Surgical instrument control method and system and storage medium

Abstract

The invention provides a surgical instrument control method and system and a storage medium, and relates to the technical field of medical equipment.The surgical instrument control method comprises the steps that after a surgical robot is started, real-time sampling is conducted on the encoding value of an encoder of the surgical robot; when the coding numerical value changes, determining a change difference value of the coding numerical value and a change duration corresponding to the change difference value; according to the change difference value and the change duration, the actual state of a main manipulator of the surgical robot is obtained; and when the actual state of the main manipulator is a static state, the coded numerical value is locked, and the surgical instrument of the surgical robot is controlled to be static. The control intention of the main manipulator is flexibly recognized through the change value and the change time length of the encoder, the stability of the surgical instrument in the static state is ensured through a locking mechanism in the static state, accidental movement possibly occurring in the surgical process is reduced, and then the stability of the surgical instrument in the static state is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a surgical instrument control method, system and storage medium. Background Art

[0002] With the continuous development of medical technology, surgical robots have gradually been used in clinical practice, providing strong support for minimally invasive surgery, especially laparoscopic surgical robots. Usually, the operator uses the master manipulator to perform master-slave movements to control the surgical instruments for surgical operations.

[0003] In related technologies, when a surgical robot is used for surgery, the encoder value of the robot's main operator is at rest, and the fluctuation can cause the surgical instrument to shake while the robot's main operator is at rest, thus affecting the accuracy and safety of the surgery. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the stability and safety of a surgical instrument when it is stationary.

[0005] To solve the above problems, the present invention provides a surgical instrument control method, system and storage medium.

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

[0007] When the surgical robot is started, the code value of the encoder of the surgical robot is sampled in real time;

[0008] When the code value changes, determining a change difference of the code value and a change duration corresponding to the change difference;

[0009] Obtaining an actual state of a main operator of the surgical robot according to the change difference and the change duration;

[0010] When the actual state of the main operator is a stationary state, the surgical instrument of the surgical robot is controlled to be stationary by locking the coding value.

[0011] Optionally, when the coded value changes, determining a change difference of the coded value and a change duration corresponding to the change difference includes:

[0012] Determine whether the encoding value has changed by judging whether the current encoding value is the same as the encoding value at the time of the previous sampling;

[0013] When the current code value is different from the code value at the last sampling, it is determined that the code value has changed; when the current code value is the same as the code value at the last sampling, it is determined that the code value has not changed;

[0014] If the coding value changes, the difference between the current coding value and the coding value at the last sampling is used as the change difference, and the time interval between the last sampling and the current sampling is used as the change duration corresponding to the change difference.

[0015] Optionally, obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration includes:

[0016] Determining the actual state of the master operator based on the magnitude relationship between the change difference and a preset difference threshold, and the magnitude relationship between the change duration and a preset duration threshold;

[0017] If the change difference is smaller than the preset difference threshold, and the change duration is greater than or equal to the preset duration threshold, then the actual state is determined to be the static state.

[0018] Optionally, the actual state of the main operator further includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes:

[0019] If the change difference is greater than or equal to the preset difference threshold, the actual state is determined to be the motion state.

[0020] Optionally, the actual state of the main operator further includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes:

[0021] If the change difference is less than the preset difference threshold, continue to determine the relationship between the change duration and the preset duration threshold;

[0022] If the change duration is less than the preset duration threshold, the actual state is determined to be the motion state.

[0023] Optionally, when the actual state of the master operator is a stationary state, controlling the surgical instrument of the surgical robot to be stationary by locking the coded value includes:

[0024] By setting the change difference of the coding value to 0, the coding value is controlled to always be the coding value at the last sampling while the master operator is in a stationary state;

[0025] The surgical instrument of the surgical robot is controlled to be stationary according to the coding value at the time of the last sampling.

[0026] Optionally, the actual state of the master operator further includes a motion state, and the method further includes:

[0027] When the actual state of the master operator is the motion state, determining the control parameters of the surgical instrument according to the current encoding value;

[0028] The surgical instrument is controlled to move according to the control parameters in combination with a feedback control mechanism.

[0029] Optionally, the surgical instrument control method further includes:

[0030] The preset difference threshold corresponding to the change difference and the preset duration threshold corresponding to the change duration are set according to the operation requirements of the surgical instrument and the type of the encoder.

[0031] In a second aspect, the present invention provides a surgical instrument control system, comprising:

[0032] A sampling unit, configured to sample the encoding value of the encoder of the surgical robot in real time after the surgical robot is started;

[0033] a calculation unit, configured to determine, when the code value changes, a change difference of the code value and a change duration corresponding to the change difference;

[0034] a judgment unit, configured to obtain an actual state of a main operator of the surgical robot according to the change difference and the change duration;

[0035] A control unit is used to control the surgical instrument of the surgical robot to be stationary by locking the coding value when the actual state of the main operator is a stationary state.

[0036] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned surgical instrument control method.

[0037] The surgical instrument control method, system and storage medium of the present invention sample the encoder value in real time after the surgical robot is started, and calculate the change difference and the corresponding change duration when the value changes. Based on the change difference and the change duration, the actual state of the main operator is accurately judged. When the main operator is in a stationary state, the surgical instrument can remain absolutely stationary by locking the encoding value, thereby effectively avoiding the instrument jitter caused by slight fluctuations in the encoder value. The present invention flexibly identifies the control intention of the main operator through the encoder change value and change duration, and uses a locking mechanism in a stationary state to ensure the stability of the surgical instrument when it is stationary, reducing the possible accidental movement during the operation, thereby improving the safety of the operation and significantly improving the stability of the surgical instrument in a stationary state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of a surgical instrument control method according to an embodiment of the present invention;

[0039] Figure 2 4 is a structural block diagram of a surgical instrument control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0041] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0042] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0043] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0044] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0045] Combine Figure 1 As shown, the present invention provides a surgical instrument control method, comprising:

[0046] When the surgical robot is started, the encoding value of the encoder of the surgical robot is sampled in real time.

[0047] Specifically, after the surgical robot is started, the system enters the initialization stage, at which time the encoder starts working and outputs the initial value. At the same time, in order to ensure precise control of the surgical instrument, the encoder value needs to be collected in real time. This process is achieved through high-frequency sampling.

[0048] In a preferred embodiment of the present invention, sampling can be performed every millisecond. This high-frequency sampling can promptly capture subtle changes in the encoder value, providing an accurate data basis for subsequent motion state judgment. By monitoring the encoder value in real time, this embodiment can effectively avoid signal loss or misjudgment caused by too low a sampling frequency, thereby ensuring precise control of surgical instruments.

[0049] When the coding value changes, a change difference of the coding value and a change duration corresponding to the change difference are determined.

[0050] Specifically, during robotic surgery, changes in encoder values are crucial for determining the master operator's motion state. When the encoder value changes, the system compares the values of consecutive sampling points to calculate the difference in change and the duration of the change. By analyzing this difference and duration, it can distinguish whether the master operator is in motion or stationary. This analysis method effectively filters out misjudgments caused by encoder noise or minor vibrations, thereby improving system reliability.

[0051] The actual state of the main operating hand of the surgical robot is obtained according to the change difference and the change duration.

[0052] Specifically, by analyzing the difference in encoder value changes and the duration of these changes, the actual state of the master operator can be determined. In a preferred embodiment of the present invention, the comparison of these difference and duration with corresponding thresholds can accurately determine whether the master operator is in a stationary state. This threshold-based determination method not only effectively distinguishes between stationary and moving states, but also allows for adjustment of the threshold to accommodate different encoder models and surgical operation requirements, thereby improving the flexibility and adaptability of the system.

[0053] When the actual state of the main operator is a stationary state, the surgical instrument of the surgical robot is controlled to be stationary by locking the coding value.

[0054] Specifically, when the system determines that the master operator is stationary, it locks the encoder value, ensuring that the surgical instrument will not jitter due to slight fluctuations in the encoder value while stationary. By locking the encoder value, the surgical instrument can remain absolutely still, avoiding instrument jitter caused by encoder noise or slight vibrations. This locking mechanism in this embodiment not only improves the stability of the surgical instrument when stationary, but also enhances surgical safety, as accidental movement of the instrument could cause harm to the patient.

[0055] The surgical instrument control method of the present invention samples the encoder value in real time after the surgical robot is started, and calculates the change difference and the corresponding change duration when the value changes. Based on the change difference and the change duration, the actual state of the main operator is accurately judged. When the main operator is in a stationary state, the surgical instrument can remain absolutely stationary by locking the encoding value, thereby effectively avoiding the instrument jitter caused by slight fluctuations in the encoder value. The present invention flexibly identifies the control intention of the main operator through the encoder change value and change duration, and uses a locking mechanism in a stationary state to ensure the stability of the surgical instrument when it is stationary, reducing the possible accidental movement during the operation, thereby improving the safety of the operation and significantly improving the stability of the surgical instrument in a stationary state.

[0056] Optionally, when the coded value changes, determining a change difference of the coded value and a change duration corresponding to the change difference includes:

[0057] Determining whether the code value has changed by judging whether the current code value is the same as the code value at the last sampling; wherein, when the current code value is different from the code value at the last sampling, it is determined that the code value has changed; when the current code value is the same as the code value at the last sampling, it is determined that the code value has not changed;

[0058] If the coding value changes, the difference between the current coding value and the coding value at the last sampling is used as the change difference, and the time interval between the last sampling and the current sampling is used as the change duration corresponding to the change difference.

[0059] Specifically, in the surgical robot system, the change in the encoder's value is a key factor in determining the motion state of the main manipulator. Specifically, the system monitors the current encoding value and the encoding value at the last sampling in real time, and compares the values of two consecutive sampling points to determine whether the encoding value has changed. If the current encoding value is different from the encoding value at the last sampling, it is determined that the encoding value has changed; conversely, if the two are the same, it is determined that the encoding value has not changed. When a change in the encoding value is detected, the system further calculates the change difference, that is, the difference between the current encoding value and the encoding value at the last sampling, and records the time interval corresponding to this change, that is, the change duration.

[0060] In this optional embodiment, by precisely monitoring changes in the encoder values, the system can promptly and accurately determine the motion state of the primary operator, thereby achieving precise control of the surgical instrument. Furthermore, this method can effectively filter out misjudgments caused by encoder noise or minor vibrations, improving the reliability and stability of the system.

[0061] Optionally, obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration includes:

[0062] Determining the actual state of the master operator based on the magnitude relationship between the change difference and a preset difference threshold, and the magnitude relationship between the change duration and a preset duration threshold;

[0063] If the change difference is smaller than the preset difference threshold, and the change duration is greater than or equal to the preset duration threshold, then the actual state is determined to be the static state.

[0064] Specifically, in the control system of the surgical robot, judging the actual state of the main operator is a key link in achieving precise operation. Specifically, the detected change difference is first compared with the preset difference threshold. If the change difference is less than the preset difference threshold, it means that the change in the encoder value may be very small, which is not enough to determine whether the main operator is in motion; at this time, the system will further determine whether the change duration is greater than or equal to the preset duration threshold; if the change duration is long, it means that the encoder value remains stable for a long time, and the main operator is determined to be in a stationary state.

[0065] In this optional embodiment, by introducing preset difference and duration thresholds, the system can more accurately determine the actual state of the main operator, thereby achieving precise control of the surgical instrument. This not only improves the stability of the surgical instrument in a static state, but also enhances the safety of the operation. In addition, this threshold-based judgment method of this embodiment is highly adaptable and can be adjusted according to different encoder models and surgical operation requirements, further enhancing the flexibility and versatility of the surgical robot. In this way, the surgical robot can better meet the needs of different surgical scenarios and improve the accuracy of the operation.

[0066] Optionally, the actual state of the main operator further includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes:

[0067] If the change difference is greater than or equal to the preset difference threshold, the actual state is determined to be the motion state.

[0068] Specifically, in the surgical robot's control system, in addition to determining the master operator's stationary state, its motion state must also be accurately identified to ensure that the surgical instrument can accurately move according to the surgeon's intended operation. When determining the master operator's actual state based on the change difference and change duration, if the change difference is greater than or equal to the preset difference threshold, the master operator is directly determined to be in motion. This judgment logic is based on significant changes in the encoder value, indicating that the master operator is performing obvious motion operations.

[0069] In a preferred embodiment of the present invention, during surgery, when the surgeon uses the primary operator to move an instrument, the encoder value changes rapidly, and the difference in change is significantly greater than a threshold. At this point, the system can quickly identify that the primary operator is in motion and transmit the corresponding motion instructions to the surgical instrument, enabling it to respond promptly to the surgeon's operation. This method of determining motion state based on the difference in change can effectively capture the primary operator's motion intentions, ensuring that the movement of the surgical instrument is synchronized with the surgeon's operation, thereby improving the accuracy and efficiency of surgical operations.

[0070] In this optional embodiment, by setting a preset difference threshold, the system can quickly distinguish between the static and moving states of the master operator, avoiding misjudgments caused by slight fluctuations in the encoder value, and ensuring the stability and responsiveness of the surgical instrument during movement. This precise state judgment mechanism enables the surgical robot to better adapt to complex and changing surgical scenarios and meet the needs of different surgical operations.

[0071] Optionally, the actual state of the main operator further includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes:

[0072] If the change difference is less than the preset difference threshold, continue to determine the relationship between the change duration and the preset duration threshold;

[0073] If the change duration is less than the preset duration threshold, the actual state is determined to be the motion state.

[0074] Specifically, when the change difference of the encoder value is less than the preset difference threshold, the system needs to further determine the relationship between the change duration and the preset duration threshold. If the change duration is less than the preset duration threshold, this indicates that although the change in the encoder value is small, the change occurs in a short time. In this case, it is determined that the main operator is in motion. The judgment logic of this embodiment can effectively distinguish between the slight movement of the main operator and the noise or jitter in the static state.

[0075] For example, in this embodiment, by setting variable t as a preset time threshold and variable c as a difference threshold, the system determines that the master operator is in motion when the change difference v is less than c and the change duration t is less than the preset time threshold. For example, during surgery, when the surgeon performs delicate operations, the master operator may make minor adjustments. In this case, the change difference in the encoder value may be small, but the change duration is short. The system can accurately identify this minor movement and determine it as motion, thereby ensuring that the surgical instrument can promptly respond to the surgeon's operating intentions.

[0076] In this optional embodiment, by combining the dual judgment logic of the change difference and the change duration, the system can more accurately distinguish between the static state and the slight movement state of the main operator, avoiding misjudgment caused by encoder noise or slight jitter.

[0077] Optionally, when the actual state of the master operator is a stationary state, controlling the surgical instrument of the surgical robot to be stationary by locking the coded value includes:

[0078] By setting the change difference of the coding value to 0, the coding value is controlled to always be the coding value at the last sampling while the master operator is in a stationary state;

[0079] The surgical instrument of the surgical robot is controlled to be stationary according to the coding value at the time of the last sampling.

[0080] Specifically, in a surgical robot system, when the master operator is in a stationary state, ensuring the absolute stillness of the surgical instrument is the key to improving surgical safety and accuracy. When the actual state of the master operator is determined to be stationary, the system locks the encoding value by setting the change difference of the encoding value to zero, which means that during the period when the master operator is stationary, the output value of the encoder will remain at the value at the time of the last sampling and will not change due to slight fluctuations of the encoder. Specifically, the system will continuously monitor the change of the encoding value. Once it is determined that the master operator is in a stationary state, the encoding value will be locked to the value at the time of the last sampling. When the change difference is less than the preset difference threshold and the change duration is greater than or equal to the preset duration threshold, the system determines that the master operator is in a stationary state and ensures the stillness of the surgical instrument by locking the encoding value. This can effectively avoid the instrument jitter caused by encoder noise or slight vibration, thereby improving the stability of the surgical instrument in a stationary state.

[0081] In this optional embodiment, by setting the difference in the encoder value to zero and locking the encoder value, the surgical instrument can remain absolutely still when the operator is stationary, avoiding instrument jitter caused by slight fluctuations in the encoder value. This locking mechanism not only improves the stability of the surgical instrument when stationary, but also enhances surgical safety.

[0082] Optionally, the actual state of the master operator further includes a motion state, and the method further includes:

[0083] When the actual state of the master operator is the motion state, determining the control parameters of the surgical instrument according to the current encoding value;

[0084] The surgical instrument is controlled to move according to the control parameters in combination with a feedback control mechanism.

[0085] Specifically, when the actual state of the main operator is determined to be a motion state, the system will determine the control parameters of the surgical instrument based on the current coding value. These control parameters include motion speed, acceleration, displacement, etc., which depend on the control algorithm of the surgical robot and the surgical requirements. When the change difference is greater than or equal to the preset difference threshold, the system determines that the main operator is in a motion state; at this time, the system will calculate the motion speed or displacement of the surgical instrument based on the change difference of the current coding value, and use it as a control parameter; then, the system combines the feedback control mechanism to adjust the movement of the surgical instrument in real time according to these control parameters. The feedback control mechanism monitors the actual motion state of the surgical instrument (such as actual speed, position, etc.) and compares it with the target control parameters, thereby dynamically adjusting the control signal to ensure that the movement of the surgical instrument is consistent with the doctor's operating intention. Figure 1This can effectively improve the response speed and accuracy of surgical instruments during movement, while reducing errors caused by system delays or interference.

[0086] In this optional embodiment, by dynamically determining the control parameters of the surgical instrument based on the current coded value and adjusting them in real time through a feedback control mechanism, the surgical instrument can more accurately follow the surgeon's operating intentions and respond to the surgeon's instructions more promptly. This embodiment not only improves the flexibility and accuracy of surgical operations, but also enhances surgical safety and reduces the risks caused by operational delays or errors.

[0087] Optionally, the surgical instrument control method further includes:

[0088] The preset difference threshold corresponding to the change difference and the preset duration threshold corresponding to the change duration are set according to the operation requirements of the surgical instrument and the type of the encoder.

[0089] Specifically, since different surgical instruments have different operating accuracy requirements, and different models of encoders also have differences in performance, such as resolution and noise level, in the control system of the surgical robot, in order to achieve precise control of the surgical instrument, it is necessary to set the preset difference threshold and the preset time threshold according to the operating requirements of the surgical instrument and the type of encoder.

[0090] In a preferred embodiment of the present invention, the system allows the user to customize these thresholds according to the operating requirements of the surgical instrument and the type of encoder. By setting the variable c as the difference threshold and the variable t as the duration threshold, the doctor can dynamically adjust these thresholds according to the type of surgery (such as fine surgery or conventional surgery) and the encoder model used. For example, for fine surgery, it may be necessary to set a lower difference threshold and a longer duration threshold to ensure the stability of the surgical instrument when it is stationary; for conventional surgery, these thresholds can be appropriately relaxed. This custom adjustment function enables the surgical robot to better adapt to different surgical scenarios and operational requirements, improving the flexibility and versatility of the system.

[0091] In this optional embodiment, by customizing the preset difference threshold and the preset time threshold according to the operating requirements of the surgical instrument and the type of encoder, the surgical robot can better meet the needs of different surgical scenarios; it not only improves the control accuracy of the surgical instrument in static and moving states, but also enhances the safety of the operation because the system can be optimized and adjusted according to specific surgical needs.

[0092] like Figure 2 As shown, the present invention also provides a surgical instrument control system, comprising:

[0093] A sampling unit, configured to sample the encoding value of the encoder of the surgical robot in real time after the surgical robot is started;

[0094] a calculation unit, configured to determine, when the code value changes, a change difference of the code value and a change duration corresponding to the change difference;

[0095] a judgment unit, configured to obtain an actual state of a main operator of the surgical robot according to the change difference and the change duration;

[0096] A control unit is used to control the surgical instrument of the surgical robot to be stationary by locking the coding value when the actual state of the main operator is a stationary state.

[0097] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the surgical instrument control method described above is implemented.

[0098] In other words, a non-volatile computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the following operations:

[0099] When the surgical robot is started, the code value of the encoder of the surgical robot is sampled in real time;

[0100] When the code value changes, determining a change difference of the code value and a change duration corresponding to the change difference;

[0101] Obtaining an actual state of a main operator of the surgical robot according to the change difference and the change duration;

[0102] When the actual state of the main operator is a stationary state, the surgical instrument of the surgical robot is controlled to be stationary by locking the coding value.

[0103] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A surgical instrument control method, characterized in that: include: When the surgical robot is started, the code value of the encoder of the surgical robot is sampled in real time; When the code value changes, determining a change difference of the code value and a change duration corresponding to the change difference; Obtaining an actual state of a main operator of the surgical robot according to the change difference and the change duration; When the actual state of the main operator is a stationary state, the surgical instrument of the surgical robot is controlled to be stationary by locking the coding value.

2. The surgical instrument control method according to claim 1, characterized in that: When the code value changes, determining the change difference of the code value and the change duration corresponding to the change difference includes: Determine whether the encoding value has changed by judging whether the current encoding value is the same as the encoding value at the time of the previous sampling; When the current code value is different from the code value at the last sampling, it is determined that the code value has changed; when the current code value is the same as the code value at the last sampling, it is determined that the code value has not changed; If the coding value changes, the difference between the current coding value and the coding value at the last sampling is used as the change difference, and the time interval between the last sampling and the current sampling is used as the change duration corresponding to the change difference.

3. The surgical instrument control method according to claim 1, wherein: Obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration includes: Determining the actual state of the master operator based on the magnitude relationship between the change difference and a preset difference threshold, and the magnitude relationship between the change duration and a preset duration threshold; If the change difference is smaller than the preset difference threshold, and the change duration is greater than or equal to the preset duration threshold, then the actual state is determined to be the static state.

4. The surgical instrument control method according to claim 3, characterized in that: The actual state of the main operator also includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes: If the change difference is greater than or equal to the preset difference threshold, the actual state is determined to be the motion state.

5. The surgical instrument control method according to claim 4, characterized in that: The actual state of the main operator also includes a motion state, and obtaining the actual state of the main operator of the surgical robot according to the change difference and the change duration further includes: If the change difference is less than the preset difference threshold, continue to determine the relationship between the change duration and the preset duration threshold; If the change duration is less than the preset duration threshold, the actual state is determined to be the motion state.

6. The surgical instrument control method according to claim 2, characterized in that: When the actual state of the main operator is a stationary state, controlling the surgical instrument of the surgical robot to be stationary by locking the coded value includes: By setting the change difference of the coding value to 0, the coding value is controlled to always be the coding value at the last sampling while the master operator is in a stationary state; The surgical instrument of the surgical robot is controlled to be stationary according to the coding value at the time of the last sampling.

7. The surgical instrument control method according to claim 2, characterized in that: The actual state of the master operator also includes a motion state, and the method further includes: When the actual state of the master operator is the motion state, determining the control parameters of the surgical instrument according to the current encoding value; The surgical instrument is controlled to move according to the control parameters in combination with a feedback control mechanism.

8. The surgical instrument control method according to claim 3, characterized in that: The surgical instrument control method further includes: The preset difference threshold corresponding to the change difference and the preset duration threshold corresponding to the change duration are set according to the operation requirements of the surgical instrument and the type of the encoder.

9. A surgical instrument control system, characterized in that: include: A sampling unit, configured to sample the encoding value of the encoder of the surgical robot in real time after the surgical robot is started; a calculation unit, configured to determine, when the code value changes, a change difference of the code value and a change duration corresponding to the change difference; a judgment unit, configured to obtain an actual state of a main operator of the surgical robot according to the change difference and the change duration; A control unit is used to control the surgical instrument of the surgical robot to be stationary by locking the coding value when the actual state of the main operator is a stationary state.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the surgical instrument control method according to any one of claims 1 to 8 is implemented.

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