Power-assisted trolley driving method and device for operation platform and power-assisted trolley

Abstract

The invention discloses a power-assisted trolley driving method and device for an operation platform and a power-assisted trolley, and relates to the technical field of medical equipment, the power-assisted trolley is provided with a force feedback sensor, the method comprises the steps that stress data, collected by the force feedback sensor, of the power-assisted trolley are obtained, and the stress data comprise the stress size and the stress direction; speed control information used for controlling the speed of the power-assisted trolley and direction control information used for controlling the movement direction of the power-assisted trolley are generated based on the stress magnitude and the stress direction; and driving the power-assisted trolley according to the speed control information and the direction control information. By the adoption of the scheme, a user can move the operation platform through the power-assisted trolley in a more labor-saving and more flexible mode.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a method and device for driving a power-assisted trolley for a surgical platform, and a power-assisted trolley. Background Art

[0002] The patient surgical platform in the surgical robot system is equipped with four wheels. According to the needs of the operation, the doctor or nurse needs to move the patient surgical platform in the operating room. Since the patient surgical platform is heavy, it is more laborious to move it. Summary of the invention

[0003] The embodiments of the present application provide a method and device for driving a power-assisted trolley for a surgical platform, and a power-assisted trolley, so as to solve the problem in the prior art that the moving surgical platform is laborious and not flexible enough.

[0004] The embodiment of the present application provides a method for driving a power-assisted trolley for a surgical platform, wherein the power-assisted trolley has a force feedback sensor, and the method includes: Obtaining force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes force magnitude and force direction; Based on the magnitude of the force and the direction of the force, generating speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle; The power-assisted vehicle is driven according to the control requirements indicated by the speed control information and the direction control information.

[0005] Further, the power-assisted vehicle includes a first force feedback sensor and a second force feedback sensor; Obtaining force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes force magnitude and force direction, including: Acquire first force data of the power-assisted vehicle collected by the first force feedback sensor, and second force data of the power-assisted vehicle collected by the first force feedback sensor, wherein the first force data includes a first force magnitude and a first force direction, and the second force data includes a second force magnitude and a second force direction; The generating of speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force includes: Based on the first force magnitude and the first force direction, generating first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle and first direction control information for controlling the rotation direction of the left driving wheel; Based on the second force magnitude and the second force direction, generating second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle and second direction control information for controlling the rotation direction of the right driving wheel; The step of driving the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information includes: According to the left driving wheel control requirement indicated by the first speed control information and the first direction control information, and the right driving wheel control requirement indicated by the second speed control information and the second direction control information, the left driving wheel and the right driving wheel of the power-assisted vehicle are driven to rotate respectively.

[0006] Further, the speed control information indicates the rotation speed of the driving wheel of the power-assisted vehicle, or indicates the moving speed of the power-assisted vehicle; The direction control information indicates the rotation direction of the driving wheel; The step of driving the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information includes: According to the rotation speed or the moving speed, and the rotation direction, the rotation of the wheel shaft motor connected to the power-assisted vehicle and the driving wheel is controlled.

[0007] Furthermore, the generating of speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force includes: According to a preset mapping relationship between force magnitude and speed, determining the speed corresponding to the force magnitude; generating speed control information indicating a speed corresponding to the magnitude of the force; If the force direction is thrust, generating direction control information indicating forward direction; If the force direction is pulling force, the control information indicating the backward direction is generated.

[0008] Furthermore, the feedback sensor of the power-assisted vehicle is installed on the tiller handle of the power-assisted vehicle.

[0009] The embodiment of the present application further provides a power-assisted trolley driving device for a surgical platform, wherein the power-assisted trolley has a force feedback sensor, and the device comprises: A data acquisition module, used to acquire the force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes the magnitude and direction of the force; A control information generating module, for generating speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force; A driving control module is used to drive the power-assisted vehicle according to the control requirements represented by the speed control information and the direction control information.

[0010] Further, the power-assisted vehicle includes a first force feedback sensor and a second force feedback sensor; The data acquisition module is specifically used to acquire first force data of the power-assisted vehicle collected by the first force feedback sensor, and second force data of the power-assisted vehicle collected by the first force feedback sensor, wherein the first force data includes a first force magnitude and a first force direction, and the second force data includes a second force magnitude and a second force direction; The control information generating module is specifically used to generate first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle and first direction control information for controlling the rotation direction of the left driving wheel based on the first force magnitude and the first force direction; Based on the second force magnitude and the second force direction, generating second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle and second direction control information for controlling the rotation direction of the right driving wheel; The driving control module is specifically used to drive the rotation of the left driving wheel and the right driving wheel of the power-assisted vehicle respectively according to the left driving wheel control requirement represented by the first speed control information and the first direction control information, and the right driving wheel control requirement represented by the second speed control information and the second direction control information.

[0011] Further, the speed control information indicates the rotation speed of the driving wheel of the power-assisted vehicle, or indicates the moving speed of the power-assisted vehicle; The direction control information indicates the rotation direction of the driving wheel; The driving control module is specifically used to control the rotation of the wheel shaft motor connected to the driving wheel of the power-assisted vehicle according to the rotation speed or the moving speed and the rotation direction.

[0012] Furthermore, the control information generating module is specifically used to determine the speed corresponding to the force magnitude according to a preset mapping relationship between the force magnitude and the speed; generating speed control information indicating a speed corresponding to the magnitude of the force; If the force direction is thrust, generating direction control information indicating forward direction; If the force direction is pulling force, the control information indicating the backward direction is generated.

[0013] Furthermore, the feedback sensor of the power-assisted vehicle is installed on the tiller handle of the power-assisted vehicle.

[0014] An embodiment of the present application also provides a power-assisted trolley for a surgical platform, comprising: a force feedback sensor, a processor, and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement any of the above-mentioned power-assisted trolley driving methods for a surgical platform.

[0015] Furthermore, the processor includes a tiller controller and a motion controller.

[0016] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned methods for driving a power-assisted trolley for a surgical platform is implemented.

[0017] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described methods for driving a power-assisted trolley for a surgical platform.

[0018] The beneficial effects of this application include: In the method provided in the embodiment of the present application, the force data of the power-assisted cart collected by the force feedback sensor is obtained, and the force data includes the magnitude of the force and the direction of the force. Then, based on the magnitude of the force and the direction of the force, speed control information for controlling the speed of the power-assisted cart and direction control information for controlling the direction of movement of the power-assisted cart are generated, and the power-assisted cart is driven according to the speed control information and the direction control information. With this method, since the power-assisted cart has a force feedback sensor, the magnitude and direction of the force applied by the user to the power-assisted cart can be collected, and corresponding control information can be generated based on the magnitude and direction of the applied force, and the power-assisted cart is driven according to the control information, thereby assisting the user in driving the power-assisted cart to move, so that the user can save more effort and be more flexible when moving the surgical platform through the power-assisted cart.

[0019] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 A flow chart of a method for driving a power-assisted trolley for a surgical platform provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a power-assisted trolley for a surgical platform provided in an embodiment of the present application; Figure 3 A flow chart of a method for driving a power-assisted trolley for a surgical platform provided in another embodiment of the present application; Figure 4 A schematic diagram of the structure of a power-assisted trolley driving device for a surgical platform provided in an embodiment of the present application; Figure 5 A schematic structural diagram of a power-assisted trolley for a surgical platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to provide a more labor-saving and flexible implementation scheme for a mobile surgical platform, the embodiments of the present application provide a method, device and a power-assisted trolley driving method for a surgical platform. The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0022] The present application embodiment provides a method for driving a power-assisted trolley for a surgical platform, wherein the power-assisted trolley has a force feedback sensor, such as Figure 1 As shown, the method comprises: Step 11, obtaining force data of the power-assisted vehicle collected by the force feedback sensor, the force data including force magnitude and force direction; Step 12: Based on the magnitude and direction of the force, speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle are generated; Step 13: Drive the power-assisted vehicle according to the speed control information and the direction control information.

[0023] By adopting the above-mentioned power-assisted cart driving method provided in the embodiment of the present application, since the power-assisted cart has a force feedback sensor, the magnitude and direction of the force applied by the user to the power-assisted cart can be collected, and corresponding control information can be generated based on the magnitude and direction of the applied force, and the power-assisted cart can be driven according to the control information, thereby assisting the user to drive the power-assisted cart to move, making the user more labor-saving and flexible when moving the surgical platform by the power-assisted cart.

[0024] like Figure 2 As shown, in the embodiment of the present application, the power-assisted vehicle may include wheels, a wheel shaft motor for driving the wheels to rotate, a tiller, a force feedback sensor mounted on the tiller, and a controller for executing the above-mentioned power-assisted vehicle driving method; Further, the power-assisted vehicle may include front wheels and rear wheels, such as Figure 2 As shown, the front wheels can be used as driving wheels, including a left driving wheel and a right driving wheel, and the rear wheels can be used as driven wheels, including a left driven wheel and a right driven wheel.

[0025] The tiller can also be understood as a handle. The force feedback sensor is installed on the tiller. When controlling the movement of the power-assisted vehicle, the user can hold the force feedback sensor of the tiller and control the movement of the power-assisted vehicle by pushing and pulling the tiller.

[0026] At least two force feedback sensors can be installed on the tiller handle, the first force feedback sensor and the second force feedback sensor, which correspond to the left driving wheel and the right driving wheel respectively, so that the driving control of the left driving wheel and the right driving wheel can be realized respectively.

[0027] Furthermore, the controller may include a tiller controller and a motion controller. The tiller controller is used to receive force data collected by a force feedback sensor, generate speed control information and direction control information, and send the information to the motion controller. The motion controller controls the rotation of a wheel shaft motor connected to the driving wheel of the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information, thereby controlling the movement of the power-assisted vehicle.

[0028] Based on the above Figure 2 The power-assisted cart shown is used to describe the method provided in the present application in detail.

[0029] In one embodiment of the present application, a method for driving a power-assisted trolley for a surgical platform is provided, such as Figure 3 As shown, the following steps may be specifically included: Step 31: The force feedback sensor of the power-assisted vehicle collects force data of the power-assisted vehicle.

[0030] When the user needs to control the power-assisted trolley to drive the surgical platform to move, the user can hold the first force feedback sensor and the second force feedback sensor of the tiller with both hands respectively, and perform a pushing or pulling action. Both hands can perform a pushing or pulling action at the same time, and one hand can perform a pushing action and the other hand can perform a pulling action.

[0031] Correspondingly, the first force feedback sensor and the second force feedback sensor collect force data, and the force data include a first force magnitude and a first force direction from the first force feedback sensor, and a second force magnitude and a second force direction from the second force feedback sensor, wherein the first force direction and the second force direction can indicate whether the force is thrust or tension.

[0032] In this step, the force data of the power-assisted vehicle collected by the force feedback sensor will be acquired by the tiller controller.

[0033] Step 32: After acquiring the force data, the tiller controller generates speed control information for controlling the speed of the power-assisted vehicle based on the force magnitude.

[0034] In the embodiment of the present application, the speed control information may represent the rotation speed of the driving wheel of the power-assisted vehicle, or may also represent the moving speed of the power-assisted vehicle.

[0035] Furthermore, the speed corresponding to the force magnitude of the power-assisted vehicle can be determined according to a preset mapping relationship between the force magnitude and the speed, and speed control information indicating the speed corresponding to the force magnitude can be generated.

[0036] Among them, the preset mapping relationship between force magnitude and speed has an overall trend that the greater the force, the faster the speed. For example, the mapping relationship can be a mapping relationship between a continuous range of force magnitude values ​​and speed. First, determine the range of values ​​to which the force magnitude belongs, and then determine the speed corresponding to the range of values.

[0037] Based on the preset mapping relationship between force magnitude and speed, it is possible to map a force with a smaller value to a relatively larger speed, so that the user can subsequently use a smaller force to control the power-assisted vehicle to move relatively quickly.

[0038] In this step, when the power-assisted vehicle has two force feedback sensors, the first force feedback sensor corresponds to the left driving wheel. Based on the first force magnitude from the first force feedback sensor, first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle can be generated. The first speed control information can represent the rotation speed of the left driving wheel.

[0039] The second force feedback sensor corresponds to the right driving wheel, and can generate second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle based on the second force magnitude from the second force feedback sensor. The second speed control information can represent the rotation speed of the right driving wheel.

[0040] Step 33: The tiller controller generates direction control information for controlling the moving direction of the power-assisted vehicle based on the force direction.

[0041] In the embodiment of the present application, the direction control information can indicate the rotation direction of the driving wheel. A forward rotation direction indicates that the power-assisted vehicle needs to be driven forward, and a backward rotation direction indicates that the power-assisted vehicle needs to be driven backward.

[0042] Furthermore, if the force direction is thrust, forward direction control information is generated; if the force direction is pulling, backward direction control information is generated.

[0043] In this step, when the power-assisted vehicle has two force feedback sensors, the first force feedback sensor corresponds to the left driving wheel. Based on the first force direction from the first force feedback sensor, first direction control information for controlling the rotation direction of the left driving wheel of the power-assisted vehicle can be generated. The first direction control information can indicate whether the rotation direction of the left driving wheel is forward or backward.

[0044] The second force feedback sensor corresponds to the right driving wheel. Based on the second force direction from the second force feedback sensor, second direction control information for controlling the rotation direction of the right driving wheel of the power-assisted vehicle can be generated. The second direction control information can indicate whether the rotation direction of the right driving wheel is forward or backward.

[0045] There is no strict sequence between the above steps 32 and 33.

[0046] Step 34: The tiller controller sends the generated speed control information and direction control information to the motion controller.

[0047] Step 35: After receiving the speed control information and the direction control information, the motion controller drives the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information.

[0048] In this step, the motion controller can control the rotation of the wheel axle motor connected to the driving wheel according to the rotation speed of the driving wheel or the moving speed of the power-assisted vehicle represented by the speed control information and the rotation direction of the driving wheel represented by the direction control information.

[0049] If the direction control information indicates that the driving wheel rotates forward, the wheel axle motor is controlled to rotate forward; if the direction control information indicates that the driving wheel rotates backward, the wheel axle motor is controlled to rotate reversely.

[0050] In this step, when the power-assisted vehicle has two force feedback sensors, the first force feedback sensor corresponds to the left driving wheel, and the second force feedback sensor corresponds to the right driving wheel. Accordingly, the left driving wheel is driven to rotate according to the left driving wheel control requirement represented by the first speed control information and the first direction control information, and the right driving wheel is driven to rotate according to the right driving wheel control requirement represented by the second speed control information and the second direction control information.

[0051] In the embodiment of the present application, two force feedback sensors can be used to control the left driving wheel and the right driving wheel separately, thereby achieving more flexible control over the movement of the power-assisted vehicle.

[0052] For example, according to the control flow represented by the above-mentioned power-assisted vehicle driving method, the user applies the same thrust to both force feedback sensors to control the power-assisted vehicle to move forward straightly, reduces the thrust to control the power-assisted vehicle to move forward straightly and decelerate, applies the same pulling force to both force feedback sensors to control the power-assisted vehicle to move backward straightly, reduces the thrust to control the power-assisted vehicle to move backward straightly and decelerate; The user applies different thrusts to the two force feedback sensors to control the power-assisted vehicle to move forward and turn, with the direction of rotation being biased toward the side with less force. The user applies different pulling forces to the two force feedback sensors to control the power-assisted vehicle to move backward and turn, with the direction of rotation being biased toward the side with less force. Furthermore, the user can also control the turning of the power-assisted vehicle by applying a pulling force to one force feedback sensor and a thrust to another force feedback sensor. For example, a pulling force is applied to the first force feedback sensor to make the left drive wheel rotate backward, and a thrust is applied to the second force feedback sensor to make the right drive wheel rotate forward, thereby controlling the power-assisted vehicle to turn left.

[0053] By adopting the above-mentioned power-assisted cart driving method provided in the embodiment of the present application, the relatively small force applied by the user to the power-assisted cart can be converted into the corresponding rotation speed of the driving wheel controlled by the wheel axle motor, so that the user can control the power-assisted cart to drive the movement of the surgical platform more labor-saving and flexibly. Furthermore, by controlling the left driving wheel and the right driving wheel respectively through two force feedback sensors, the turning of the power-assisted cart can be further and more flexibly controlled.

[0054] Based on the same inventive concept, according to the power-assisted trolley driving method for a surgical platform provided in the above embodiment of the present application, correspondingly, another embodiment of the present application further provides a power-assisted trolley driving device for a surgical platform, wherein the power-assisted trolley has a force feedback sensor, and its structural schematic diagram is shown in FIG. Figure 4 As shown, specifically including: A data acquisition module 41 is used to acquire the force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes the magnitude and direction of the force; A control information generating module 42, for generating speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force; The driving control module 43 is used to drive the power-assisted vehicle according to the control requirements represented by the speed control information and the direction control information.

[0055] Further, the power-assisted vehicle includes a first force feedback sensor and a second force feedback sensor; The data acquisition module 41 is specifically used to acquire first force data of the power-assisted vehicle collected by the first force feedback sensor, and second force data of the power-assisted vehicle collected by the first force feedback sensor, wherein the first force data includes a first force magnitude and a first force direction, and the second force data includes a second force magnitude and a second force direction; The control information generating module 42 is specifically used to generate first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle and first direction control information for controlling the rotation direction of the left driving wheel based on the first force magnitude and the first force direction; Based on the second force magnitude and the second force direction, generating second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle and second direction control information for controlling the rotation direction of the right driving wheel; The driving control module 43 is specifically used to drive the rotation of the left driving wheel and the right driving wheel of the power-assisted vehicle according to the left driving wheel control requirement represented by the first speed control information and the first direction control information, and the right driving wheel control requirement represented by the second speed control information and the second direction control information.

[0056] Further, the speed control information indicates the rotation speed of the driving wheel of the power-assisted vehicle, or indicates the moving speed of the power-assisted vehicle; The direction control information indicates the rotation direction of the driving wheel; The driving control module 43 is specifically used to control the rotation of the wheel shaft motor connected to the driving wheel of the power-assisted vehicle according to the rotation speed or the moving speed and the rotation direction.

[0057] Furthermore, the control information generating module 42 is specifically used to determine the speed corresponding to the force magnitude according to a preset mapping relationship between the force magnitude and the speed; generating speed control information indicating a speed corresponding to the magnitude of the force; If the force direction is thrust, generating direction control information indicating forward direction; If the force direction is pulling force, the control information indicating the backward direction is generated.

[0058] Furthermore, the feedback sensor of the power-assisted vehicle is installed on the tiller handle of the power-assisted vehicle.

[0059] The functions of the above modules can correspond to Figure 1 or Figure 3 The corresponding processing steps in the shown process will not be repeated here.

[0060] The power-assisted trolley driving device for a surgical platform provided in the embodiment of the present application can be implemented by a computer program. Those skilled in the art should be able to understand that the above-mentioned module division method is only one of many module division methods. If it is divided into other modules or no modules, as long as the power-assisted trolley driving device for a surgical platform has the above-mentioned functions, it should be within the protection scope of the present application.

[0061] The present application also provides a power-assisted trolley for a surgical platform, such as Figure 5 As shown, it includes: a force feedback sensor 51, a processor 52 and a machine-readable storage medium 53, wherein the machine-readable storage medium 53 stores machine-executable instructions that can be executed by the processor 52, and the processor 52 is prompted by the machine-executable instructions to: implement any of the above-mentioned power-assisted trolley driving methods for a surgical platform.

[0062] Furthermore, the processor 52 may include a tiller controller and a motion controller.

[0063] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned methods for driving a power-assisted trolley for a surgical platform is implemented.

[0064] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described methods for driving a power-assisted trolley for a surgical platform.

[0065] The machine-readable storage medium in the above-mentioned power-assisted vehicle may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the above-mentioned processor.

[0066] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0067] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, power-assisted vehicle, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0068] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0069] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for driving a power-assisted trolley for a surgical platform, characterized in that: The power-assisted vehicle has a force feedback sensor, and the method comprises: Obtaining force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes force magnitude and force direction; Based on the magnitude of the force and the direction of the force, generating speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle; The power-assisted vehicle is driven according to the control requirements indicated by the speed control information and the direction control information.

2. The method according to claim 1, characterized in that The power-assisted vehicle comprises a first force feedback sensor and a second force feedback sensor; Obtaining force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes force magnitude and force direction, including: Acquire first force data of the power-assisted vehicle collected by the first force feedback sensor, and second force data of the power-assisted vehicle collected by the first force feedback sensor, wherein the first force data includes a first force magnitude and a first force direction, and the second force data includes a second force magnitude and a second force direction; The generating of speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force includes: Based on the first force magnitude and the first force direction, generating first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle and first direction control information for controlling the rotation direction of the left driving wheel; Based on the second force magnitude and the second force direction, generating second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle and second direction control information for controlling the rotation direction of the right driving wheel; The step of driving the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information includes: According to the left driving wheel control requirement indicated by the first speed control information and the first direction control information, and the right driving wheel control requirement indicated by the second speed control information and the second direction control information, the left driving wheel and the right driving wheel of the power-assisted vehicle are driven to rotate respectively.

3. The method according to claim 1, characterized in that The speed control information indicates the rotation speed of the driving wheel of the power-assisted vehicle, or indicates the moving speed of the power-assisted vehicle; The direction control information indicates the rotation direction of the driving wheel; The step of driving the power-assisted vehicle according to the control requirements indicated by the speed control information and the direction control information includes: According to the rotation speed or the moving speed, and the rotation direction, the rotation of the wheel shaft motor connected to the power-assisted vehicle and the driving wheel is controlled.

4. The method according to claim 1, characterized in that The generating of speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force includes: According to a preset mapping relationship between force magnitude and speed, determining the speed corresponding to the force magnitude; generating speed control information indicating a speed corresponding to the magnitude of the force; If the force direction is thrust, generating direction control information indicating forward direction; If the force direction is pulling force, the control information indicating the backward direction is generated.

5. The method according to any one of claims 1 to 4, characterized in that: The feedback sensor of the power-assisted vehicle is installed on the tiller handle of the power-assisted vehicle.

6. A power-assisted trolley driving device for a surgical platform, characterized in that: The power-assisted vehicle has a force feedback sensor, and the device comprises: A data acquisition module, used to acquire the force data of the power-assisted vehicle collected by the force feedback sensor, wherein the force data includes the magnitude and direction of the force; A control information generating module, for generating speed control information for controlling the speed of the power-assisted vehicle and direction control information for controlling the moving direction of the power-assisted vehicle based on the magnitude of the force and the direction of the force; A driving control module is used to drive the power-assisted vehicle according to the control requirements represented by the speed control information and the direction control information.

7. The device according to claim 6, characterized in that The power-assisted vehicle comprises a first force feedback sensor and a second force feedback sensor; The data acquisition module is specifically used to acquire first force data of the power-assisted vehicle collected by the first force feedback sensor, and second force data of the power-assisted vehicle collected by the first force feedback sensor, wherein the first force data includes a first force magnitude and a first force direction, and the second force data includes a second force magnitude and a second force direction; The control information generating module is specifically used to generate first speed control information for controlling the speed of the left driving wheel of the power-assisted vehicle and first direction control information for controlling the rotation direction of the left driving wheel based on the first force magnitude and the first force direction; Based on the second force magnitude and the second force direction, generating second speed control information for controlling the speed of the right driving wheel of the power-assisted vehicle and second direction control information for controlling the rotation direction of the right driving wheel; The driving control module is specifically used to drive the rotation of the left driving wheel and the right driving wheel of the power-assisted vehicle respectively according to the left driving wheel control requirement represented by the first speed control information and the first direction control information, and the right driving wheel control requirement represented by the second speed control information and the second direction control information.

8. The device according to claim 6, characterized in that The speed control information indicates the rotation speed of the driving wheel of the power-assisted vehicle, or indicates the moving speed of the power-assisted vehicle; The direction control information indicates the rotation direction of the driving wheel; The driving control module is specifically used to control the rotation of the wheel shaft motor connected to the driving wheel of the power-assisted vehicle according to the rotation speed or the moving speed and the rotation direction.

9. The device according to claim 6, characterized in that The control information generating module is specifically used to determine the speed corresponding to the force magnitude according to a preset mapping relationship between the force magnitude and the speed; generating speed control information indicating a speed corresponding to the magnitude of the force; If the force direction is thrust, generating direction control information indicating forward direction; If the force direction is pulling force, the control information indicating the backward direction is generated.

10. The device according to any one of claims 6 to 9, characterized in that: The feedback sensor of the power-assisted vehicle is installed on the tiller handle of the power-assisted vehicle.

11. A power-assisted trolley for a surgical platform, characterized in that: include: A force feedback sensor, a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement any method described in claims 1-5.

12. The power-assisted vehicle according to claim 11, characterized in that: The processor includes a tiller controller and a motion controller.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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