022] The initial actual angle is obtained by admittance control based on the balanced target external force.

[0023] Obtain mechanical limit information, and process the initial actual angle based on the mechanical limit information to obtain the target actual angle.

[0024] In one embodiment, the step of dynamically controlling the torque based on the actual target angle, the feedback angle, and the operating instructions of the surgical instrument includes:

[0025] The desired angle is determined based on the operating instructions of the surgical instrument.

[0026] The angle deviation is obtained based on the actual angle of the target and the desired angle.

[0027] Obtain a preset angle threshold, and process the angle deviation according to the angle threshold to obtain the simulated angle;

[0028] The simulated speed is obtained by differentiating the simulated angle.

[0029] The command torque is obtained by proportional control, integral control, and derivative control based on the simulation angle, the simulation speed, and the feedback angle.

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

[0031] Obtain the life-limiting torque from the segmented control information;

[0032] The command torque is processed based on the life-limiting torque to obtain the 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 tip of the surgical instrument, the method further includes:

[0035] Determine whether the target external force is greater than the 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 at the end of the surgical instrument and determining the remaining lifespan of the surgical instrument based on the target torque includes:

[0038] 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;

[0039] 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.

[0040] Based on the initial torque and the instrument joint torque, the target external torque at the end of the surgical instrument is determined;

[0041] The target external force on the end of the surgical instrument is determined based on the target external torque;

[0042] The impulse is obtained by integrating the target external force over the time axis.

[0043] Take the absolute value of each impulse and sum the absolute values ​​to obtain the service life of the surgical instrument;

[0044] Obtain the pre-set usable lifespan of the surgical instrument for this operation;

[0045] Based on the available lifespan and the used lifespan, the remaining lifespan of the surgical instrument is determined.

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

[0047] Displays at least one of the following: remaining lifespan, total lifespan, lifespan of the surgical instrument during this surgery, and the target external force.

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

[0049] The remaining life acquisition module is used to acquire the 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] The control module is used to acquire segmented control information corresponding to the remaining lifespan when the remaining lifespan is greater than a preset value; and to control the surgical instrument based on the segmented control information.

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

[0052] Thirdly, 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.

[0053] Fourthly, 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.

[0054] Fifthly, 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.

[0055] The aforementioned surgical instrument control method, device, computer equipment, computer-readable storage medium, and computer program product first determine the remaining lifespan of the surgical instrument based on the target external force at the end of the surgical instrument. When the remaining lifespan is less than or equal to a preset value, a prompt indicating that the lifespan has been exhausted is output. When the remaining lifespan is greater than the preset value, segmented control information is obtained, and the surgical instrument is controlled based on the segmented control information. This avoids the surgical instrument being controlled according to a single control information, thereby extending the lifespan of the surgical instrument. Attached Figure Description

[0056] 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.

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

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

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

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

[0061] Figure 5 This is a flowchart illustrating a surgical instrument control method in one embodiment;

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

[0063] Figure 7 This is a schematic diagram of the lifespan determination unit in one embodiment;

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

[0065] Figure 9 This is a schematic diagram of a force deviation tuning unit in one embodiment;

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

[0067] Figure 11 A structural diagram of an admittance model design unit in one embodiment;

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

[0069] Figure 13 This is a schematic diagram of the command torque limiting step in one embodiment;

[0070] Figure 14 This is a schematic diagram of the force control steps in one embodiment;

[0071] Figure 15 This is a schematic diagram of a display interface in one embodiment;

[0072] Figure 16 This is a flowchart illustrating a method for calculating the lifespan of surgical instruments in one embodiment;

[0073] Figure 17 This is a schematic diagram of a tension sensor in one embodiment;

[0074] Figure 18 This is a schematic diagram of the tensile sensor in one embodiment;

[0075] Figure 19 This is a schematic diagram of a target external torque calculation method based on Kalman filtering in one embodiment;

[0076] Figure 20 This is a schematic diagram of the impulse absolute value processing steps in one embodiment;

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

[0078] Figure 22 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0079] 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.

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

[0081] Optionally, in some surgeries, the surgical robot may also include auxiliary components such as a ventilator and anesthesia machine 500 for use during the operation. Those skilled in the art can select and configure these auxiliary components according to existing technology, which will not be described in detail here.

[0082] 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.

[0083] Combination Figure 3 As shown, Figure 3 This is a schematic diagram of a surgical instrument in one embodiment. During normal surgical procedures, the surgeon, guided by endoscopic images, controls the position and orientation of the instrument's distal end via master-slave teleoperation. The position of the instrument's distal end includes translational movement along the X, Y, and Z directions, while the orientation includes pitch, yaw, and rotation. This type of continuous instrument uses motor-driven multiple continuous joints to achieve distal end movement. The pitch and rotation joints are each controlled by a guidewire driven by a single motor, while the yaw joint is controlled by two motors, each driving two yaw plates.

[0084] 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, and an external force detection device. The external force detection device is used to detect the target external force acting on the surgical instruments. The lifespan calculation unit in the processor calculates the current lifespan of the instrument based on the target external force, and calculates the remaining lifespan of the surgical instruments based on the usable lifespan of the surgical instruments obtained at the start of the current surgery and the current lifespan. The lifespan judgment unit, control constraint unit, and dynamic control unit in the processor control the surgical instruments based on the remaining lifespan, received command signals, and feedback angles of the joints fed back by the surgical instruments. The lifespan judgment unit is mainly used to judge and control the surgical instruments based on the lifespan calculated by the lifespan calculation unit. The constraint control unit is used to constrain and limit the output torque based on the result of the lifespan judgment unit. The dynamic control unit is used to achieve dynamic control of the output torque. The force detection device can detect the force on the end of the surgical instruments.

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

[0086] in:

[0087] S502: Obtain the 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 lifespan of surgical instruments can be found below, and will not be repeated here.

[0089] S504: When the remaining lifespan is greater than the preset value, obtain the segmented control information corresponding to the remaining lifespan; control the surgical instruments based on the segmented control information.

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

[0091] In this embodiment, the medical device is controlled based on its remaining lifespan. When the remaining lifespan is less than or equal to a preset value, such as 0, a lifespan exhaustion warning is output to allow the doctor to replace the surgical instrument in a timely manner. When the remaining lifespan is greater than the preset value, the surgical instrument is used to continue the surgery. During the surgery, corresponding segmented control information is determined based on the remaining lifespan, 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 lifespan of the surgical instrument based on the target external force at the end of the surgical instrument. When the remaining lifespan is less than or equal to a preset value, a prompt indicating that the lifespan has been exhausted is output. When the remaining lifespan is greater than the preset value, segmented control information is obtained. The surgical instrument is controlled based on the segmented control information to avoid the surgical instrument being controlled according to a single control information, thereby extending the lifespan of the surgical instrument.

[0093] In one optional embodiment, the segmented control information for different remaining lifespans is different. In one optional embodiment, the surgical instrument is controlled based on the segmented control information, including: acquiring the target external force 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, which is obtained based on the initial torque and the instrument joint torque. The initial torque is calculated based on 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 guidewire 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; dynamically controlling the surgical instrument 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 the middle, combined Figure 6 As shown, it can include a lifespan determination unit, a control constraint unit, and a dynamic control unit. The lifespan determination unit determines whether the remaining lifespan is greater than a preset value. If so, it controls the surgical instrument based on the remaining lifespan; otherwise, it directly outputs a lifespan exhaustion prompt, for example, displayed on the display device of the doctor's console 100 at the main end. The control constraint unit is used to constrain the target external force and generate a corresponding actual target angle based on the target external force, and then constrains the actual target angle. The dynamic control unit is used to achieve dynamic balance control of the surgical instrument.

[0095] Combination Figure 7The lifespan determination unit shown may include a remaining lifespan determination unit, a segmented control unit, and a force deviation adjustment unit. The remaining lifespan determination unit determines whether the remaining lifespan is greater than a preset value. If so, the segmented control unit dynamically adjusts the segmented control information based on the remaining lifespan. In one optional embodiment, the segmented control information includes at least one of the following: the maximum tension of the guidewire at the end of the surgical instrument (i.e., the instrument joint limiting torque), the external force magnitude adjustment information corresponding to the force deviation adjustment unit, and the deviation external force limit. The maximum tension of the guidewire is set because the longer the surgical instrument is used, the less tension the guidewire can withstand. Therefore, the maximum tension that the guidewire can withstand is set segment by segment. The external force magnitude adjustment information can be represented by a gain matrix. Due to the use of the surgical instrument, the external force it can withstand is different at different stages. Therefore, 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, after reducing the target external force, also limits the maximum value of the target external force, limiting the target external force within the deviation external force limit range to avoid excessive torque output by the surgical instrument, thereby extending the lifespan of the surgical instrument.

[0096] Combination Figure 8 As shown, Figure 8 This is a flowchart of the segmented control steps in one embodiment. In this embodiment, after multiple surgeries, the transmission structure of the surgical instrument changes, requiring adjustment of the segmented control information based on the remaining lifespan of the surgical instrument. See [link to relevant documentation]. Figure 8 As shown, the remaining lifetime can be divided into three segments: 0 to 25% of the total lifetime, 25% to 50% of the total lifetime, and greater than 50% of the total lifetime. In other embodiments, the remaining lifetime can be divided into other segments, and is not limited to the example here. Each segment corresponds to different segment control information. The segment control information is determined based on the remaining lifetime, and the target force is processed based on the segment control information, including the control of the lifetime judgment unit, the control constraint unit, and the dynamic processor.

[0097] In one optional embodiment, 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, in combination Figure 9 As shown, Figure 9This is a schematic diagram of a force deviation tuning unit in one embodiment, wherein the force deviation tuning unit includes a first spatial transformation unit, a gain matrix processing unit, and a lifetime tuning unit. The first spatial transformation unit is used to convert the target external force from joint space to Cartesian space. Specifically, the target external force f... ext The Cartesian deviation external force f is obtained by inverting the Jacobian transpose of the instrument. err The kinematic principle is as follows:

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

[0100] J1 T The Jacobian matrix transpose represents the instrument.

[0101] The gain matrix processing unit is used to scale the target external force based on the external force magnitude adjustment information, where 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, and different constant values ​​are set according to the different life margins of surgical instruments, 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] Here, the gain matrix consists of parameters of different Cartesian dimensions, and n represents the Cartesian degrees of freedom.

[0104] The lifespan tuning unit is used to acquire the range of external force magnitudes corresponding to the segmented control information, and adjusts 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 The Cartesian tuning deviation external force f is obtained through the lifetime tuning matrix Zx(n). err_output(n) Zx(n) is composed of n external force setpoints f. life(x) The diagonal matrix formed, f life(x) Different values ​​are set based on the remaining lifespan to limit the maximum deviation force output within the allowable deviation force during the lifespan stage, preventing excessive instrument setting force from damaging the instrument tip and thus extending the instrument's lifespan. Specifically, when the Cartesian gain deviation force is greater than the positive external force setting value, the Cartesian setting deviation force is set to the positive external force setting value; when the Cartesian gain deviation force is less than the negative external force setting value, the Cartesian setting deviation force is set to the negative external force setting value; when the Cartesian gain deviation 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 force is set to the Cartesian gain deviation force.

[0105] In the above embodiments, a segmented control approach is adopted, which sets corresponding maximum bearing capacity of the instrument end, instrument external force deviation gain matrix and instrument movement range limit for different lifespan margins, in order to extend the lifespan of the instrument.

[0106] In one embodiment, obtaining the actual target angle based on the adjusted target external force includes: balancing the adjusted target external force 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; acquiring mechanical limit information; and processing the initial actual angle based on the mechanical limit information to obtain the actual target angle.

[0107] Specifically, in combination Figure 10 As shown, Figure 10 This is a schematic diagram of a control constraint unit in one embodiment. In this embodiment, the control constraint unit includes a Cartesian deviation force limiting unit, an admittance model design unit, and an angle dynamic limiting unit. The Cartesian deviation force limiting unit is used to balance the adjusted target external force corresponding to each joint to obtain the balanced target external force. Specifically, the Cartesian tuning deviation external force f err_output(n) 1 to 3 represent the forces of the Cartesian forces X, Y, and Z respectively; the Cartesian deviation external torque τ is obtained through the Cartesian deviation force limitation module. cart By designing weights for each direction, uniform control of force in all directions can be achieved.

[0108]

[0109]

[0110] Where, τ cart[i] This represents the uniform external torque output by the uniform joint after constraint.

[0111] The admittance model design unit can include a first-order admittance model and a second-order admittance model, ultimately obtaining the initial actual angle. Specifically, it combines... Figure 11 As shown, Figure 11 This is a structural diagram of the admittance model design unit in one embodiment, which includes a second space transformation unit, a first-order admittance model, and a second-order admittance model, wherein the Cartesian constraint deviation external force f cart The joint limiting deviation torques [τ1, τ2, ... τ] are obtained by calculating using the Jacobi transpose. n-1 , τ n The admittance model design includes optional first-order admittance models and second-order admittance models, ultimately obtaining the initial actual angle, implemented as follows: The first-order model is... The second-order model is In the design of the admittance model controller, k1 and k2 coefficients are used as the weights of the first-order and second-order models, respectively, where k1+k2=1. Finally, the expected joint deviation angle is obtained by summing the values ​​calculated by the admittance model, 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 limiting unit processes the initial actual angle output by the admittance mode design unit. By comparing it with mechanical limits, it ensures the angle output is within the achievable workspace, preventing excessive force from damaging the instrument due to an excessively large desired angle. For example, the target actual angle is obtained by limiting the initial actual angle within the mechanical limit 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; 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 damage to surgical instruments caused by excessively large angles.

[0113] In one embodiment, dynamic control based on the actual target angle, feedback angle, and operating instructions of the surgical instrument is used to obtain the command torque, including: determining the desired angle based on the operating instructions of the surgical instrument; obtaining the angle deviation based on the actual target angle and the desired angle; acquiring a pre-set angle threshold and processing the angle deviation according to the angle threshold to obtain the simulated angle; differentiating the simulated angle to obtain the simulated speed; and performing proportional control, integral control, and derivative control based on the simulated angle, simulated speed, and feedback angle to obtain the command torque.

[0114] Please combine Figure 12 and Figure 13 The dynamic controller in this embodiment uses the controller design principles of proportional control, integral control, and derivative control to control the dynamic position and speed of the instrument, provide real-time feedback on the current surgical status of the instrument, and keep the force on the transmission wire within the optimal range, thus achieving overall dynamic balance.

[0115] The proportional element controls joint deviation and achieves optimal force control through saturation limiting. The principle behind this is as follows:

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

[0117] Where, θ sim θ represents the simulation angle, K represents the feedback angle, and K represents the simulation angle. p For the stiffness of the position controller, τpmax τ is the maximum torque of the position ring. p The limit represents the restricted torque; limit is a restriction function.

[0118] The integral component enables integral control of joint deviation, and the optimal force control effect is achieved through saturation limiting. The principle is as follows:

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

[0120] Among them, K i For the stiffness of the position controller, τ imax τ is the maximum torque of the position ring. i This represents the torque after a limit is applied; limit is a limit function.

[0121] The differential element achieves proportional control of joint velocity deviation, and saturation limiting is used to achieve optimal force control. The principle is as follows:

[0122]

[0123] Among them, K d For the stiffness of the position controller, τ dmax τ is the maximum torque of the position ring. d This represents the torque after a limit is applied; limit is a limit function.

[0124] In one optional embodiment, controlling the surgical instrument based on the command torque includes: acquiring a life-limiting torque from 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, in combination Figure 13 As shown, after obtaining the command torque, the output of the command torque is limited according to the life-limiting torque, ensuring that the command torque remains within the life-limiting torque range, thereby extending and protecting the lifespan of the surgical instrument. Specifically, when the command torque is greater than the positive life-limiting torque, the target command torque is set to the positive life-limiting torque; when the command torque is less than the negative life-limiting torque, the target command torque is set to the negative life-limiting torque; and when the command torque is greater than or equal to the negative life-limiting torque and less than or equal to the positive life-limiting torque, the target command torque is set to the command torque.

[0126] In one embodiment, 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; and outputting a warning message when the target external force is greater than the external force threshold.

[0127] Specifically, in combination Figure 14 As shown, Figure 14 This is a schematic diagram of the force control steps in one embodiment. In this embodiment, a master-slave operation is performed and a master-slave mapping is performed. Then, the target external force at the end of the surgical instrument is detected and acquired. It is determined whether the target external force is greater than the external force threshold. If it is, an alarm message is output. Otherwise, the detection continues in the next cycle. In this way, not only is the target command torque output by the end of the surgical instrument controlled actively, but the force on the end of the surgical instrument is also detected through detection, so as to avoid damage to the surgical instrument and extend the life of the surgical instrument.

[0128] In one embodiment, the method further includes: displaying at least one of the remaining lifespan, total lifespan, lifespan of the current surgery, and target external force of the surgical instrument, wherein the total lifespan is a pre-set total lifespan of the surgical instrument, the lifespan of the current surgery is obtained by accumulating the absolute value of the impulse during the current surgery, and the impulse is obtained by integrating the target external force on the time axis during the current surgery.

[0129] Specifically, in combination Figure 15 As shown, Figure 15 This is a schematic diagram of a display interface in one embodiment, which displays at least one of the following: the remaining lifespan of the surgical instrument, its total lifespan, the lifespan already used in the current surgery, and the target external force. The method can adjust the maximum bearing force of the instrument's distal end, the surgical instrument external force deviation gain matrix, and the instrument's range of motion based on the current instrument type and lifespan. When the contact force at the surgical instrument's distal end reaches its maximum value, even if a command is received from the master end, the surgical instrument will not continue to move in the direction that increases the external force, thus avoiding damage to the instrument due to excessive external force.

[0130] In one exemplary embodiment, such as Figure 16 As shown, a method for calculating the lifespan of a surgical instrument is provided, including steps 1602 to 1608. Wherein:

[0131] S1602: Based on the tension information of the guidewire collected by the tension sensor, determine the instrument joint torque of the joint at the end of the surgical instrument.

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

[0133] 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.

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

[0135] Δλ B =K σ *σ Z

[0136] 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.

[0137] 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 3 Taking surgical instruments as an example, it is possible to obtain the joint torque of the four joints of the instrument.

[0138] S1604: Obtain feedback information from 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 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.

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

[0141] 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:

[0142] τ ext =τ exp -τ fdb

[0143] f ext =(J T ) -1 *τ ext

[0144] 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.

[0145] 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.

[0146] S1608: Determine the lifespan of surgical instruments based on the target external torque.

[0147] One approach to determining the lifespan of surgical instruments based on the target external torque is to use a cumulative method, which involves integrating the target external torque over time to determine the lifespan of the surgical instruments.

[0148] The above-mentioned method for calculating the lifespan of surgical instruments determines the instrument joint torque at the end of the surgical instrument based on the guidewire tension information, and determines the initial torque based on the kinematic model and the feedback information from the motor. In this way, the target torque of the external force on the end of the surgical instrument is determined based on the initial torque and the instrument joint torque, and the lifespan is determined based on the target torque, rather than by the number of uses, which is more accurate.

[0149] In one optional 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.

[0150] Combination Figure 19 As shown, Figure 19 This is a schematic diagram of a target external torque calculation method based on Kalman filtering in one 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 obtained by the guide wire tension sensor is used as the input signal, and Kalman filtering is performed to obtain the final estimated target external torque.

[0151] 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.

[0152] 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.

[0153] In the above embodiments, the Kalman filtering algorithm is used to reduce the error caused by measurement.

[0154] In one embodiment, determining the lifespan of a surgical instrument based on a target external torque includes: 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 lifespan of the surgical instrument; obtaining a pre-set usable lifespan of the surgical instrument for this current use; and determining the remaining lifespan of the surgical instrument based on the usable lifespan for this current use and the used lifespan.

[0155] Specifically, in combination Figure 20 As shown, Figure 20 This is a schematic diagram of the impulse absolute value processing steps in one 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 The impulse It is obtained by integrating over the time axis. Since impulse is a vector and can be positive or negative, the absolute value of the calculated impulse is processed. Therefore, the calculated impulse value is:

[0156]

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

[0158] I aclife =I life -I t

[0159] I aclife This indicates the remaining lifespan of the surgical instruments, I life This indicates the pre-set usable lifespan of the surgical instruments for this operation, that is, the usable lifespan of the surgical instruments at the start of this operation. t It is the real-time used life of surgical instruments.

[0160] In the above embodiments, the absolute value of the integral of force and time axis is used to calculate the total force on the instrument tip during a surgery, making the lifespan calculation more accurate.

[0161] 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.

[0162] Based on the same inventive concept, this application also provides a surgical instrument control device for implementing the surgical instrument control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more surgical instrument control device embodiments provided below can be found in the limitations of the surgical instrument control method described above, and will not be repeated here.

[0163] In one exemplary embodiment, such as Figure 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 at the end of the surgical instrument and determine the remaining life of the surgical instrument based on the target force.

[0165] The control module 2102 is used to acquire segmented control information corresponding to the remaining lifespan when the remaining lifespan is greater than a preset value; and to control the surgical instruments based on the segmented control information.

[0166] Output module 2103 is used to output a lifespan exhaustion prompt when the remaining lifespan is less than or equal to a preset value.

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

[0168] In one embodiment, the control module 2102 is further configured to acquire 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; acquire 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 embodiment, the control module 2102 is further configured to balance the adjusted target external force corresponding to each joint to obtain the balanced target external force; perform admittance control based on the balanced target external force to obtain the initial actual angle; acquire 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 further configured 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; acquire a preset angle threshold and process the angle deviation according to the angle threshold to obtain the simulation angle; differentiate the simulation angle to obtain the simulation speed; and perform proportional control, integral control and derivative control based on the simulation angle, simulation speed and feedback angle to obtain the command torque.

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

[0172] In one embodiment, the device further includes an alarm module for 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.

[0173] In one embodiment, the remaining lifespan acquisition module 2102 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 guidewire collected by the tension sensor; acquire feedback information from 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 at the end of the surgical instrument based on the initial torque and the instrument joint torque; determine the target external force 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 lifespan of the surgical instrument; acquire the pre-set current usable lifespan of the surgical instrument; and determine the remaining lifespan of the surgical instrument based on the current usable lifespan and the used lifespan.

[0174] In one embodiment, the device further includes a display module for displaying at least one of the remaining lifespan of the surgical instruments, total lifespan, lifespan of the current surgery, and target external force.

[0175] Each module in the aforementioned surgical instrument control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, 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.

[0176] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 22As 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 stored 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 the computer program is executed by the processor, it implements a surgical instrument control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or 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.

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

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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 surgical instrument control device, characterized in that, The device includes: The remaining lifespan acquisition module is used to acquire the target external force at the end of the surgical instrument and determine the remaining lifespan of the surgical instrument based on the target external force. The control module is used to acquire segmented control information corresponding to the remaining lifespan when the remaining lifespan is greater than a preset value; and to control the surgical instrument based on the segmented control information. The segmented control information is dynamically adjusted according to the remaining lifespan. The segmented control information includes at least one of the following: the maximum tension of the guidewire at the end of the surgical instrument, the external force magnitude adjustment information corresponding to the force deviation adjustment unit, and the deviation external force limit. The maximum tension of the guidewire is the maximum tension that the guidewire can withstand. The external force magnitude adjustment information is identified by a gain matrix. The deviation external force limit restricts the target external force to the deviation external force limit range. The output module is used to output a lifespan exhaustion prompt when the remaining lifespan is less than or equal to a preset value.

2. The surgical instrument control device according to claim 1, characterized in that, The control module is also used to obtain the feedback angle of the joint at the end of the surgical instrument; The target external force is adjusted to be within the range of the external force corresponding to the segmented control information; The actual angle of the target is obtained based on the adjusted target external force; The command torque is obtained by dynamic control based on the actual target angle, the feedback angle, and the operation command of the surgical instrument. The surgical instrument is controlled based on the command torque.

3. The surgical instrument control device according to claim 2, characterized in that, The control module is also used to: acquire the 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 the range of external force magnitude 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.

4. The surgical instrument control device according to claim 2, characterized in that, The control module is also used for: The adjusted target external force corresponding to each joint is balanced to obtain the balanced target external force. The initial actual angle is obtained by admittance control based on the balanced target external force. Obtain mechanical limit information, and process the initial actual angle based on the mechanical limit information to obtain the target actual angle.

5. The surgical instrument control device according to claim 2, characterized in that, The control module is also used for: The desired angle is determined based on the operating instructions of the surgical instrument. The angle deviation is obtained based on the actual angle of the target and the desired angle. Obtain a preset angle threshold, and process the angle deviation according to the angle threshold to obtain the simulated angle; The simulated speed is obtained by differentiating the simulated angle. The command torque is obtained by proportional control, integral control, and derivative control based on the simulation angle, the simulation speed, and the feedback angle.

6. The surgical instrument control device according to claim 2, characterized in that, The control module is also used for: Obtain the life-limiting torque from the segmented control information; The command torque is processed based on the life-limiting torque to obtain the target command torque; The surgical instrument is controlled based on the target command torque.

7. The surgical instrument control device according to claim 2, characterized in that, The device further includes: The alarm module 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.

8. The surgical instrument control device according to claim 1, characterized in that, The control module is also used for: 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; 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. Based on the initial torque and the instrument joint torque, the target external torque at the end of the surgical instrument is determined; The target external force on the end of the surgical instrument is determined based on the target external torque; The impulse is obtained by integrating the target external force over the time axis. Take the absolute value of each impulse and sum the absolute values ​​to obtain the service life of the surgical instrument; Obtain the pre-set usable lifespan of the surgical instrument for this operation; Based on the available lifespan and the used lifespan, the remaining lifespan of the surgical instrument is determined.

9. The surgical instrument control device according to claim 8, characterized in that, The device further includes: The display module is used to display at least one of the following: the remaining lifespan, total lifespan, service life of the surgical instrument during the current surgery, and the target external force.

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