Surgical instrument control method and device, medium, equipment and medical system

Abstract

The invention relates to a surgical instrument control method and device, a medium, equipment and a medical system. The control method of the surgical instrument comprises the following steps: driving an end effector of the surgical instrument to perform closing motion from an initial position; the clamping force of the end effector is monitored in real time, and when the clamping force monitored in real time is larger than or equal to a first preset clamping force, a first driving parameter, related to the tensioning degree of the cable, of the driver is recorded; and determining a clamping force control parameter of the end effector according to the first driving parameter. According to the control method of the surgical instrument, the first driving parameter related to the tension degree of the cable is obtained by detecting the clamping force when the end effector is closed, and the clamping force control parameter of the end effector is adjusted based on the first driving parameter so as to make up for transmission loss caused by the tension degree of the cable, so that the control accuracy of the surgical instrument is improved. And the control precision of the end effector is improved.

Description

Technical Field

[0001] The present application relates to the field of surgical instruments, and in particular, to a control method, device, medium, equipment and medical system for a surgical instrument. Background Art

[0002] During a surgical procedure, medical staff need to use surgical instruments to clamp objects such as needles, threads, and clips. Therefore, the clamping movement of the end effector of the surgical instrument is very important for the surgery. Some known surgical instruments use a cable drive method, that is, a steel wire rope is connected to the end effector and driven by a drive motor. Under the drive of the drive motor, the steel wire rope can drive the end effector to perform a clamping action. However, the steel wire rope will become loose after being sterilized at high temperature multiple times. After the steel wire rope becomes loose, the accuracy of the cable drive decreases, and the clamping movement of the end effector is affected, resulting in the surgical instrument being unable to apply the desired clamping force.

[0003] Taking a rotary drive motor as an example, in an ideal state, when the drive motor rotates a certain angle, the surgical instrument can generate the desired clamping force. However, after the steel wire rope becomes loose, when the drive motor rotates the same angle, the clamping force of the end effector cannot reach the desired value. Summary of the Invention

[0004] The present application provides a control method, device, storage medium, electronic device and medical system for a surgical instrument to make up for the transmission loss caused by the cable tension and improve the control accuracy of the end effector.

[0005] A control method for a surgical instrument provided by the present application, the surgical instrument includes an end effector capable of performing an opening and closing movement, and a cable for driving the opening and closing of the end effector, the cable is driven by a driver to realize the opening and closing of the end effector, and the control method of the surgical instrument includes:

[0006] Driving the end effector of the surgical instrument to perform a closing movement from an initial position;

[0007] Real-time monitoring the clamping force of the end effector, when the real-time monitored clamping force is greater than or equal to a first preset clamping force, recording a first driving parameter of the driver related to the tension degree of the cable; and

[0008] Determining a clamping force control parameter of the end effector according to the first driving parameter.

[0009] Further, as the tension degree of the cable decreases, the first driving parameter required to drive the end effector to move to a clamping force equal to the first preset clamping force increases.

[0010] Further, the driver is a driving motor, the cable is wound around the driving motor, the driving motor rotates to drive the cable, and the first driving parameter is the rotation angle of the driving motor.

[0011] Further, when the clamping force monitored in real time is greater than or equal to a first preset clamping force, record the first driving parameter related to the tension degree of the cable of the driver, including:

[0012] Obtain in real time the second driving parameter of the driver that drives the end effector to close, and determine whether the clamping force is greater than or equal to the first preset clamping force according to the second driving parameter,

[0013] wherein, when the second driving parameter is greater than or equal to the first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

[0014] Further, the driver is a driving motor or the driving motor, and the second driving parameter is the driving current or rotation speed of the driving motor.

[0015] Further, the first preset clamping force corresponds to a first initial control parameter;

[0016] Determine the clamping force control parameter of the end effector according to the first driving parameter, including: updating the first initial control parameter to the first driving parameter.

[0017] Further, the surgical instrument is further configured to apply a second preset clamping force, the second preset clamping force is greater than the first preset clamping force, the second preset clamping force corresponds to a second initial control parameter, and update the second initial control parameter to the value obtained by adding the second initial control parameter and the first driving parameter and then subtracting the first initial control parameter.

[0018] Further, before determining the control parameter of the surgical instrument according to the first driving parameter, it further includes:

[0019] Judge whether the surgical instrument is damaged according to whether the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to a second preset value,

[0020] wherein, when the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to the second preset value, it is determined that the surgical instrument is damaged.

[0021] Further, when the clamping force monitored in real time is greater than or equal to a first preset clamping force, record the first driving parameter related to the tension degree of the cable of the driver, including:

[0022] When the second driving parameter is greater than or equal to the first preset value, stop the closing of the end effector, and record the rotation angle of the driving motor when the end effector stops closing.

[0023] Further, before driving the end effector of the surgical instrument to perform a closing movement from the initial position, it further includes:

[0024] Measure a first reference parameter representing the opening and closing friction force of the end effector;

[0025] Obtain a second reference parameter for the end effector to reach the first preset clamping force without considering the opening and closing friction force;

[0026] Set the sum of the first reference parameter and the second reference parameter as the first preset value.

[0027] Further, before driving the end effector of the surgical instrument to perform a closing movement from the initial position, it further includes:

[0028] Measure a first driving current of the driving motor representing the opening and closing friction force of the end effector;

[0029] Obtain a second driving current of the driving motor for the end effector to reach the first preset clamping force without considering the opening and closing friction force;

[0030] Set the sum of the first driving current and the second driving current as the first preset value. Or

[0031] Measure a first rotational speed of the driving motor representing the opening and closing friction force of the end effector;

[0032] Obtain a second rotational speed of the driving motor for the end effector to reach the first preset clamping force without considering the opening and closing friction force;

[0033] Set the sum of the first rotational speed and the second rotational speed as the first preset value.

[0034] Further, measuring the opening and closing friction force of the end effector includes:

[0035] Drive the end effector back to the zero position;

[0036] Drive the end effector to open from the zero position to a first angle;

[0037] Drive the end effector to close from the first angle to the zero position;

[0038] Determine the first drive current or the first rotational speed according to the drive current or rotational speed of the drive motor during the process that the end effector opens from the zero position to the first angle and then closes back to the zero position.

[0039] Further, the first drive current or the first rotational speed is the average current or average rotational speed of the drive motor during the process that the end effector opens from the zero position to the first angle and then closes back to the zero position.

[0040] Further, when after a preset time, the drive parameter is less than the first preset value, it is determined that the surgical instrument is damaged.

[0041] A control method for a surgical instrument provided in this application, the surgical instrument includes an end effector capable of performing an opening and closing movement, a cable for driving the opening and closing of the end effector, the cable is driven by a driver to realize the opening and closing of the end effector, and the control method for the surgical instrument includes:

[0042] Drive the end effector of the surgical instrument to perform a closing movement from the initial position;

[0043] Obtain in real time the first drive parameter of the driver that drives the end effector to close. When the obtained drive parameter is greater than or equal to the first preset value, record the second drive parameter of the driver; and

[0044] Determine the control parameter of the surgical instrument according to the second drive parameter.

[0045] Further, the first drive parameter is related to the clamping force of the end effector, and the second drive parameter and the tension degree of the cable jointly determine the clamping force.

[0046] Further, the driver is a drive motor, and the first drive parameter is the drive current or rotational speed of the drive motor.

[0047] Further, the second drive parameter is the rotation angle of the drive motor.

[0048] A control device for a surgical instrument provided in this application, the surgical instrument includes an end effector capable of performing an opening and closing movement, a cable for driving the opening and closing of the end effector, the cable is driven by a driver to realize the opening and closing of the end effector, and the control device for the surgical instrument includes:

[0049] A driving module, which drives the end effector of the surgical instrument to perform a closing movement from the initial position;

[0050] The monitoring and recording module monitors the clamping force of the end effector in real time. When the monitored clamping force is greater than or equal to the first preset clamping force, it records the first driving parameter of the driver related to the tension degree of the cable; and

[0051] The parameter determination module determines the clamping force control parameter of the end effector according to the first driving parameter.

[0052] A computer-readable storage medium provided by the present application, the storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the surgical instrument according to any one of the foregoing embodiments.

[0053] An electronic device provided by the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method of the surgical instrument according to any one of the foregoing embodiments.

[0054] A medical system provided by the present application includes a surgical instrument and the electronic device according to the foregoing embodiment. The electronic device is used to control the surgical instrument.

[0055] According to the control method of the surgical instrument of the present application, by detecting the clamping force when the end effector is closed, a first driving parameter related to the cable tension degree is obtained. Based on this first driving parameter, the clamping force control parameter of the end effector is adjusted to make up for the transmission loss caused by the cable tension degree and improve the control accuracy of the end effector. Description of the Drawings

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0057] Figure 1 It is a schematic diagram of a medical system provided by an embodiment of the present application;

[0058] Figure 2 It is a simplified schematic diagram of a surgical instrument provided by an embodiment of the present application;

[0059] Figure 3 It is a flowchart of a control method of a surgical instrument provided by an embodiment of the present application;

[0060] Figure 4 It is a flowchart of a control method of a surgical instrument provided by an embodiment of the present application;

[0061] Figure 5 Flowchart of the control method of the surgical instrument provided in another embodiment of the present application;

[0062] Figure 6 Block diagram of the control device of the surgical instrument provided in an embodiment of the present application;

[0063] Figure 7 Flowchart of the control method of the surgical instrument provided in another embodiment of the present application;

[0064] Figure 8 Schematic structural diagram of the electronic device provided in an embodiment of the present application. Detailed implementation manners

[0065] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The manners described in the following exemplary embodiments do not represent all manners consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0066] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the specification and claims of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a" or "an" do not indicate a quantity limitation, but mean that there is at least one, and will be separately stated if only referring to "one". "Multiple" or "several" means two or more. Unless otherwise specified, the similar terms such as "front part", "rear part", "lower part" and / or "upper part" are only for convenience of description and are not limited to one position or a spatial orientation. The terms such as "including" or "comprising" mean that the elements or objects appearing before "including" or "comprising" cover the elements or objects listed after "including" or "comprising" and their equivalents, and do not exclude other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms of "a", "the" and "said" used in the specification and appended claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0067] Such asFigure 1 As shown in Figure 1 , the medical system 100 of the present application is a robot that can perform surgeries remotely, and it includes three components: a doctor's console 110, a patient-side robotic arm system 120, and an imaging system 130.

[0068] On the doctor's console 110, there is a display unit for showing the surgical instrument environment and a doctor operation control mechanism. An observation window is opened on the display unit for the doctor to observe. The actions of the operation control mechanism correspond to the actions of the surgical instruments. In addition, the doctor's console 110 also has other control switches that are convenient for the hands or feet to touch or press, used for various function operations to complete human-machine interaction. The patient-side robotic arm system 120 includes several robotic arms. Each robotic arm has several connecting arms. Two adjacent connecting arms can move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. An instrument driver is installed at the end of the robotic arm. The surgical instrument is detachably installed on the instrument driver. The imaging system 130 has a display screen, an endoscope controller, system electronic devices, an image processor, etc.

[0069] Reference Figure 2 , the surgical instrument of the present application includes an end effector 1 that can perform opening and closing movements and a cable 2 for driving the movement of the end effector 1. The surgical instrument is driven by a driver 3 provided on the robotic arm of the patient-side robotic arm system 120. The driver 3 can also be called an instrument driver.

[0070] Specifically, the surgical instrument further includes an instrument disc 4 for engaging with the driver 3. Optionally, a sterile adapter (not shown) is also provided between the instrument disc 4 and the driver 3. One end of the cable 2 is wound around the instrument disc 4, and the other end is connected to the end effector 1 to drive the opening and closing movement of the end effector 1. Optionally, a pulley 5 is also provided between the cable 2 and the end effector 1, and the other end of the cable 2 is wound around the pulley 5, and the end effector 1 is fixedly installed on the pulley 5. The driver 3 rotates the instrument disc 4 to take in and release the cable 2 wound around the instrument disc 4 and the pulley 5, thereby driving the rotation of the pulley 5, and further driving the end effector 1 to perform opening and closing movements.

[0071] During the surgery, the end effector 1 of the surgical instrument passes through tissues such as the chest and abdominal wall to replace the doctor's hand for the surgery. One clamp of the end effector 1 is movable, and the other clamp can be a non-movable clamp or a movable clamp.

[0072] The surgical instrument needs to be frequently disinfected and sterilized, and multiple high-temperature disinfections will make the cable 2 more likely to become loose, resulting in a decrease in the control accuracy of the end effector 1. As Figure 2As shown in the figure, taking the rotary drive motor as the driver 3 as an example, it is assumed that when the surgical instrument just leaves the factory, the driver 3 rotates 15°, and the end effector 1 changes from the open state to the closed state and applies a clamping force of 10 N. After the cable 2 becomes slack, the driver 3 also rotates 15° from the open state to the closed state, but can only apply a clamping force of 9 N. In order to avoid the reduction of the clamping force caused by the slack of the cable, in the production of some known surgical instruments, the production personnel tighten the cable 2. Subsequently, even if the cable 2 becomes slack, the end effector 1 can still maintain a certain clamping force, but this will result in a reduction in the control accuracy of the clamping force during the surgical process.

[0073] The present application provides a control method for a surgical instrument. In this control method, the control parameters are adjusted according to the tension degree of the cable 2, and in the case of cable slack, it is ensured that the end effector 1 can still apply the desired clamping force.

[0074] As Figure 3 shown, the control method for a surgical instrument according to an embodiment of the present application includes:

[0075] Step S100: Drive the end effector 1 of the surgical instrument to perform a closing movement from the initial position.

[0076] In some embodiments, for the convenience of operation, the initial position is the zero position of the surgical instrument. Of course, the initial position can be any position other than the zero position of the surgical instrument. The closing movement of the end effector 1 can be performed at a constant speed, that is, the driver 3 drives the end effector 1 to close from the zero position at a constant speed. Since the motion damping changes at a non-constant speed, closing at a constant speed can eliminate the influence of acceleration and improve the control accuracy of the surgical instrument control method and the detection accuracy described below.

[0077] Step S101: Real-time monitor the clamping force of the end effector 1. When the real-time monitored clamping force is greater than or equal to the first preset clamping force, record the first driving parameter of the driver 3 related to the tension degree of the cable 2.

[0078] When the tension degree of the cable 2 is different, the first driving parameter when the driver 3 drives the end effector 1 to move to a clamping force greater than or equal to the first preset clamping force is also different. Thus, the first driving parameter can be used to characterize the tension degree of the cable 2. In one embodiment, as the tension degree of the cable 2 decreases, the first driving parameter required for the driver 3 to drive the end effector 1 to move to a clamping force equal to the first preset clamping force increases. By detecting the first driving parameter, the clamping force of the end effector 1 can be adjusted based on the detected first driving parameter.

[0079] In one embodiment, the driver 3 is a rotary drive motor. The drive motor rotationally drives the winding and unwinding of the cable 2. The first drive parameter is the rotation angle of the drive motor. As described above, it is assumed that when the surgical instrument is just out of the factory, the driver 3 rotates 15°, the end effector 1 changes from the open state to the closed state and applies a clamping force of 10 N. After the cable 2 becomes slack, the driver 3 also rotates 15° from the open state to the closed state, but can only apply a clamping force of 9 N. In order to obtain the same clamping force of 10 N, the driver 3 needs to rotate 20°.

[0080] On the other hand, when the driver 3 drives the end effector 1 to perform a clamping action, the magnitude of the clamping force can be directly detected by adding a force sensor to the end of the end effector 1. Alternatively, the magnitude of the clamping force can also be monitored indirectly. For example, by monitoring operating parameters such as the drive current and rotational speed of the driver 3, it is monitored whether the end effector 1 obtains the desired clamping force.

[0081] Optionally, determining whether the real-time monitored clamping force is greater than or equal to a first preset clamping force includes:

[0082] Obtaining in real time a second drive parameter of the driver 3 that drives the end effector 1 to close; and

[0083] Determining whether the clamping force is greater than or equal to a first preset value according to the second drive parameter. When the second drive parameter is greater than or equal to the first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

[0084] In other words, by associating the clamping force with the second drive parameter of the driver 3 and detecting the second drive parameter of the driver 3, the clamping force is measured indirectly, without adding additional detection structures and steps to the end effector 1, and the degree of automation and convenience are effectively improved.

[0085] In the embodiment where the driver 3 is a drive motor, the second drive parameter can be the drive current or rotational speed of the drive motor. The increase in the drive current of the drive motor causes an increase in the torque provided by the drive motor and an increase in the clamping force applied by the end effector 1. That is, as the second drive parameter increases, the clamping force applied by the end effector increases. And under the same input voltage, the rotational speed and current are positively correlated, that is, the higher the rotational speed, the greater the current. The drive current and rotational speed, as the drive parameters of the drive motor, are easy to detect and have high detection accuracy, which can effectively improve the detection accuracy of the clamping force.

[0086] In one embodiment, after a preset time, if the second driving parameter is still less than the first preset value, it is determined that the surgical instrument is damaged. Hereinafter, an embodiment in which the second driving parameter is the driving current of the driving motor will be described. If the cable 2 is broken, or in a very loose state, or other adverse conditions occur, the driving motor cannot drive the end effector 1 to close. In this case, the torque of the driving motor will remain in a low-torque working state after a short increase, and then the driving current will not increase. Therefore, it is possible to determine whether the surgical instrument is damaged by judging the magnitude of the second driving parameter within a certain period of time, so as to prevent the driving motor from rotating for a long time while the control method does not take effect. In the case where it is determined that the surgical instrument is damaged, the medical staff can be reminded to repair the surgical instrument by means such as an alarm sound, a pop-up display, or a lighting display.

[0087] Please refer to Figure 4 , in a specific embodiment, the second driving parameter is the driving current i, and the first preset value is i th , and the first driving parameter is the motor rotation angle θ f . The first preset value i th is the driving current when the end effector 1 applies the first preset clamping force when the surgical instrument leaves the factory, and the driving current i th of the driving motor corresponds to the rotation angle of the driving motor as the first initial angle θ m0 . When the driving current i reaches the first preset value i th , it means that the clamping force of the end effector 1 reaches the first preset clamping force. At this time, the first driving parameter θ th is recorded. Subsequently, steps such as judging the state of the surgical instrument or updating parameters can be performed based on the first driving parameter θ th .

[0088] Specifically, when the second driving parameter i is greater than or equal to the first preset value i th , the closing of the end effector 1 is stopped. At this time, the driving motor stops rotating. Subsequently, the rotation angle of the driving motor when the end effector 1 stops closing is recorded, that is, the rotation angle passed from the initial position to the stop of rotation, as the first driving parameter θ th . It is easy to understand that when the second driving parameter i is equal to the first preset value i th , at this time, the end effector 1 can apply the first preset clamping force. If the driving motor continues to rotate, then the end effector 1 will apply a clamping force greater than the first preset clamping force. By stopping the closing of the end effector 1, the surgical instrument can record the first driving parameter θ th when the end effector 1 just applies the first preset clamping force. By setting like this, it is possible to improve the subsequent first initial control parameter θ m , the second initial control parameter θf The calibration accuracy is improved, thereby enhancing the control precision of the clamping force applied to the end effector 1 and improving the operation precision of the surgical instrument.

[0089] In other embodiments, the second driving parameter may also be the rotational speed of the driving motor, and the present application does not limit this.

[0090] Step S102: Determine the clamping force control parameter of the end effector 1 according to the first driving parameter.

[0091] Since the first driving parameter can characterize the tension degree of the cable 2, by detecting the clamping force when the end effector is closed, the first driving parameter related to the cable tension degree is obtained, and based on this first driving parameter, the clamping force control parameter of the end effector 1 is adjusted to compensate for the transmission loss caused by the cable tension degree, thereby helping the end effector 1 apply the desired clamping force and improving the control precision and clamping force of the end effector 1.

[0092] Determining the clamping force control parameter of the end effector 1 according to the first driving parameter includes: updating the first initial control parameter θ m to the first driving parameter θ th . Please refer to Figure 4 again. The first preset clamping force corresponds to a first initial control parameter θ m , that is, when the surgical instrument leaves the factory, after the driving motor rotates the first initial control parameter θ m , the end effector 1 can apply the first preset clamping force. Updating the first initial control parameter θ m to the first driving parameter θ th is: after performing step S101, the obtained first driving parameter θ th is stored in the controller as the first initial control parameter θ m for subsequent clamping force control. However, when the method is executed next time, the first initial control parameter θ m is still used for clamping force calibration.

[0093] As described above, due to the change in the tension degree of the cable 2, the driving current actually reaches the first preset value i th when the driving motor rotates the first driving parameter θ th , and the end effector 1 can apply the first preset clamping force. Therefore, when updating the first initial control parameter θ m to the first driving parameter θ th and controlling the end effector 1 to apply the first preset clamping force, the driving motor rotates the updated first initial control parameter θ m, thereby compensating for the error after the cable 2 becomes slack. In this way, during the use of the surgical instrument, the situation of the clamping force of the end effector 1 decreasing or even the clamping failure caused by the decrease in the tension of the cable 2 can be avoided.

[0094] In one embodiment, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter θ f , that is, when the surgical instrument leaves the factory, the drive motor rotates by the second initial control parameter θ f , and the end effector 1 applies the second preset clamping force.

[0095] In one embodiment, the first preset clamping force is slightly greater than zero, such as 1N, 2N, etc., that is, the state where the end effector 1 just closes and only applies a slight clamping force. The second preset clamping force corresponds to the maximum clamping force that the end effector 1 can apply when it is fully closed.

[0096] In this embodiment, the second initial control parameter θ f is further updated to the value obtained by adding the difference between the second initial angle θ f0 and the first drive parameter θ th and subtracting the first initial angle θ m0 . The difference between the first drive parameter θ th and the first initial angle θ m0 is the rotation angle that the drive motor needs to compensate to reach the same second preset clamping force. Adding this difference to the second initial angle θ f0 can obtain the second initial control parameter θ f that the drive motor needs to rotate when the end effector 1 pre-applies the second preset clamping force.

[0097] By setting the second preset clamping force greater than the first preset clamping force and calculating the second initial control parameter θ f , the end effector 1 can apply two different gears of clamping forces, which is convenient for applying different clamping forces according to different situations during the operation.

[0098] In one embodiment, before determining the control parameter of the surgical instrument according to the first drive parameter, it may further include: judging whether the surgical instrument is damaged according to whether the value obtained by subtracting the first initial angle θ th from the first drive parameter θ m0 is greater than or equal to a second preset value Δθ max . When the value obtained by subtracting the first initial angle θ th from the first drive parameter θ m0 is greater than or equal to the second preset value Δθ max , it is judged that the surgical instrument is damaged.

[0099] The first driving parameter θ th and the difference from the first initial angle θ m0 actually represents the compensation angle required for the driving motor to make up for the slack of the cable 2. When the cable 2 is in a normal working state, the compensation angle will not be greater than the second preset value Δθ max . Only when the cable 2 is very slack or even broken, the compensation angle will be greater than the second preset value Δθ max . Therefore, through this step, the state of the cable 2 can be judged. When the state of the cable 2 is abnormal, the medical staff is prompted to replace or repair the surgical instrument.

[0100] During the movement of the end effector 1, there is an influence of friction. When the friction is small, the influence of friction on the motion control of the end effector 1 is small. When the friction is large, the driving motor needs to correspondingly increase the driving parameter to close the end effector 1 to the desired position. In order to more accurately calibrate the first initial control parameter θ m and the second initial control parameter θ f , referring to Figure 5 , in some embodiments, before step S100, the following steps are further included to take into account the friction of the movement of the end effector 1:

[0101] Measure the first reference parameter representing the opening and closing friction force of the end effector 1;

[0102] Obtain the second reference parameter for the end effector 1 to reach the first preset clamping force without considering the opening and closing friction force;

[0103] Set the sum of the first reference parameter and the second reference parameter as the first preset value.

[0104] By measuring the first reference parameter, the control error caused by friction is eliminated during the process of measuring parameters and adjusting parameters, which is beneficial to improving the control accuracy of the end effector 1 and the adjustment accuracy of the clamping force. Since the friction force of the end effector 1 will change with use, the friction force can be detected before each use of the surgical instrument, and then the first initial control parameter θ m , the second initial control parameter θ f is calibrated according to the detection result of the friction force, so as to effectively improve the accuracy of parameter calibration.

[0105] Referring to Figure 5 , in some embodiments, both the second driving parameter and the first preset value are characterized by current, and the first reference parameter and the second reference parameter are also correspondingly characterized by current. Then, the friction detection step includes:

[0106] Measure the first drive current i of the drive motor representing the opening and closing frictional force of the end effector 1 f ;

[0107] Obtain the second drive current i of the drive motor when the end effector 1 reaches the first preset clamping force without considering the opening and closing frictional force f ;

[0108] Set the sum of the first drive current i f and the second drive current i th to the first preset value.

[0109] Subsequently, compare the second drive parameter i with the first preset value. When the second drive parameter i is greater than or equal to the first preset value, record the first drive parameter θ of the drive motor th . As the drive current increases, the torque output by the drive motor correspondingly increases. By measuring the first drive current i f , the surgical instrument can obtain the torque required to overcome the frictional force. Therefore, the measured first drive current i f can be used to represent the opening and closing frictional force of the end effector 1. Compared with the technical solution of directly detecting the frictional force through a force sensor, the detection of the first drive current i f and the second drive current i th has low detection difficulty and high detection accuracy, which is beneficial to improving the calibration accuracy of subsequent steps.

[0110] In some other embodiments, both the second drive parameter and the first preset value are characterized by rotational speed, and the first reference parameter and the second reference parameter are also correspondingly characterized by rotational speed. Then, the friction detection step includes:

[0111] Measure the first rotational speed of the drive motor representing the opening and closing frictional force of the end effector 1;

[0112] Obtain the second rotational speed of the drive motor when the end effector 1 reaches the first preset clamping force without considering the opening and closing frictional force;

[0113] Set the sum of the first rotational speed and the second rotational speed to the first preset value.

[0114] The surgical instrument is usually connected to a stable power supply, and the input voltage of the power supply is constant. Under the same input voltage, the rotational speed and the current are in a proportional relationship, that is, the higher the rotational speed, the greater the current. As described above, the increase in current means the increase in the torque output by the drive motor. Therefore, by detecting the first rotational speed, the surgical instrument can obtain the torque required to overcome the frictional force. Compared with the technical solution of directly detecting the frictional force through a force sensor, the detection of the first rotational speed and the second rotational speed has low detection difficulty and high detection accuracy, which is beneficial to improving the calibration accuracy of subsequent steps.

[0115] Further, the opening and closing friction force detection steps of the end effector 1 include:

[0116] Drive the end effector 1 to open from the zero position to the first angle;

[0117] Drive the end effector 1 to close from the first angle to the zero position; and

[0118] Determine the first drive current according to the drive current of the drive motor during the process that the end effector 1 opens from the zero position to the first angle and then closes to the zero position, or determine the first rotational speed according to the rotational speed of the drive motor.

[0119] The first drive current is the average current of the drive motor during the process that the end effector 1 opens from the zero position to the first angle and then closes to the zero position. Or, the first rotational speed is the average rotational speed of the drive motor during the process that the end effector 1 opens from the zero position to the first angle and then closes to the zero position. In other words, in this embodiment, the current value or rotational speed value of the drive motor is obtained in real time during the opening and closing process of the end effector 1, and multiple current values or multiple rotational speed values are averaged to obtain a relatively accurate detection of the friction force.

[0120] Based on the above embodiments, as Figure 6 shown, the present application further provides a control device for a surgical instrument, including:

[0121] A drive module 300 that drives the end effector 1 of the surgical instrument to perform a closing movement from the initial position;

[0122] A monitoring and recording module 301 that monitors the clamping force of the end effector 1 in real time. When the monitored clamping force is greater than or equal to the first preset clamping force, record the first drive parameter related to the tension degree of the cable 2 of the driver 3; and

[0123] A parameter determination module 302 that determines the clamping force control parameter of the end effector 1 according to the first drive parameter.

[0124] Optionally, the monitoring and recording module 301 is further configured to obtain in real time a second drive parameter of the driver 3 that drives the end effector 1 to close. Determine whether the clamping force is greater than or equal to the first preset clamping force according to the second drive parameter. When the second drive parameter is greater than or equal to the first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

[0125] Optionally, the first preset clamping force corresponds to a first initial control parameter. The parameter determination module 302 is further configured to update the first initial control parameter to the first drive parameter.

[0126] Optionally, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter. The parameter determination module 302 is further configured to update the second initial control parameter to a value obtained by adding the second initial control parameter and the first drive parameter and then subtracting the first initial control parameter.

[0127] Optionally, the monitoring and recording module 301 is further configured to determine whether the surgical instrument is damaged according to whether the value obtained by subtracting the first initial control parameter from the first drive parameter is greater than or equal to a second preset value. When the value obtained by subtracting the first initial control parameter from the first drive parameter is greater than or equal to the second preset value, it is determined that the surgical instrument is damaged.

[0128] Optionally, the monitoring and recording module 301 is further configured to stop the closing of the end effector 1 when the second drive parameter is greater than or equal to the first preset value, and record the rotation angle of the drive motor when the end effector 1 stops closing.

[0129] Optionally, the drive module 300 is further configured to measure a first reference parameter representing the opening and closing friction force of the end effector 1; obtain a second reference parameter for the end effector 1 to reach the first preset clamping force without considering the opening and closing friction force; and set the sum of the first reference parameter and the second reference parameter as the first preset value.

[0130] Optionally, the drive module 300 is further configured to measure the first drive current of the drive motor representing the opening and closing friction force of the end effector 1; obtain the second drive current of the drive motor for the end effector 1 to reach the first preset clamping force without considering the opening and closing friction force; and set the sum of the first drive current and the second drive current as the first preset value. Alternatively, the drive module 300 is further configured to measure the first rotational speed of the drive motor representing the opening and closing friction force of the end effector 1; obtain the second rotational speed of the drive motor for the end effector 1 to reach the first preset clamping force without considering the opening and closing friction force; and set the sum of the first rotational speed and the second rotational speed as the first preset value.

[0131] Optionally, the drive module 300 is further configured to measure the opening and closing friction force of the end effector 1, including driving the end effector 1 back to the zero position; driving the end effector 1 to open from the zero position to a first angle; driving the end effector 1 to close from the first angle to the zero position; and determining the first drive current or the first rotational speed according to the drive current or rotational speed of the drive motor during the process of the end effector 1 opening from the zero position to the first angle and then closing to the zero position.

[0132] As described above, drive parameters such as the rotational speed or drive current of the drive motor can be used to characterize the clamping force of the end effector 1. That is, the drive motor needs to provide a certain torque so that the end effector 1 can provide a certain clamping force. As the torque of the drive current increases, the drive current or rotational speed also increases correspondingly.

[0133] Based on this, as Figure 7 shown, the present application also provides a control method for a surgical instrument, including:

[0134] Step S200: Drive the end effector 1 of the surgical instrument to perform a closing movement from the initial position.

[0135] In some embodiments, the initial position is the zero position of the surgical instrument. The closing movement of the end effector 1 is performed at a constant speed, that is, the driver 3 drives the end effector 1 to close from the zero position at a constant speed. Since the motion damping changes at non-constant speeds, closing at a constant speed can eliminate the influence of acceleration and improve the control accuracy and detection accuracy of the surgical instrument control method.

[0136] Step S201: Real-time obtain the first drive parameter of the driver 3 that drives the end effector 1 to close. When the first drive parameter obtained in real time is greater than or equal to the first preset value, record the second drive parameter of the driver 3.

[0137] When the first drive parameter is equal to the first preset value, it means that the end effector 1 is closed to the desired position. At this time, record the second drive parameter of the driver 3.

[0138] In one embodiment, the driver 3 is a rotary drive motor. The first drive parameter is the drive current of the rotary drive motor. The second drive parameter is the rotation angle of the drive motor. The drive current characterizes the torque output by the drive motor and indirectly characterizes the clamping force applied by the end effector 1. In the case where the cable 2 is slack, in order to enable the end effector 1 to apply the desired clamping force, the drive motor needs to rotate a larger angle to output the desired torque. In other words, when the cable 2 is slack, the second drive parameter will increase. Therefore, the first drive parameter and the second drive parameter can characterize the degree of slack of the cable 2.

[0139] It should be noted that the first drive parameter can also be the rotational speed of the drive motor. Or, the second drive parameter is the torque of the drive motor, etc. The present application does not limit this.

[0140] The first driving parameter is related to the clamping force of the end effector 1, and the second driving parameter and the tension degree of the cable 2 jointly determine the clamping force. That is, when the first driving parameter is small, the clamping force of the end effector 1 is small. When the first driving parameter reaches the first preset value, the end effector 1 applies a calibrated clamping force. When the cable 2 is slack, the second driving parameter increases. As mentioned above, it is assumed that when the surgical instrument just leaves the factory, the driver 3 rotates 15°, and the end effector 1 changes from the open state to the closed state and applies a clamping force of 10 N. After the cable 2 becomes slack, the driver 3 also rotates 15° from the open state to the closed state, but can only apply a clamping force of 9 N. In order to obtain the same clamping force of 10 N, the driver 3 needs to rotate 20°.

[0141] Step S202: Determine the control parameters of the surgical instrument according to the second driving parameter.

[0142] The first driving parameter is related to the clamping force of the end effector 1. In one embodiment, when the first driving parameter is equal to the first preset value, the end effector 1 applies the first preset clamping force. Please refer to again Figure 4 , the first preset clamping force corresponds to a first initial control parameter θ m , that is, when the surgical instrument leaves the factory, the drive motor rotates the first initial control parameter θ m After that, the end effector 1 can apply the first preset clamping force. Update the first initial control parameter θ m to the first driving parameter θ th is: after performing step S201, store the obtained first driving parameter θ th in the controller as the first initial control parameter θ m for the next clamping force control. However, when this method is executed next time, it is still calibrated with the first initial control parameter θ m .

[0143] In this way, after detecting the tension state of the cable 2 and adjusting the driving parameter of the drive motor, the end effector 1 can apply the first preset clamping force as expected by the medical staff, thereby improving the control accuracy of the surgical instrument.

[0144] In one embodiment, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter θ f , that is, when the surgical instrument leaves the factory, the drive motor rotates the second initial control parameter θ f After that, the end effector 1 applies the second preset clamping force.

[0145] In one embodiment, the first preset clamping force is slightly greater than zero, such as 1 N, 2 N, etc., that is, the state where the end effector 1 just closes and only applies a slight clamping force. The second preset clamping force corresponds to the maximum clamping force that can be applied when the end effector 1 is fully closed.

[0146] In this embodiment, the control method also updates the second initial control parameter θ f to the value obtained by adding the second initial angle θ f0 and the second driving parameter and then subtracting the first initial angle θ m0 . The difference between the second driving parameter and the first initial angle θ m0 is the rotation angle that the driving motor needs to compensate to reach the same second preset clamping force. Adding this difference to the second initial angle θ f0 can obtain the second initial control parameter θ f that the driving motor needs to rotate when the end effector 1 pre-applies the second preset clamping force.

[0147] By setting the second preset clamping force greater than the first preset clamping force and calculating the second initial control parameter θ f , the surgical instrument can obtain the rotation angle range required by the driving motor. The surgical instrument only needs to control the driving motor to rotate within this angle range to make the end effector 1 apply the desired clamping force.

[0148] Based on the above various embodiments, Figure 6 the control device of the surgical instrument shown can also be set as:

[0149] A driving module 300 that drives the end effector 1 of the surgical instrument to perform a closing movement from the initial position.

[0150] A monitoring and recording module 301 that obtains the first driving parameter of the driver 3 that drives the end effector 1 to close in real time, and records the second driving parameter of the driver 3 when the first driving parameter obtained in real time is greater than or equal to the first preset value.

[0151] A parameter determination module 302 that determines the control parameter of the surgical instrument according to the second driving parameter.

[0152] Optionally, the first driving parameter is related to the clamping force of the end effector 1, and the second driving parameter and the tension of the cable 2 jointly determine the clamping force.

[0153] Optionally, the driver 3 is a driving motor, and the first driving parameter is the driving current or rotation speed of the driving motor.

[0154] Optionally, the second driving parameter is the rotation angle of the driving motor.

[0155] Based on the control method of the surgical instrument of the present application, an embodiment of the present application further provides Figure 8 the structural schematic diagram of the electronic device shown in. As Figure 8 , at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above-mentioned control method of the surgical instrument of the present application.

[0156] In some embodiments, the surgical instrument includes an RFID (Radio Frequency Identification) tag. The first initial control parameter when the surgical instrument leaves the factory is recorded in the RFID tag. After the driving motor rotates the first initial control parameter, the end effector 1 can apply a first preset clamping force. Optionally, the second initial control parameter when the surgical instrument leaves the factory is also recorded in the RFID tag. After the driving motor rotates the second initial control parameter, the end effector 1 applies a second preset clamping force.

[0157] An RFID (Radio Frequency Identification) module (including structures such as an antenna) is provided on the mechanical arm beside the patient. The RFID module can be used to query the RFID tag on the surgical instrument. For example, to read the data stored in the installed surgical instrument. Controlled by the control host in the mechanical arm system beside the patient, data is read from the instrument through the RFID tag, the above-mentioned calibration is performed, the data is processed, and the processed data is used for the operation. However, the original data in the RFID tag of the instrument will not be changed, and this data is used for calibration each time. θ m 、θ f and Δθ max and other such data are stored in the control host in the mechanical arm system beside the patient, θ f0 、θ m0 These initial data are stored in the RFID tag.

[0158] By comparing the first driving parameter obtained with the first initial control parameter in the RFID tag, the tension state of the cable 2 can be obtained, and thus the control parameter of the surgical instrument can be updated according to the tension state of the cable 2. The updated parameter is stored in the host of the mechanical arm system 120 beside the patient, so that the driver 3 of the mechanical arm system 120 beside the patient can use the updated control parameter to control the opening and closing movement of the end effector 1.

[0159] Of course, in addition to the software implementation method, the present application does not exclude other implementation methods, such as logical devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logical unit, and can also be hardware or logical devices.

[0160] In the 1990s, it was obvious to distinguish whether an improvement to a technology was an improvement in hardware (e.g., improvement to circuit structures such as diodes, transistors, switches, etc.) or an improvement in software (improvement to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented with a hardware entity module. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by a user's programming of the device. Designers can program themselves to "integrate" a digital system on a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL). There is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow with the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain a hardware circuit that implements the logical method flow.

[0161] The controller can be implemented in any suitable manner. For example, the controller 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, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. 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 make the controller implement the same function in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. 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.

[0162] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0163] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0164] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0165] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0166] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0167] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0168] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0169] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0170] A computer-readable medium includes permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0171] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0172] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, system or computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0173] The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0174] The medical system 100 of the present application further includes Figure 8The electronic device of the illustrated embodiment. The electronic device implements the control method of the surgical instrument of the present application to control the surgical instrument. Therefore, the medical system of the present application adjusts the clamping force control parameter of the end effector 1 of the surgical instrument according to the first driving parameter, which can compensate for the transmission loss caused by the tension degree of the cable 2, so that the end effector 1 can apply the desired clamping force, improving the control accuracy and clamping strength of the end effector 1.

[0175] The various embodiments of the present application can be combined with each other without conflict.

[0176] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications, supplements, or use similar methods to replace the described specific embodiments, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0177] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no conflict in the combination of these technical features, it should be considered as the scope described in this specification.

Claims

1. A control method for a surgical instrument, characterized in that, The surgical instrument includes an end effector capable of performing opening and closing movements, and a cable for driving the opening and closing of the end effector. The cable is driven by a driver to achieve the opening and closing of the end effector. The control method of the surgical instrument includes: Driving the end effector of the surgical instrument to perform a closing movement from an initial position; Real-time monitoring the clamping force of the end effector. When the real-time monitored clamping force is greater than or equal to a first preset clamping force, record a first driving parameter of the driver related to the tension degree of the cable; and Determining a clamping force control parameter of the end effector according to the first driving parameter.

2. The control method of the surgical instrument according to claim 1, wherein As the tension degree of the cable decreases, the first driving parameter required for driving the end effector to move to a clamping force equal to the first preset clamping force increases.

3. The control method of the surgical instrument according to claim 2, characterized in that, The driver is a driving motor, the cable is wound around the driving motor, and the driving motor rotates to drive the cable. The first driving parameter is the rotation angle of the driving motor.

4. The control method of the surgical instrument according to any one of claims 1 to 3, characterized in that When the real-time monitored clamping force is greater than or equal to the first preset clamping force, recording the first driving parameter of the driver related to the tension degree of the cable includes: Real-time obtaining a second driving parameter of the driver for driving the end effector to close, and determining whether the clamping force is greater than or equal to the first preset clamping force according to the second driving parameter, wherein when the second driving parameter is greater than or equal to the first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

5. The control method of the surgical instrument according to claim 4, characterized in that, The driver is a driving motor or the driving motor, and the second driving parameter is the driving current or rotational speed of the driving motor.

6. The control method of the surgical instrument according to claim 5, characterized in that, The first preset clamping force corresponds to a first initial control parameter; Determining the clamping force control parameter of the end effector according to the first driving parameter includes: updating the first initial control parameter to the first driving parameter.

7. The control method of the surgical instrument according to claim 6, wherein, The surgical instrument is further configured to apply a second preset clamping force, the second preset clamping force is greater than the first preset clamping force, the second preset clamping force corresponds to a second initial control parameter, and update the second initial control parameter to the value obtained by adding the second initial control parameter and the first driving parameter and then subtracting the first initial control parameter.

8. The control method of the surgical instrument according to claim 7, characterized in that, Before determining the control parameter of the surgical instrument according to the first driving parameter, it further includes: Judging whether the surgical instrument is damaged according to whether the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to a second preset value, wherein when the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to the second preset value, it is determined that the surgical instrument is damaged.

9. The control method of the surgical instrument according to claim 5, characterized in that, When the real-time monitored clamping force is greater than or equal to the first preset clamping force, recording the first driving parameter of the driver related to the tension degree of the cable includes: When the second driving parameter is greater than or equal to the first preset value, stop the closing of the end effector, and record the rotation angle of the driving motor when the end effector stops closing.

10. The control method of the surgical instrument according to claim 4, characterized in that, Before driving the end effector of the surgical instrument to perform a closing movement from the initial position, it further includes: Measuring a first reference parameter representing the opening and closing friction force of the end effector; Obtaining a second reference parameter at which the end effector reaches the first preset clamping force without considering the opening and closing friction force; Setting the sum of the first reference parameter and the second reference parameter as the first preset value.

11. The control method of the surgical instrument according to claim 4, characterized in that, Before driving the end effector of the surgical instrument to perform a closing movement from the initial position, it further includes: Measuring a first driving current of the driving motor representing the opening and closing friction force of the end effector; Obtaining a second driving current of the driving motor at which the end effector reaches the first preset clamping force without considering the opening and closing friction force; Setting the sum of the first driving current and the second driving current as the first preset value; or Measuring a first rotational speed of the driving motor representing the opening and closing friction force of the end effector; Obtaining a second rotational speed of the driving motor at which the end effector reaches the first preset clamping force without considering the opening and closing friction force; Setting the sum of the first rotational speed and the second rotational speed as the first preset value.

12. The control method of the surgical instrument according to claim 11, wherein, Measuring the opening and closing friction force of the end effector includes: Driving the end effector back to the zero position; Driving the end effector to open from the zero position to a first angle; Driving the end effector to close from the first angle to the zero position; Determining the first driving current or the first rotational speed according to the driving current or rotational speed of the driving motor during the process that the end effector opens from the zero position to the first angle and then closes to the zero position.

13. The control method of the surgical instrument according to claim 12, characterized in that, The first driving current or the first rotational speed is the average current or average rotational speed of the driving motor during the process that the end effector opens from the zero position to the first angle and then closes to the zero position.

14. The control method of the surgical instrument according to claim 4, wherein When after a preset time, the second driving parameter is less than the first preset value, it is determined that the surgical instrument is damaged.

15. A control method for a surgical instrument, characterized in that, The surgical instrument includes an end effector capable of performing opening and closing movements, and a cable for driving the opening and closing of the end effector. The cable is driven by a driver to realize the opening and closing of the end effector. The control method of the surgical instrument includes: Driving the end effector of the surgical instrument to perform a closing movement from the initial position; Real-time obtaining a first driving parameter of the driver for driving the end effector to close. When the real-time obtained first driving parameter is greater than or equal to the first preset value, recording the second driving parameter of the driver; and Determining the control parameter of the surgical instrument according to the second driving parameter.

16. The control method of the surgical instrument according to claim 15, characterized in that, The first driving parameter is related to the clamping force of the end effector, and the second driving parameter and the tension degree of the cable jointly determine the clamping force.

17. The control method of the surgical instrument according to claim 15, wherein The driver is a driving motor, and the first driving parameter is the driving current or rotational speed of the driving motor.

18. The control method of the surgical instrument according to any one of claims 15 to 17, characterized in that, The second driving parameter is the rotational angle of the driving motor.

19. A control device for a surgical instrument, characterized in that, The surgical instrument includes an end effector capable of performing opening and closing movements, and a cable for driving the opening and closing of the end effector. The cable is driven by a driver to achieve the opening and closing of the end effector. The control device of the surgical instrument includes: a driving module for driving the end effector of the surgical instrument to perform a closing movement from an initial position; a monitoring and recording module for real-time monitoring of the clamping force of the end effector, and when the real-time monitored clamping force is greater than or equal to a first preset clamping force, recording a first driving parameter of the driver related to the tension degree of the cable; and a parameter determination module for determining a clamping force control parameter of the end effector according to the first driving parameter.

20. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the surgical instrument according to any one of claims 1-18 above.

21. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the control method of the surgical instrument according to any one of claims 1-18 above.

22. A medical system, characterized in that, It includes a surgical instrument and the electronic device according to claim 21; the electronic device is used to control the surgical instrument.

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