Method and device for calibrating clamping force of operating instrument, and operating robot end

Abstract

The invention provides a calibration method and device for the clamping force of an operation instrument and an operation robot end. Specifically, under the condition that it is determined that the clamping force calibration triggering condition of a target clamping instrument is met at present, a target image generated when the target clamping instrument clamps a target object is collected according to a preset collection rule; determining a target motor-based motor output clamping force corresponding to the target image; wherein the target motor is associated with the target clamping instrument; and the clamping force of the target clamping instrument is calibrated according to the target image and the clamping force output by the motor. Therefore, the clamping force of the target clamping instrument can be efficiently and accurately calibrated, errors caused by the fact that the clamping force of the target clamping instrument does not meet the requirement when the target clamping instrument is used for operation are effectively avoided, and the operation precision when a user operates and operates the robot end to use the target clamping instrument is improved.

Description

Technical Field

[0001] This specification belongs to the technical field of medical devices, and particularly relates to a calibration method and device for the clamping force of operating instruments and an operating robot end. Background Art

[0002] After a user manipulates the robotic arm of a working robot (e.g., a medical robot) to use a corresponding clamping mechanism for a period of time, the clamping force of the clamping instrument often decreases, and it cannot firmly hold an object, thereby affecting the operation accuracy when the user manipulates the working robot to use the clamping instrument.

[0003] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] This specification provides a calibration method, device and operating robot end for the clamping force of an operating instrument, which can calibrate the clamping force of a target clamping instrument efficiently and accurately.

[0005] This specification provides a calibration method for the clamping force of an operating instrument, which is applied to an operating robot end; wherein, the operating robot end is at least provided with a first robotic arm, and the first robotic arm is at least mounted with a target clamping instrument, and the method includes: when it is determined that the current satisfies the clamping force calibration trigger condition of the target clamping instrument, according to a preset acquisition rule, acquiring a target image when the target clamping instrument clamps a target object; determining a motor output clamping force based on a target motor corresponding to the target image; wherein, the target motor is associated with the target clamping instrument; calibrating the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

[0006] This specification provides a calibration method for the control force of an operating instrument, which is applied to an operating robot end; wherein, the operating robot end is at least provided with a first robotic arm, and the first robotic arm is mounted with a target operating instrument, and the method includes: when it is determined that the current satisfies the control force calibration trigger condition of the target operating instrument, according to a preset acquisition rule, acquiring a target image when the target working instrument acts on a target object; determining a motor output control force based on a target motor corresponding to the target image; wherein, the target motor is associated with the target operating instrument; calibrating the control force of the target operating instrument according to the target image and the motor output control force.

[0007] The present specification also provides a calibration device for the clamping force of an operating instrument, which is applied to the operating robot side; wherein, at least a first robotic arm is provided on the operating robot side, and at least a target clamping instrument is mounted on the first robotic arm, including: an acquisition module, configured to acquire a target image of the target clamping instrument clamping a target object according to a preset acquisition rule when it is determined that the current meets the clamping force calibration trigger condition of the target clamping instrument; a determination module, configured to determine the motor output clamping force based on a target motor corresponding to the target image; wherein, the target motor is associated with the target clamping instrument; a calibration module, configured to calibrate the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

[0008] The present specification also provides an operating robot side, including at least: a camera, a processor, and a first robotic arm; at least a target clamping instrument is mounted on the first robotic arm; when the processor determines that the current meets the clamping force calibration trigger condition of the target clamping instrument, it controls the camera to acquire a target image of the target clamping instrument clamping a target object according to a preset acquisition rule; the processor determines the motor output clamping force based on a target motor corresponding to the target image; wherein, the target motor is associated with the target clamping instrument; and calibrates the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

[0009] The present specification also provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the related steps of the calibration method for the clamping force of the operating instrument are implemented.

[0010] Based on the calibration method, device, and operating robot side for the clamping force of the operating instrument provided in the present specification, in specific implementation, when it is determined that the current meets the clamping force calibration trigger condition of the target clamping instrument, a target image of the target clamping instrument clamping a target object can be acquired first according to a preset acquisition rule; then, the motor output clamping force based on a target motor corresponding to the target image is determined; wherein, the target motor is associated with the target clamping instrument; then, the clamping force of the target clamping instrument is calibrated according to the target image and the motor output clamping force. Thereby, the clamping force of the target clamping instrument can be calibrated efficiently and accurately, effectively avoiding errors that occur when using the target clamping instrument for operation due to the clamping force of the target clamping instrument not meeting the requirements, and improving the operation accuracy when the user operates the operating robot side to use the target clamping instrument. Moreover, it can also intelligently and automatically detect and judge whether to trigger the calibration of the clamping force of the target clamping instrument, improving the use experience of the target user. Description of the Drawings

[0011] To more clearly illustrate the embodiments of this specification, the following will briefly introduce the accompanying drawings required for the embodiments. The accompanying drawings in the following description are only some embodiments recorded in this specification. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0012] Figure 1 It is a schematic flowchart of a method for calibrating the clamping force of an operating instrument provided by an embodiment of this specification;

[0013] Figure 2 It is a schematic diagram of an embodiment of an operating robot applying the method for calibrating the clamping force of an operating instrument provided by an embodiment of this specification in a scenario example;

[0014] Figure 3 It is a schematic diagram of an embodiment of an operating table applying the method for calibrating the clamping force of an operating instrument provided by an embodiment of this specification in a scenario example;

[0015] Figure 4 It is a schematic diagram of an embodiment of a target clamping instrument mounted in a scenario example;

[0016] Figure 5 It is a schematic diagram of an embodiment of a structural group of a medical system connected to an operating table in a scenario example;

[0017] Figure 6 It is a schematic diagram of an embodiment of a doctor's console connected to an operating table in a scenario example;

[0018] Figure 7 It is a schematic diagram of an embodiment of an interface image shown to a user when a manipulator is used to clamp a target pair with a target clamping instrument in a scenario example;

[0019] Figure 8 It is a schematic diagram of an embodiment of an interface image shown to a user when automatically calibrating the clamping force of a target clamping instrument in a scenario example;

[0020] Figure 9 It is a schematic flowchart of a method for determining the motor output clamping force by applying the method for calibrating the clamping force of an operating instrument provided by an embodiment of this specification in a scenario example;

[0021] Figure 10 It is a schematic diagram of an embodiment of determining the motor output clamping force by applying the method for calibrating the clamping force of an operating instrument provided by an embodiment of this specification in a scenario example;

[0022] Figure 11In a scenario example, it is a schematic diagram of an embodiment of the relationship between the feedback torque and the feedback current obtained;

[0023] Figure 12 In a scenario example, it is a flowchart of a method for determining the visual clamping force by applying the calibration method for the clamping force of the operating instrument provided in the embodiments of this specification;

[0024] Figure 13 In a scenario example, it is a flowchart of a method for determining the object type of the target object to be clamped by applying the calibration method for the clamping force of the operating instrument provided in the embodiments of this specification;

[0025] Figure 14 In a scenario example, it is a schematic diagram of an embodiment of the interface image shown to the user when manually calibrating the clamping force of the target clamping instrument;

[0026] Figure 15 It is a schematic diagram of the structural composition of the operating robot end provided in an embodiment of this specification;

[0027] Figure 16 It is a schematic diagram of the structural composition of the calibration device for the clamping force of the operating instrument provided in an embodiment of this specification. Detailed implementation manners

[0028] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this specification.

[0029] Refer to Figure 1 , the embodiments of this specification provide a calibration method for the clamping force of an operating instrument. Among them, this method is specifically applied to the operating robot end. The operating robot end is at least provided with a first robotic arm, and the first robotic arm is at least mounted with a target clamping instrument. Specifically in implementation, this method may include the following content:

[0030] S101: When it is determined that the current meets the clamping force calibration trigger condition of the target clamping instrument, according to the preset acquisition rule, acquire the target image when the target clamping instrument clamps the target object;

[0031] S102: Determine the motor output clamping force based on the target motor corresponding to the target image; wherein, the target motor is associated with the target clamping instrument;

[0032] S103: Calibrate the clamping force of the target clamping instrument according to the target image and the clamping force output by the motor.

[0033] Among them, the target image can be specifically understood as a clamping image that contains both the target clamping instrument and the clamped target object when the target clamping instrument clamps the target object. The target image can specifically contain one clamping image or multiple clamping images.

[0034] The target clamping instrument can be specifically understood as a non-energy instrument with a clamping function. Specifically, the above-mentioned target clamping instrument can be a surgical instrument, a processing machine, or other non-energy operating instruments based on other application scenarios.

[0035] Specifically, the target clamping instrument can include any one of the following: needle holder, duckbill forceps, tweezers, rat-tooth grasping forceps, bipolar duckbill grasping forceps, strong duckbill grasping forceps, etc. Of course, it should be noted that the above-listed target clamping instruments are only illustrative. In specific implementation, according to specific application scenarios and processing requirements, the above-mentioned target clamping instrument can also include other types of clamping instruments. This specification does not make any limitations in this regard.

[0036] The target object can be specifically understood as the object clamped by the target clamping instrument. For different application scenarios, the above-mentioned target object can be different types of objects. For example, in a medical scenario, the above-mentioned target object can be the clamped tissue. In a production and processing scenario, the above-mentioned target object can be the clamped parts, etc.

[0037] The clamping force output by the motor can be specifically understood as the clamping force generated and output by the target motor during operation for controlling the target clamping instrument to perform a clamping action. Among them, the target motor is a motor associated with the target clamping instrument.

[0038] Refer to Figure 2 As shown, at least a first robotic arm can be provided on the operating robot side. Among them, at least the target clamping instrument is mounted on the first robotic arm. Further, a target motor (not shown in the figure) is also provided on the operating robot side. After the target clamping instrument is mounted on the first robotic arm, the target motor can be associated with the target clamping instrument.

[0039] Correspondingly, when the above-mentioned operating robot side is specifically running, it can, according to relevant instruction data, control the torque output of the target motor and manipulate the first robotic arm to use the target clamping instrument to perform a clamping action with a corresponding clamping force.

[0040] The above operation robot terminal can specifically be a medical robot applied to a medical scenario, a production robot applied to a production and processing scenario, a construction robot applied to a construction scenario, and so on.

[0041] Specifically, referring to Figure 3 As shown, the above operation robot terminal can be an operating table applied to a medical scenario. Specifically, the above operating table at least includes structures such as a table component, an adjustment arm, and a robotic arm (or tool arm). Among them, the above robotic arm is connected to the adjustment arm, and the adjustment arm is connected to the table component.

[0042] Among them, the above table component can specifically be a base bracket for installing and setting the adjustment arm and the robotic arm; movable casters can also be provided at the bottom of the above table component to facilitate moving or fixing the operating table according to requirements. The above adjustment arm is used to actively or passively adjust the position of the connected robotic arm to better cooperate with the surgical operation. The above robotic arm can be used to mount an endoscope and surgical instruments such as target grasping instruments. The above adjustment arm can include multiple adjustment arms, and the above robotic arm can also include multiple robotic arms. For example, the above robotic arm can include a first robotic arm and a second robotic arm. Among them, the first robotic arm is used to mount the target grasping instrument, and the second robotic arm is used to mount the endoscope (or camera).

[0043] Furthermore, referring to Figure 4 As shown, the end of the above target grasping instrument can specifically be provided with multiple joints, such as a pitch joint, a yaw joint, and a rotation joint. Among them, the above pitch and rotation joints are respectively controlled by a motor driving a wire; the above yaw joint is controlled by two motors respectively driving two yaw plates.

[0044] In addition, the other end (denoted as the top end) of the target grasping instrument relative to the end can be connected to the robotic arm. The top end can be embedded with a corresponding chip. This chip can specifically store data information related to this target grasping instrument, such as the type of grasping instrument of the grasping instrument, the instrument number (for example, ID code), the manufacturing date, and so on.

[0045] For grasping instruments, the data information stored in the chip can also include the grasping force parameters corresponding to this grasping instrument. Among them, the above grasping force parameters can specifically include the mapping relationship between the motor output grasping force and the actual acting grasping force. For non-grasping instruments, the data information stored in the chip can also include the function parameters related to the instrument function of this non-grasping instrument.

[0046] Specifically, when a surgical instrument is mounted on a robotic arm, the surgical trolley will automatically read and determine whether the currently mounted surgical instrument is a clamping instrument or a non-clamping instrument based on the instrument type stored in the chip. When it is determined that the mounted surgical instrument is a clamping instrument, the surgical trolley can automatically read and load the clamping force parameters stored in the chip. In this way, the subsequent surgical trolley can control the clamping force of the surgical instrument by controlling the motor output according to the clamping force parameters. On the contrary, when it is determined that the mounted surgical instrument is a non-clamping instrument, the surgical trolley can automatically trigger and activate the relevant instrument functions of the surgical instrument according to the specific type of the non-clamping instrument and / or related functional parameters.

[0047] In specific implementation, when the surgical trolley controls the target clamping instrument to perform a specific action through the robotic arm, the corresponding joint can be controlled by controlling the operation output of the motor to adjust the position (including: position along the X-axis direction, position along the Y-axis direction, position along the Z-axis direction, etc.) and / or posture (including: pitch, yaw and rotation, etc.) of the end of the target operating instrument accordingly, so as to use the target clamping instrument to complete specific actions such as clamping. Thus, the robotic arm and the target clamping instrument form a master-slave control relationship.

[0048] For specific implementation, see Figure 5 As shown, the above-mentioned operating trolley can be specifically connected to a medical operating system. In the medical operating system, the above-mentioned operating trolley can be connected to the doctor's console in a wired or wireless manner. The above-mentioned medical operating system can further include: an image trolley, a tool trolley, auxiliary equipment and other equipment.

[0049] The doctor console is arranged on the user (eg, doctor) side. Figure 6 As shown, the above-mentioned doctor console at least includes: a manipulating arm (or main manipulator) and a display.

[0050] Specifically, a control handle is provided at the end of the manipulator arm. The user can send corresponding instruction data to the operating table vehicle by operating the control handle to control the robot arm to use the target clamping instrument to complete specific operations. Furthermore, a hand clutch is provided on the control handle. The user can also adjust the clamping force of the target clamping instrument by turning the hand clutch.

[0051] The display is connected to the imaging trolley, which is in turn connected to the endoscope. Accordingly, the display can display the surgical environment image captured by the endoscope to the target user.

[0052] In addition, the above-mentioned doctor console may further include: a console body and an adjustment component. Among them, the adjustment component is disposed on the console body. The above-mentioned console body is a basic bracket for installing and fixing other structural components of the doctor console; the bottom plate of the above-mentioned console local may also be provided with movable casters for moving or fixing the doctor console as needed; the body of the above-mentioned doctor console may also be provided with a foot switch for receiving and responding to the corresponding operation (such as electrocision operation, condensation operation, etc.) switch control signal initiated by the user.

[0053] Specifically, the above-mentioned adjustment component can be used to electrically adjust the positions of structural components such as the manipulator arm, display, and armrest of the doctor console to facilitate user operation.

[0054] During a specific surgical operation, the user can, according to the surgical environment image shown on the display of the doctor console, operate the control handle on the manipulator arm of the doctor console to remotely control the surgical trolley to control the corresponding robotic arm to use the mounted surgical instruments to complete the specific surgical operation.

[0055] When the user controls the surgical trolley to control the first robotic arm to use the target clamping instrument for a surgical operation and finds that the clamping force of the target clamping instrument is too small, for example, when using the target clamping instrument to clamp a tissue or organ, the tissue or organ is likely to slip, it can be determined that the current meets the trigger condition for calibrating the clamping force of the target clamping instrument. At this time, the user can use the calibration method for the clamping force of the operating instrument provided in this specification through the above-mentioned doctor console, and through the automatic mode or the manual mode, use the target image collected when the target clamping instrument clamps the target object to efficiently and accurately complete the calibration of the clamping force of the target clamping instrument. Furthermore, the user can control the first robotic arm to use the calibrated target clamping instrument to perform the clamping action with a clamping force that meets the requirements and accurately complete the surgical operation.

[0056] In some embodiments, when the method is specifically implemented, it may further include the following content:

[0057] Collect an image of the current target clamping instrument clamping the target object as the current detection image; detect whether the current detection image matches the current nominal clamping force; in the case of determining that the current detection image does not match the current nominal clamping force, determine that the current meets the trigger condition for calibrating the clamping force of the target clamping instrument;

[0058] And / or,

[0059] Detect whether a calibration instruction initiated by the target user is received; in the case of determining that a calibration instruction initiated by the target user is received, determine that the current meets the trigger condition for calibrating the clamping force of the target clamping instrument.

[0060] During specific implementation, when the user uses the target clamping device for specific operations, it will trigger the operation robot to collect the image of the target clamping device clamping the target object in real time or at regular intervals as the current detection image; and based on this current detection image, automatically detect and determine whether the current meets the clamping force calibration trigger condition of the target clamping device.

[0061] Specifically, the visual clamping force based on the current detection image can be determined by processing the current detection image. Among them, the above-mentioned visual clamping force can be specifically understood as the actual clamping force of the target clamping device calculated based on the visual image. How to determine the visual clamping force by processing the image will be specifically described later.

[0062] Then, calculate the difference value between the visual clamping force and the preset reference target clamping force; and detect whether the difference value is greater than or equal to the preset difference value threshold; when it is determined that the difference value is greater than or equal to the preset difference value threshold, it is determined that the current meets the clamping force calibration trigger condition of the target clamping device. Among them, the preset reference target clamping force can specifically refer to the standard clamping force default set for the target clamping device. During specific implementation, the preset reference target clamping force can be obtained by reading the data information stored in the chip at the top of the target clamping device.

[0063] After determining the visual clamping force based on the current detection image, the specified clamping force input by the user before collecting the current detection image can also be obtained; and calculate the difference value between the visual clamping force and the specified clamping force; when it is detected that the difference value is greater than or equal to the preset difference value threshold, it is determined that the current meets the clamping force calibration trigger condition of the target clamping device.

[0064] After determining the visual clamping force based on the current detection image, the motor output clamping force corresponding to the current detection image can also be determined, that is, when collecting the current detection image, determine the motor output clamping force of the target clamping device based on the target motor; and calculate the difference value between the visual clamping force and the motor output clamping force; when it is detected that the difference value is greater than or equal to the preset difference value threshold, it is determined that the current meets the clamping force calibration trigger condition of the target clamping device. Among them, how to determine the motor output clamping force will be specifically described later.

[0065] In addition, the preset image behavior recognition model can be used to process the current detection image to obtain the corresponding image behavior recognition result. Based on the image behavior recognition result, determine whether the current target clamping device has a target behavior of not clamping or being unable to clamp the target object due to too small a clamping force (or whether there is a target behavior of damaging the clamping part of the target object due to too large a clamping force); when it is determined that the above target behavior exists, determine that the clamping force calibration trigger condition of the target clamping device is currently met. Among them, the above preset image behavior recognition model can be specifically understood as a pre-trained neural network model that can automatically detect and identify whether there is a relevant target behavior based on the input image.

[0066] In specific implementation, when the user uses the target clamping instrument to perform specific operations, the user can also determine whether the clamping force calibration trigger condition of the target clamping instrument is met.

[0067] Specifically, when the user uses the target clamping device to clamp the target object, and finds that the clamping force provided by the target clamping device is too small to clamp the target object; or the clamping force is too large to easily damage the target object, the user can initiate a corresponding calibration operation, for example, by turning the control handle of the doctor's console to initiate a corresponding calibration instruction. Correspondingly, when the operating robot determines that the calibration instruction initiated by the target user has been received, it determines that the clamping force calibration trigger condition of the target clamping device is currently met.

[0068] In addition, when the user uses the target clamping device to clamp the target object, the current nominal clamping force can also be displayed to the target user; wherein the above nominal clamping force can be determined according to the motor output clamping force or the preset reference target clamping force. For example, see Figure 7 As shown in the figure, when the user controls the first mechanical arm to use the target clamping device to clamp the target object, the endoscope image displayed on the display of the doctor's console will also show that the nominal clamping force of the current target clamping device clamping the target object is 11N. At this time, if the user, based on his own operating feel and experience, determines that the actual clamping force of the current target clamping device does not match the above nominal clamping force, he can also actively initiate a calibration command.

[0069] In some embodiments, the above-mentioned acquisition of the target image when the target gripping device grips the target object according to the preset acquisition rules may include the following contents during specific implementation:

[0070] S1: According to the preset acquisition rules, the target clamping device is controlled to clamp the target object and move it to the specified field of view;

[0071] S2: Control the nominal clamping force of the target clamping device when clamping the target object to change from the initial clamping force to the target standard clamping force; and collect multiple clamping images during the change process of the nominal clamping force as the target images.

[0072] During specific implementation, it is possible to first detect whether there is an action of the target clamping device clamping the target object in the current field of view of the camera or endoscope; when it is determined that there is such an action in the current field of view, the nominal clamping force of the target clamping device when clamping the target object can be directly controlled to change from the initial clamping force to the target standard clamping force; and multiple clamping images during the change process of the nominal clamping force are collected through the camera or endoscope as the target images.

[0073] On the contrary, when it is determined that there is no such action of the target clamping device clamping the target object in the current field of view, a collection guidance prompt can be displayed to the target user according to the preset collection rules to prompt the target user to control the target clamping device to clamp the target object through corresponding operations (for example, operating the manipulator arm of the doctor's console) and move the clamped target object into the current field of view of the camera or endoscope (i.e., the specified field of view); and then collect the target images.

[0074] During specific collection of the target images, the robot side can automatically control the nominal clamping force of the target clamping device when clamping the target object to start from the initial clamping force (for example, 0N) and gradually increase to the target standard clamping force step by step according to a fixed step size; and during the change process of the nominal clamping force, at least one clamping image corresponding to each nominal clamping force is collected respectively to obtain multiple clamping images as the target images.

[0075] Among them, the target standard clamping force includes: a preset reference target clamping force or a target clamping force set by the user.

[0076] During specific implementation, for example, refer to Figure 8 As shown, the target standard clamping force is 12N; the initial clamping force determined according to the preset collection rules is 0N, and the determined step size is 1N. Correspondingly, according to the preset collection rules, the nominal clamping force of the target clamping device when clamping the target object is controlled to gradually increase from 0N to 1N, 2N, 3N... up to 12N step by step. At the same time, the latest nominal clamping force can also be displayed to the target user through the display. For example, refer to Figure 8As shown, when the nominal clamping force increases from 10 N to 11 N, the nominal clamping force shown in the display will also be updated synchronously to 11 N. In addition, the display will also show the target standard clamping force: 12 N to the target user. Moreover, the display will further show that the clamping instrument type of the target clamping instrument automatically recognized based on the image is: bipolar duckbill forceps. During the change process of the above nominal clamping force, the operating robot side can collect 13 different clamping images for 0 N, 1 N, 2 N, 3 N... 12 N respectively through the endoscope as the target images.

[0077] In addition, when specifically collecting the target images, the target user can also manually adjust the nominal clamping force to make the nominal clamping force change; correspondingly, collect multiple clamping images corresponding to each nominal clamping force during the above change process as the target images.

[0078] In specific implementation, for example, the target user can initiate an adjustment instruction by operating the control handle on the operating arm of the doctor's console to enter the clamping force adjustment mode for the target clamping instrument. In the clamping force adjustment mode, the target user can adjust the nominal clamping force by toggling the hand clutch on the control handle. Specifically, each time the target user toggles the hand clutch, it will trigger an increase in the nominal clamping force by 1 N; when the nominal clamping force has increased to the upper limit of the clamping force, at this time, if the target user toggles the hand clutch again, the nominal clamping force will automatically jump back to 0 N. During the manual adjustment change process of the above nominal clamping force, multiple clamping images corresponding to multiple nominal clamping forces will be automatically collected through the endoscope as the target images.

[0079] In some embodiments, during the change process of the above nominal clamping force, the operating robot side will also automatically collect and record the motor parameters of the target motor associated with the target clamping instrument, and record the above motor parameters in the corresponding log file for subsequent use. Among them, the motor parameters at least include motor feedback motion parameters and motor feedback current parameters, etc.

[0080] In some embodiments, when the method is specifically implemented, it may further include the following content: obtaining multiple motor parameter groups of the target motor corresponding to the multiple clamping images; among them, the motor parameter group at least includes: motor feedback motion parameters and motor feedback current parameters;

[0081] Among them, the motor feedback motion parameters may specifically include: motor feedback speed and motor feedback angle, etc. The motor feedback current parameter may specifically include: motor feedback current.

[0082] During specific implementation, according to the acquisition time of the clamping image, by querying the log file, the motor parameter group corresponding to the clamping image can be found, and a motor parameter group corresponding to a nominal clamping force in the nominal clamping force change process can be obtained.

[0083] In some embodiments, referring to Figure 9 As shown, to determine the motor output clamping force based on the target motor corresponding to the target image, during specific implementation, the following method can be used to determine the current motor output clamping force based on the target motor corresponding to the current clamping image in the target image according to the current motor parameter group among multiple motor parameters:

[0084] S1: Obtain a target dynamic model that matches the target clamping instrument;

[0085] S2: According to the motor feedback motion parameters in the current motor parameter group and the target dynamic model, calculate the current joint feedback torque of the target clamping instrument; according to the motor feedback current parameters in the current motor parameter group, calculate the current joint driving torque of the target clamping instrument;

[0086] S3: Determine the current motor output clamping force based on the target motor corresponding to the current clamping image according to the current joint driving torque and the current joint feedback torque.

[0087] During specific implementation, the target dynamic model that matches the target clamping instrument can be obtained by directly reading the data information stored in the chip at the top of the target clamping instrument.

[0088] Of course, it is also possible to first determine the type of the clamping instrument of the target clamping instrument by reading the data information in the chip at the top of the target clamping instrument; then query the dynamic model library of the cloud service platform according to the type of the clamping instrument, and download and obtain the dynamic model that matches the type of the clamping instrument as the target dynamic model. Among them, the type of the clamping instrument may specifically include at least one of the following: needle holder, duckbill forceps, tweezers, rat-tooth forceps, bipolar duckbill forceps, strong duckbill forceps, etc.

[0089] During specific implementation, referring to Figure 10As shown, the current joint feedback torque of the target clamping instrument can be calculated based on the motor feedback motion parameters and the target dynamic model in the current motor parameter group. At the same time, according to the motor feedback current parameter (motor feedback current) in the current motor parameter group, the current joint driving torque of the target clamping instrument can be obtained by calculating the joint torque. Then, by jointly using the current joint driving torque and the current joint feedback torque and calculating the torque difference, the current joint external torque can be determined. Then, based on the current joint external torque, through spatial transformation, the current motor output clamping force based on the target motor corresponding to the current clamping image can be determined, that is, the clamping force at the end of the target clamping instrument is obtained.

[0090] Among them, there is a piecewise linear relationship between the joint driving torque (feedback torque of the motor) and the motor feedback current, which can be referred to Figure 11 as shown. Correspondingly, the above piecewise linear relationship can be used to determine the current joint driving torque.

[0091] Specifically, the current motor output clamping force can be calculated according to the following formula:

[0092] τ ext =τ exp -τ fdb , f ext =(J T )-1*τ ext

[0093] where τ ext is the current joint external torque, τ exp is the current joint driving torque, τ fdb is the current joint feedback torque, and J represents the Jacobian matrix from the Cartesian space at the end of the target clamping instrument to the joint space.

[0094] In specific implementation, in the above manner, according to each motor parameter group, the respective motor output clamping forces corresponding to each detection image (i.e., each nominal clamping force during the change of the nominal clamping force) can be determined respectively, so as to determine the motor output clamping force based on the target motor corresponding to the target image.

[0095] In some embodiments, a second robotic arm may be specifically further provided at the operation robot end, and an endoscope may be specifically mounted on the second robotic arm;

[0096] Correspondingly, the target image includes a plurality of endoscope images collected by the endoscope for the change process of the nominal clamping force.

[0097] In addition, a camera may be further mounted on the above second robotic arm. Correspondingly, according to a preset acquisition rule, the corresponding target image can be acquired through the above camera.

[0098] In specific implementation, more robotic arms such as a third robotic arm and a fourth robotic arm can also be provided on the operation robot side. According to specific needs, other clamping devices and / or non-clamping devices can also be mounted on the above-mentioned robotic arms.

[0099] In some embodiments, referring to Figure 12 As shown, based on the preset image processing rules, by processing the target image, the visual clamping force based on the image is determined. In specific implementation, the current visual clamping force based on the current clamping image can be determined according to the following method by processing the current clamping image in the target image according to the preset image processing rules:

[0100] S1: By performing image recognition on the current clamping image, determine the object type of the target object and the deformation data of the clamped part of the target object;

[0101] S2: According to the object type of the target object, determine the target deformation template model corresponding to the target object;

[0102] S3: According to the target deformation template model and the deformation data of the clamped part of the target object, determine the current visual clamping force based on the current clamping image.

[0103] Among them, the above-mentioned deformation data can specifically be understood as the degree of deformation of the clamped part relative to the normal unclamped situation.

[0104] In specific implementation, according to the recognized object type of the target object, the preset object deformation database can be queried to find the preset deformation template model corresponding to the object type of the target object as the target deformation template model.

[0105] Among them, multiple preset deformation template models corresponding to multiple different object types can be stored in the preset object deformation database.

[0106] Specifically, each of the above-mentioned preset deformation template models can specifically include the corresponding relationship between different deformation degrees and the clamping force received when the object of the corresponding object type is clamped.

[0107] Before specific implementation, the operation robot side can be used to clamp sample objects of different object types with different clamping forces respectively, and collect the deformation images of the clamped parts of the sample objects under different clamping forces as test images; then for different object types, based on different clamping forces, data statistics, data fitting and other processing are performed on the deformation data in the above-mentioned test images to establish multiple preset deformation template models corresponding to each different object type respectively.

[0108] During specific implementation, the deformation data of the clamped part of the above-mentioned target object can be substituted into the corresponding target deformation template model to calculate the corresponding clamping force at the end of the target clamping device, which is used as the current visual clamping force based on the current clamping image.

[0109] In the above manner, the visual clamping forces corresponding to each clamping image can be determined respectively to obtain the visual clamping force based on the image.

[0110] In some embodiments, when the method is specifically implemented, the following content may further be included:

[0111] S1: Detect and determine the key image area in the current clamping image according to the characteristics of the end of the target clamping device in the current clamping image;

[0112] S2: Determine the object type of the target object and the deformation data of the clamped part of the target object by performing image recognition on the key image area.

[0113] During specific implementation, according to the type of the clamping device of the target clamping device, the characteristics of the end of the clamping device corresponding to the target clamping device can be determined; then in the current clamping image, by retrieving the characteristics of the end of the target clamping device, the image area where the target clamping device clamps the target object can be accurately found as the key image area. Furthermore, it is not necessary to perform image recognition on all image areas in the current image, and only the key image area is intercepted separately for image recognition, so that the data processing amount during image recognition can be effectively reduced, and the object type of the target object and the deformation data of the clamped part of the target object can be determined more accurately and efficiently.

[0114] During specific implementation, after determining the type of the clamping device of the target clamping device, the type of the clamping device of the target clamping device can also be marked on the display.

[0115] In some embodiments, referring to Figure 13 As shown, when determining the object type of the target object by performing image recognition on the key image area, the following content may specifically be included:

[0116] S1: Divide the key image area into multiple cell unit images;

[0117] S2: Respectively construct histograms of gradient directions for multiple cell unit images to obtain histograms of gradient directions of multiple cell unit images;

[0118] S3: Obtain the key direction gradient histogram according to the histograms of gradient directions of the multiple cell unit images;

[0119] S4: Determine the object type of the target object through feature matching according to the Histogram of Oriented Gradient (HOG) and a preset object database.

[0120] Among them, the Histogram of Oriented Gradient (HOG) can specifically refer to a feature descriptor used for object detection in the field of computer vision. It mainly constitutes the corresponding feature vector by calculating the gradient information of a partial area of the image and statistically analyzing the histogram of the gradient information.

[0121] The above object database stores preset reference object feature vectors corresponding to multiple different object types respectively.

[0122] Before specific implementation, a large number of images of sample objects containing different object types can be collected as sample images first; then, through clustering processing based on the Histogram of Oriented Gradient for the sample images of the sample objects containing the same object type respectively, feature vectors with good representativeness can be extracted, and the preset reference object feature vectors corresponding to the corresponding object types can be constructed.

[0123] During specific implementation, after obtaining multiple cell unit images, the multiple cell unit images can be normalized first, and then based on the normalized cell unit images, the gradient direction histograms of the multiple cell unit images can be constructed.

[0124] After obtaining the gradient direction histograms of the multiple cell unit images, the multiple cell unit images can be combined into a large tile first; then, within this tile, the gradient histogram can be normalized, and thus the required Histogram of Oriented Gradient can be obtained.

[0125] In some embodiments, the above-mentioned updating of the clamping force parameters for the target clamping device according to the visual clamping force and the corresponding motor output clamping force may specifically include the following contents during implementation:

[0126] S1: Construct an error evaluation function according to the visual clamping force and the corresponding motor output clamping force;

[0127] S2: Determine the mapping relationship between the visual clamping force and the motor output clamping force by solving the error evaluation function; and update the clamping force parameters for the target clamping device according to this mapping relationship.

[0128] During specific implementation, the visual clamping force and the motor output clamping force corresponding to the same detection image can be taken as a group to obtain multiple clamping force data groups. Then, the clamping force differences between the visual clamping force and the motor output clamping force in each clamping force data group are calculated respectively. An error evaluation function is constructed based on each clamping force difference. Then, with the minimum function value of the error evaluation function as the optimization goal, the error evaluation function is optimized and solved to determine the mapping relationship between the visual clamping force and the motor output clamping force. Furthermore, according to this mapping relationship, the clamping force parameters for the target clamping instrument can be updated.

[0129] Correspondingly, in the subsequent operation, the robot side will control the clamping force of the target clamping instrument by controlling the output of the target motor according to the updated clamping force parameters, so that the actual clamping force of the target clamping instrument can be accurately made to meet the requirements.

[0130] In some embodiments, the target standard clamping force may specifically include: a preset reference target clamping force, a target clamping force set by the user, etc.

[0131] In some embodiments, when the method is specifically implemented, the following content may further be included:

[0132] S1: Receive a clamping force adjustment instruction initiated by the target user;

[0133] S2: Respond to the clamping force adjustment instruction, adjust the clamping force for the target operating instrument according to the preset adjustment rule; and display the adjusted nominal clamping force to the target user.

[0134] During specific implementation, the target user can initiate a clamping force adjustment instruction through a corresponding triggering operation (such as continuously turning the hand clutch twice, etc.) on the control handle of the manipulator arm of the operating doctor console to trigger entering the clamping force adjustment mode. After entering the clamping force adjustment mode, the target user can continue to perform a corresponding adjustment operation (such as turning the hand clutch once, etc.) through the control handle on the operating arm to initiate a clamping force adjustment instruction again. Correspondingly, the robot side of the operation receives and responds to the above clamping force adjustment instruction, adjusts the motor output clamping force for the target clamping instrument according to the preset adjustment rule, and at the same time displays the adjusted nominal clamping force to the target user.

[0135] Furthermore, while displaying the adjusted nominal clamping force to the target user, the next nominal clamping force based on the next clamping force adjustment instruction to be initiated can also be displayed to the target user. For example, refer to Figure 14As shown, the current nominal clamping force adjusted based on the current clamping force adjustment instruction is 10N (shown as the current clamping force in the figure). According to the preset adjustment rule, each time a clamping force adjustment instruction is received, 1N is added to the previous clamping force. Correspondingly, in the same interface, the next clamping force based on the next clamping force adjustment instruction to be initiated can also be synchronously displayed as 11N (shown as the adjusted clamping force in the figure) for the target user to reference, so that the target user can better determine the subsequent clamping force adjustment plan.

[0136] In specific implementation, the method may further include the following:

[0137] S1: Receive the clamping force confirmation instruction initiated by the target user;

[0138] S2: Respond to the clamping force confirmation instruction and determine the current nominal clamping force as the target clamping force set by the user.

[0139] In specific implementation, when the target user determines that a certain adjusted nominal clamping force currently meets the requirements based on their own judgment, the target user can initiate a clamping force confirmation instruction by operating the control handle of the robotic arm on the doctor's console. Correspondingly, the robotic arm side can respond to the clamping force confirmation instruction, determine the current nominal clamping force as the target clamping force set by the user, and exit the clamping force adjustment mode.

[0140] Furthermore, the robotic arm side can directly control the output of the target motor according to the target clamping force set by the user, so that the target clamping device can provide a clamping force that meets the requirements of the target user.

[0141] Of course, the robotic arm side can also determine the target clamping force set by the user as the target standard clamping force; and then, based on the target standard clamping force, apply the above-mentioned calibration method for the clamping force of the operating device to automatically calibrate the clamping force of the target clamping device.

[0142] As can be seen from the above, based on the calibration method for the clamping force of the operating device provided in the embodiments of this specification, in specific implementation, when it is determined that the current clamping force calibration trigger condition of the target clamping device is met, the target image when the target clamping device clamps the target object can be collected first according to the preset collection rule; then, the motor output clamping force based on the target motor corresponding to the target image can be determined; where the target motor is associated with the target clamping device; then, based on the target image and the motor output clamping force, the clamping force of the target clamping device can be calibrated. Thus, the clamping force of the target clamping device can be calibrated efficiently and accurately, effectively avoiding errors during the operation of the target clamping device due to the non-conforming clamping force of the target clamping device, and improving the operation accuracy of the user when using the target clamping device.

[0143] This specification also provides a method for calibrating the control force of an operating instrument, which is applied to the operating robot side; wherein, at least a first robotic arm is provided on the operating robot side, and a target operating instrument is mounted on the first robotic arm. When the method is specifically implemented, it may include the following content:

[0144] S1: When it is determined that the current satisfies the triggering condition for calibrating the control force of the target operating instrument, according to the preset acquisition rule, acquire the target image when the target working instrument acts on the target object;

[0145] S2: Determine the motor output control force based on the target motor corresponding to the target image; wherein, the target motor is associated with the target operating instrument;

[0146] S3: Calibrate the control force of the target operating instrument according to the target image and the motor output control force.

[0147] Among them, the above-mentioned target operating instrument can be a clamping instrument, a shearing instrument, or a cutting instrument. Correspondingly, for different types of target operating instruments, the calibrated control force can also be different types of control forces.

[0148] Specifically, for example, when the target operating instrument is a clamping instrument, the calibrated control force can be the clamping force of the target operating instrument; when the target operating instrument is a shearing instrument, the calibrated control force can be the shearing force of the target operating instrument; when the target operating instrument is a cutting instrument, the calibrated control force can be the cutting force of the target operating instrument, and so on.

[0149] Based on the above method for calibrating the control force of the operating instrument, it can be applied to different types of operating instruments in a variety of application scenarios, efficiently and accurately calibrate the control force of the target operating instrument, effectively avoid errors that occur when using the target operating instrument due to the control force of the target operating instrument not meeting the requirements, and improve the operation accuracy when the user uses the target operating instrument.

[0150] The embodiment of this specification provides an operating robot side, refer to Figure 15 As shown, it can at least include: a camera, a processor, and a first robotic arm; the first robotic arm is at least mounted with a target clamping instrument;

[0151] When the processor determines that the current satisfies the triggering condition for calibrating the clamping force of the target clamping instrument, according to the preset acquisition rule, it controls the camera to acquire the target image when the target clamping instrument clamps the target object;

[0152] The processor determines the motor output clamping force based on the target motor corresponding to the target image; wherein the target motor is associated with a target clamping device; and calibrates the clamping force of the target clamping device according to the target image and the motor output clamping force.

[0153] Wherein, the processor can be implemented in any suitable manner. For example, the processor can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuit (ASIC), programmable logic controller, and embedded microcontroller, etc. This specification does not make a limitation.

[0154] In some embodiments, referring to Figure 15 as shown, the operating robot end may further include a memory. Wherein, the memory is used to store the instruction program executed by the processor.

[0155] Wherein, the memory can include multiple levels. In a digital system, as long as it can store binary data, it can be a memory; in an integrated circuit, a circuit without a physical form but with a storage function is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0156] In some embodiments, referring to Figure 15 as shown, the operating robot end may further include a network communication port, and the network communication port is used to receive an operation instruction for the target clamping device initiated by a target user;

[0157] Correspondingly, the processor is further configured to respond to the operation instruction and control the first robotic arm to use the target clamping device to complete a specific operation according to the calibrated clamping force.

[0158] Wherein, the network communication port can be bound to different communication protocols, so as to send or receive different data virtual ports. For example, the network communication port can be a port responsible for web data communication, can also be a port responsible for FTP data communication, and can also be a port responsible for mail data communication. In addition, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it can also be a Wifi chip; it can also be a Bluetooth chip.

[0159] An embodiment of this specification also provides a computer device, including a processor and a memory for storing instructions executable by the processor. When specifically implemented, the processor may execute the following steps according to the instructions: When it is determined that the current clamping force calibration trigger condition of the target clamping instrument is met, according to a preset acquisition rule, acquire a target image when the target clamping instrument clamps a target object; determine the motor output clamping force based on the target motor corresponding to the target image; where the target motor is associated with the target clamping instrument; calibrate the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

[0160] An embodiment of this specification also provides a computer-readable storage medium based on the above method for calibrating the clamping force of an operating instrument. The computer-readable storage medium stores computer program instructions, which when executed implement: When it is determined that the current clamping force calibration trigger condition of the target clamping instrument is met, according to a preset acquisition rule, acquire a target image when the target clamping instrument clamps a target object; determine the motor output clamping force based on the target motor corresponding to the target image; where the target motor is associated with the target clamping instrument; calibrate the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

[0161] In this embodiment, the above storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk drive (HDD), or a memory card. The memory may be used to store computer program instructions. The network communication unit may be set according to the standards specified by the communication protocol and is used as an interface for network connection communication.

[0162] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer-readable storage medium may be explained by comparison with other embodiments and will not be elaborated here.

[0163] Refer to Figure 16 As shown, at the software level, an embodiment of this specification also provides a device for calibrating the clamping force of an operating instrument. The device may specifically include the following structural modules:

[0164] An acquisition module 1601, specifically configured to, when it is determined that the current clamping force calibration trigger condition of the target clamping instrument is met, acquire a target image when the target clamping instrument clamps a target object according to a preset acquisition rule;

[0165] A determination module 1602, which can be specifically used to determine the motor output clamping force based on a target motor corresponding to the target image; wherein, the target motor is associated with a target clamping device.

[0166] A calibration module 1603, which can be specifically used to calibrate the clamping force of the target clamping device according to the target image and the motor output clamping force.

[0167] In some embodiments, the device may further include a detection module. Specifically, when implemented, the detection module can be used to: collect an image of the current target clamping device clamping a target object as the current detection image; detect whether the current detection image matches the current nominal clamping force; determine that the current clamping force calibration trigger condition of the target clamping device is satisfied when it is determined that the current detection image does not match the current nominal clamping force; and / or, detect whether a calibration instruction initiated by a target user is received; determine that the current clamping force calibration trigger condition of the target clamping device is satisfied when it is determined that the calibration instruction initiated by the target user is received.

[0168] In some embodiments, the acquisition module 1601 may specifically include a moving unit and an acquisition unit; wherein,

[0169] When implemented, the moving unit can be used to collect a target image of the target clamping device clamping a target object according to a preset acquisition rule: according to the preset acquisition rule, control the target clamping device to clamp the target object and move it to a specified field of view.

[0170] When implemented, the acquisition unit can be used to control the nominal clamping force of the target clamping device clamping the target object to change from an initial clamping force to a target standard clamping force; and collect a plurality of clamping images during the change process of the nominal clamping force as the target image.

[0171] In some embodiments, when implemented, the device may further include: a motor parameter acquisition module;

[0172] Wherein, the above-mentioned motor parameter acquisition module can be specifically used to acquire a plurality of motor parameter groups of the target motor corresponding to the plurality of clamping images respectively; wherein, the motor parameter group at least includes: motor feedback motion parameters and motor feedback current parameters.

[0173] In some embodiments, the determination module 1602 may specifically include an acquisition unit, a calculation unit, and a determination unit. Specifically, when implemented, the determination module 1602 can, through the above-mentioned acquisition unit, calculation unit, and determination unit, determine the current motor output clamping force based on the target motor corresponding to the current clamping image in the target image according to the current motor parameter group among the plurality of motor parameters. Specifically,

[0174] The acquisition unit can be used to acquire a target dynamic model that matches the target clamping instrument;

[0175] The calculation unit can be used to calculate the current joint feedback torque of the target clamping instrument according to the motor feedback motion parameters and the target dynamic model in the current motor parameter group; calculate the current joint driving torque of the target clamping instrument according to the motor feedback current parameters in the current motor parameter group;

[0176] The determination unit can be used to determine the current motor output clamping force based on the target motor corresponding to the current clamping image according to the current joint driving torque and the current joint feedback torque.

[0177] In some embodiments, the operation robot end may specifically be further provided with a second robotic arm, and an endoscope is mounted on the second robotic arm; correspondingly, the target image may include a plurality of endoscope images collected by the endoscope for the nominal clamping force change process.

[0178] In some embodiments, the calibration module 1603 may specifically include: a processing unit and an updating unit. During specific implementation, the calibration module 1603 may calibrate the clamping force of the target clamping instrument according to the target image and the motor output clamping force through the above-mentioned processing unit and updating unit. Specifically,

[0179] The processing unit can be used to determine the vision-based clamping force based on the image by processing the target image according to the preset image processing rules;

[0180] The updating unit can be used to update the clamping force parameters for the target clamping instrument according to the vision-based clamping force and the corresponding motor output clamping force.

[0181] In some embodiments, when the processing unit is specifically implemented, it can determine the vision-based clamping force based on the image by processing the target image according to the preset image processing rules in the following manner: In the following manner, according to the preset image processing rules, by processing the current clamping image in the target image, determine the current vision-based clamping force based on the current clamping image: By performing image recognition on the current clamping image, determine the object type of the target object and the deformation data of the clamped part of the target object; According to the object type of the target object, determine the target deformation template model corresponding to the target object; According to the target deformation template model and the deformation data of the clamped part of the target object, determine the current vision-based clamping force based on the current clamping image.

[0182] In some embodiments, when the processing unit is specifically implemented, it can also be used to detect the instrument end features of the target clamping instrument in the current clamping image, and determine the key image area in the current clamping image; by performing image recognition on the key image area, determine the object type of the target object and the deformation data of the clamped part of the target object.

[0183] In some embodiments, when the processing unit is specifically implemented, it can determine the object type of the target object by performing image recognition on the key image area in the following manner: divide the key image area into multiple cell unit images; respectively construct histograms of oriented gradients for the multiple cell unit images to obtain histograms of oriented gradients of the multiple cell unit images; obtain the key oriented gradient histogram according to the histograms of oriented gradients of the multiple cell unit images; and determine the object type of the target object through feature matching according to the key oriented gradient histogram and a preset object database.

[0184] In some embodiments, when the updating unit is specifically implemented, it can update the clamping force parameters for the target clamping instrument according to the visual clamping force and the corresponding motor output clamping force in the following manner: construct an error evaluation function according to the visual clamping force and the corresponding motor output clamping force; determine the mapping relationship between the visual clamping force and the motor output clamping force by solving the error evaluation function; and update the clamping force parameters for the target clamping instrument according to the mapping relationship.

[0185] In some embodiments, the target standard clamping force may specifically include: a preset reference target clamping force, a target clamping force set by the user, etc.

[0186] In some embodiments, when the device is specifically implemented, it can also be used to: receive a clamping force adjustment instruction initiated by a target user; respond to the clamping force adjustment instruction, adjust the clamping force for the target operating instrument according to a preset adjustment rule; and display the adjusted nominal clamping force to the target user.

[0187] Among them, when the device is specifically implemented, it can also be used to: receive a clamping force confirmation instruction initiated by a target user; respond to the clamping force confirmation instruction, and determine the current nominal clamping force as the target clamping force set by the user.

[0188] It should be noted that the units, devices, modules, etc. illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, when describing the above devices, they are divided into various modules according to functions for separate description. Of course, when implementing this specification, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules implementing the same function can be realized by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0189] As can be seen from the above, based on the calibration device for the clamping force of the operating instrument provided in the embodiments of this specification, it can calibrate the clamping force of the target clamping instrument efficiently and accurately, effectively avoiding errors that occur when using the target clamping instrument due to the clamping force of the target clamping instrument not meeting the requirements, and improving the operation accuracy of the user when using the target clamping instrument.

[0190] Although this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing, or even in a distributed data processing environment). The term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, product or device. Without further limitations, it does not exclude the existence of additional identical or equivalent elements in the process, method, product or device including the said elements. The words such as "first", "second" are used to represent names and do not represent any specific order.

[0191] Those skilled in the art also know that, in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps so that the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same functions. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0192] Although this specification has been depicted through examples, those of ordinary skill in the art know that this specification has many variations and changes without departing from the spirit of this specification. It is hoped that the appended claims will include these variations and changes without departing from the spirit of this specification.

Claims

1. A calibration device for the clamping force of an operating instrument, characterized in that, it is applied to the operating robot end; wherein, at least a first robotic arm is provided at the operating robot end, and at least a target clamping instrument is mounted on the first robotic arm, including: An acquisition module, configured to, when it is determined that the current meets the clamping force calibration trigger condition of the target clamping instrument, acquire a target image of the target clamping instrument clamping a target object according to a preset acquisition rule; A determination module, configured to determine the motor output clamping force based on the target motor corresponding to the target image; wherein, the target motor is associated with the target clamping instrument; A calibration module, configured to calibrate the clamping force of the target clamping instrument according to the target image and the motor output clamping force.

2. The calibration device for the clamping force of an operating instrument according to claim 1, characterized in that, the device further includes a detection module; wherein, the detection module is configured to acquire an image of the current target clamping instrument clamping a target object as the current detection image; detect whether the current detection image matches the current nominal clamping force; when it is determined that the current detection image does not match the current nominal clamping force, determine that the current meets the clamping force calibration trigger condition of the target clamping instrument; and / or, detect whether a calibration instruction initiated by a target user is received; when it is determined that the calibration instruction initiated by the target user is received, determine that the current meets the clamping force calibration trigger condition of the target clamping instrument.

3. The calibration device for the clamping force of an operating instrument according to claim 1, characterized in that, the acquisition module includes: A moving unit, configured to, according to a preset acquisition rule, control the target clamping instrument to clamp the target object and move it to a specified field of view; An acquisition unit, configured to control the nominal clamping force of the target clamping instrument clamping the target object to change from an initial clamping force to a target standard clamping force; and acquire a plurality of clamping images during the change process of the nominal clamping force as the target image.

4. The calibration device for the clamping force of an operating instrument according to claim 3, characterized in that, the device further includes a motor parameter acquisition module; wherein, the motor parameter acquisition module is configured to acquire a plurality of motor parameter groups of the target motor respectively corresponding to the plurality of clamping images; wherein, the motor parameter group at least includes: a motor feedback motion parameter and a motor feedback current parameter.

5. The calibration device for the clamping force of an operating instrument according to claim 4, characterized in that, the determination module includes: An acquisition unit, configured to acquire a target dynamic model matching the target clamping instrument; A calculation unit, configured to calculate the current joint feedback torque of the target clamping instrument according to the motor feedback motion parameter in the current motor parameter group and the target dynamic model; calculate the current joint driving torque of the target clamping instrument according to the motor feedback current parameter in the current motor parameter group; A determination unit, configured to determine the current motor output clamping force based on the target motor corresponding to the current clamping image according to the current joint driving torque and the current joint feedback torque.

6. The calibration device for the clamping force of an operating instrument according to claim 3, characterized in that, The calibration module includes: A processing unit, configured to determine a vision clamping force based on an image by processing the target image according to a preset image processing rule; An updating unit, configured to update the clamping force parameter for the target clamping device according to the vision clamping force and the corresponding motor output clamping force.

7. The calibration device for the clamping force of the operating device according to claim 6, wherein, The processing unit is specifically configured to determine the current vision clamping force based on the current clamping image by processing the current clamping image in the target image according to the following manner: By performing image recognition on the current clamping image, determining the object type of the target object and the deformation data of the clamped part of the target object; Determining a target deformation template model corresponding to the target object according to the object type of the target object; Determining the current vision clamping force based on the current clamping image according to the target deformation template model and the deformation data of the clamped part of the target object.

8. The calibration device for the clamping force of the operating device according to claim 6, wherein, The updating unit is specifically configured to construct an error evaluation function according to the vision clamping force and the corresponding motor output clamping force; By solving the error evaluation function, determining the mapping relationship between the vision clamping force and the motor output clamping force; And updating the clamping force parameter for the target clamping device according to the mapping relationship.

9. A calibration method for the clamping force of an operating device, wherein, Applied to the operating robot side; wherein, at least a first robotic arm is provided on the operating robot side, and at least a target clamping device is mounted on the first robotic arm. The method includes: When it is determined that the current satisfies the clamping force calibration trigger condition of the target clamping device, collecting a target image when the target clamping device clamps a target object according to a preset collection rule; Determining the motor output clamping force based on the target motor corresponding to the target image; wherein, the target motor is associated with the target clamping device; Calibrating the clamping force of the target clamping device according to the target image and the motor output clamping force.

10. An operating robot side, wherein, At least includes: a camera, a processor and a first robotic arm; at least a target clamping device is mounted on the first robotic arm; When the processor determines that the current satisfies the clamping force calibration trigger condition of the target clamping device, controlling the camera to collect a target image when the target clamping device clamps a target object according to a preset collection rule; The processor determines the motor output clamping force based on the target motor corresponding to the target image; wherein, the target motor is associated with the target clamping device; and calibrates the clamping force of the target clamping device according to the target image and the motor output clamping force.

Images