A surgical instrument control method, system, and storage medium

Abstract

The application provides a surgical instrument control method, system and storage medium, and relates to the technical field of medical equipment.The surgical instrument control method comprises the following steps: when a surgical robot is started, the encoding value of the encoder of the surgical robot is sampled in real time; when the encoding value changes, the change difference of the encoding value and the change duration corresponding to the change difference are determined; the actual state of the main operating hand of the surgical robot is obtained according to the change difference and the change duration; when the actual state of the main operating hand is a stationary state, the surgical instrument of the surgical robot is controlled to be stationary by locking the encoding value. Through the change value and the change duration of the encoder, the control intention of the main operating hand is flexibly identified, and the locking mechanism is used in the stationary state to ensure the stability of the surgical instrument when it is stationary, so that the accidental movement that may occur in the surgical process is reduced, and the stability of the surgical instrument in the stationary state is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a surgical instrument control method, system, and storage medium. Background Technology

[0002] With the continuous development of medical technology, surgical robots have been gradually applied in clinical practice, providing strong support for minimally invasive surgery, especially laparoscopic surgical robots. Typically, the operator controls the surgical instruments to perform surgical operations by performing master-slave movements through the master hand.

[0003] In related technologies, during surgery using a surgical robot, the encoder values ​​of the robot's main operator may fluctuate slightly when the robot is stationary. This fluctuation can cause the surgical instruments to vibrate when the laparoscopic surgical robot's main operator is stationary, thus affecting the accuracy and safety of the surgery. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the stability and safety of surgical instruments when they are stationary.

[0005] To address 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] Once the surgical robot is started, the encoded values ​​of the encoder of the surgical robot are sampled in real time.

[0008] When the encoded value changes, the change difference of the encoded value and the change duration corresponding to the change difference are determined;

[0009] The actual state of the main operator of the surgical robot is obtained based on the change difference and the change duration;

[0010] When the actual state of the main operator is stationary, the surgical instruments of the surgical robot are kept stationary by locking the coded value.

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

[0012] By determining whether the current encoded value is the same as the encoded value at the time of the last sampling, it is determined whether the encoded value has changed;

[0013] Specifically, if the current encoded value is different from the encoded value at the time of the last sampling, it is determined that the encoded value has changed; if the current encoded value is the same as the encoded value at the time of the last sampling, it is determined that the encoded value has not changed.

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

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

[0016] The actual state of the main operator is determined based on the relationship between the change difference and a preset difference threshold, and the change duration and a preset duration threshold, respectively.

[0017] If the change difference is less 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 also includes a motion state, and obtaining the actual state of the main operator of the surgical robot based on the change difference and the change duration further includes:

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

[0020] Optionally, 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 based on the change difference and the change duration further includes:

[0021] If the change difference is less than the preset difference threshold, then the relationship between the change duration and the preset duration threshold is further determined.

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

[0023] Optionally, when the actual state of the main operator is stationary, controlling the surgical instruments of the surgical robot to remain stationary by locking the encoded value includes:

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

[0025] The surgical instruments of the surgical robot are controlled to remain stationary based on the encoded value from the previous sampling.

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

[0027] When the actual state of the main operator is the motion state, the control parameters of the surgical instrument are determined according to the current encoded value;

[0028] The surgical instrument is controlled to move based on the control parameters and a feedback control mechanism.

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

[0030] Based on the operational requirements of the surgical instrument and the type of the encoder, a preset difference threshold corresponding to the change difference and a preset duration threshold corresponding to the change duration are set.

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

[0032] The sampling unit is used to sample the encoder values ​​of the surgical robot in real time after the surgical robot is started.

[0033] A calculation unit is used to determine the change difference of the encoded value and the change duration corresponding to the change difference when the encoded value changes;

[0034] The judgment unit is used to determine the actual state of the main operator of the surgical robot based on the change difference and the change duration;

[0035] The control unit is used to control the surgical instruments of the surgical robot to remain stationary by locking the coded value when the actual state of the main operator is stationary.

[0036] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the surgical instrument control method described above.

[0037] The surgical instrument control method, system, and storage medium of this invention sample the encoder values ​​in real time after the surgical robot is started, and calculate the difference in value and the corresponding duration of change when the value changes. Based on the difference in value and the duration of change, the actual state of the operator is accurately determined. When the operator is stationary, the encoded value is locked to keep the surgical instrument absolutely still, thereby effectively avoiding instrument vibration caused by slight fluctuations in the encoder value. This invention flexibly identifies the operator's control intention by measuring the encoder's changing value and duration, and uses a locking mechanism to ensure the stability of the surgical instrument when stationary, reducing the possibility of accidental movement during surgery, thereby improving surgical safety and significantly improving the stability of the surgical instrument when stationary. Attached Figure Description

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

[0039] Figure 2 This is a structural block diagram of the surgical instrument control system according to an embodiment of the present invention. Detailed Implementation

[0040] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying 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. Furthermore, 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 "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0043] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

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

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

[0046] Once the surgical robot is started, the encoded values ​​of the encoder of the surgical robot are sampled in real time.

[0047] Specifically, after the surgical robot is started, the system enters the initialization phase. At this time, the encoder starts working and outputs initial values. Meanwhile, in order to ensure precise control of the surgical instruments, it is necessary to collect the encoder values ​​in real time. This process is achieved through high-frequency sampling.

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

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

[0050] Specifically, during the operation of the surgical robot, changes in encoder values ​​are crucial for determining the motion state of the main operator. When the encoded value changes, the system calculates the difference in value and the corresponding time duration by comparing the values ​​of consecutive sampling points. By analyzing the difference in encoder value changes and the duration of the change, the system can distinguish whether the main operator is in motion or stationary. This analysis method can effectively filter out misjudgments caused by encoder noise or minor vibrations, thereby improving the reliability of the system.

[0051] The actual state of the main operator of the surgical robot is obtained based on the change difference and the change duration.

[0052] Specifically, by analyzing the difference and duration of encoder numerical changes, the actual state of the operator can be determined. In a preferred embodiment of the invention, the operator can accurately determine whether they are stationary based on the comparison between the difference and duration of changes and the corresponding threshold. This threshold-based determination method not only effectively distinguishes between stationary and moving states, but also allows for adjustment of the threshold to adapt to different encoder models and surgical operation requirements, thereby improving the system's flexibility and adaptability.

[0053] When the actual state of the main operator is stationary, the surgical instruments of the surgical robot are kept stationary by locking the coded value.

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

[0055] The surgical instrument control method of this invention samples the encoder values ​​in real time after the surgical robot is started, and calculates the difference in value and the corresponding duration of change when the value changes. Based on the difference in value and the duration of change, the actual state of the operator is accurately determined. When the operator is stationary, the encoded value is locked to keep the surgical instrument absolutely still, thereby effectively avoiding instrument vibration caused by slight fluctuations in the encoder value. This invention flexibly identifies the operator's control intention by measuring the encoder's changing value and duration, and uses a locking mechanism to ensure the stability of the surgical instrument when stationary, reducing the possibility of accidental movement during surgery, thereby improving surgical safety and significantly enhancing the stability of the surgical instrument when stationary.

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

[0057] By determining whether the current encoded value is the same as the encoded value at the time of the last sampling, it is determined whether the encoded value has changed; wherein, when the current encoded value is different from the encoded value at the time of the last sampling, it is determined that the encoded value has changed; when the current encoded value is the same as the encoded value at the time of the last sampling, it is determined that the encoded value has not changed.

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

[0059] Specifically, in surgical robot systems, encoder value changes are a key factor in determining the motion state of the main operator. Specifically, the system determines whether the encoded value has changed by comparing the current encoded value with the value at the last sample in real time. If the current encoded value differs from the last sampled value, a change is determined; otherwise, if they are the same, no change is determined. When a change is detected, the system further calculates the difference, i.e., the difference between the current encoded value and the last sampled value, and records the time interval corresponding to this change, i.e., the change duration.

[0060] In this optional embodiment, by accurately monitoring changes in the encoded values, the system can promptly and accurately determine the movement state of the main operator, thereby achieving precise control of the surgical instruments. Secondly, 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 based on the change difference and the change duration includes:

[0062] The actual state of the main operator is determined based on the relationship between the change difference and a preset difference threshold, and the change duration and a preset duration threshold, respectively.

[0063] If the change difference is less 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 a surgical robot, determining the actual state of the main operator is a key step in achieving precise operation. Specifically, the detected change difference is first compared with a 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 and insufficient 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 a preset duration threshold. If the change duration is long, it means that the encoder value has remained 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 thresholds and duration thresholds, the system can more accurately determine the actual state of the operator, thereby achieving precise control of the surgical instruments. This not only improves the stability of the surgical instruments in a static state but also enhances surgical safety. Furthermore, this threshold-based judgment method in this embodiment has strong adaptability 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 surgical accuracy.

[0066] Optionally, 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 based on the change difference and the change duration further includes:

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

[0068] Specifically, in the control system of a surgical robot, in addition to determining the stationary state of the main operator, it is also necessary to accurately identify its motion state to ensure that the surgical instruments can move precisely according to the surgeon's intentions. When judging the actual state of the main operator based on the difference in value and the duration of the change, if the difference in value is greater than or equal to a preset difference threshold, it is directly determined that the main operator is in motion. This judgment logic is based on a significant change in the encoder value, indicating that the main operator is performing a significant motion operation.

[0069] In a preferred embodiment of the present invention, during surgery, when the surgeon moves the instruments using the primary operating hand, the encoder value changes rapidly, and the difference in value significantly exceeds a threshold. At this point, the system can quickly identify that the primary operating hand is in motion and transmit corresponding motion commands to the surgical instruments, enabling them to respond promptly to the surgeon's actions. This motion state determination method based on the difference in value effectively captures the primary operating hand's intentions, ensuring that the movement of the surgical instruments is synchronized with the surgeon's operations, thereby improving the accuracy and efficiency of the surgical procedure.

[0070] In this optional embodiment, by setting a preset difference threshold, the system can quickly distinguish between the stationary and moving states of the main operator, avoiding misjudgments caused by minor fluctuations in encoder values, and ensuring the stability and response speed of the surgical instruments during movement. This precise state judgment mechanism enables the surgical robot to better adapt to complex and ever-changing surgical scenarios and meet the needs of different surgical operations.

[0071] Optionally, 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 based on the change difference and the change duration further includes:

[0072] If the change difference is less than the preset difference threshold, then the relationship between the change duration and the preset duration threshold is further determined.

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

[0074] Specifically, when the difference in encoder value is less than a 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, it indicates that although the change in encoder value is small, the change occurs in a short time. In this case, it is determined that the main operator is in motion. This judgment logic in this embodiment can effectively distinguish between the small movements of the main operator and noise or jitter in a stationary state.

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

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

[0077] Optionally, when the actual state of the main operator is stationary, controlling the surgical instruments of the surgical robot to remain stationary by locking the encoded value includes:

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

[0079] The surgical instruments of the surgical robot are controlled to remain stationary based on the encoded value from the previous sampling.

[0080] Specifically, in surgical robot systems, ensuring the absolute stillness of surgical instruments when the operator is stationary is crucial for improving surgical safety and precision. When the operator's actual state is determined to be stationary, the system locks the encoded value by setting the difference in coded value changes to zero. This means that during the operator's stationary period, the encoder's output value will remain the value from the last sampling, unaffected by minor encoder fluctuations. Specifically, the system continuously monitors changes in the coded value. Once it determines the operator is stationary, it locks the coded value at the last sampling value. When the difference in value is less than a preset difference threshold and the duration of the change is greater than or equal to a preset duration threshold, the system determines the operator is stationary and ensures the surgical instruments remain stationary by locking the coded value. This effectively avoids instrument vibration caused by encoder noise or minor vibrations, thereby improving the stability of the surgical instruments when stationary.

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

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

[0083] When the actual state of the main operator is the motion state, the control parameters of the surgical instrument are determined according to the current encoded value;

[0084] The surgical instrument is controlled to move based on the control parameters and a feedback control mechanism.

[0085] Specifically, when the operator's actual state is determined to be in motion, the system determines the control parameters of the surgical instruments based on the current coded values. These control parameters include speed, acceleration, and displacement, depending on the surgical robot's control algorithm and the surgical requirements. When the difference in value is greater than or equal to a preset threshold, the system determines that the operator is in motion. At this time, the system calculates the speed or displacement of the surgical instruments based on the difference in the current coded values ​​and uses it as a control parameter. Subsequently, the system, combined with a feedback control mechanism, adjusts the movement of the surgical instruments in real time based on these control parameters. The feedback control mechanism monitors the actual motion state of the surgical instruments (such as actual speed and position) and compares it with the target control parameters, thereby dynamically adjusting the control signals to ensure that the movement of the surgical instruments aligns with the surgeon's intentions. Figure 1This effectively improves 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 instruments based on the current coded values ​​and adjusting them in real time using a feedback control mechanism, the surgical instruments can more accurately follow the surgeon's operational intentions and respond to the surgeon's commands more promptly. This embodiment not only improves the flexibility and precision 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] Based on the operational requirements of the surgical instrument and the type of the encoder, a preset difference threshold corresponding to the change difference and a preset duration threshold corresponding to the change duration are set.

[0089] Specifically, since different surgical instruments have different precision requirements, and different encoders also have different performance characteristics, such as resolution and noise level, in order to achieve precise control of surgical instruments in the control system of surgical robots, it is necessary to set preset difference thresholds and preset duration thresholds according to the operating requirements of the surgical instruments and the type of encoder.

[0090] In a preferred embodiment of the invention, the system allows the user to customize and adjust these thresholds according to the operational requirements of the surgical instruments and the type of encoder. By setting a variable 'c' as the difference threshold and a variable 't' as the duration threshold, the surgeon can dynamically adjust these thresholds based on the type of surgery (e.g., delicate surgery or routine surgery) and the encoder model used. For example, for delicate surgery, a lower difference threshold and a longer duration threshold may be needed to ensure the stability of the surgical instruments when stationary; while for routine surgery, these thresholds can be appropriately relaxed. This customizable adjustment function enables the surgical robot to better adapt to different surgical scenarios and operational needs, improving the system's flexibility and versatility.

[0091] In this optional embodiment, by customizing and adjusting the preset difference threshold and preset duration threshold according to the operational requirements of the surgical instruments 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 instruments in both static and dynamic states, but also enhances the safety of the surgery, 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] The sampling unit is used to sample the encoder values ​​of the surgical robot in real time after the surgical robot is started.

[0094] A calculation unit is used to determine the change difference of the encoded value and the change duration corresponding to the change difference when the encoded value changes;

[0095] The judgment unit is used to determine the actual state of the main operator of the surgical robot based on the change difference and the change duration;

[0096] The control unit is used to control the surgical instruments of the surgical robot to remain stationary by locking the coded value when the actual state of the main operator is stationary.

[0097] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the surgical instrument control method described above.

[0098] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations:

[0099] Once the surgical robot is started, the encoded values ​​of the encoder of the surgical robot are sampled in real time.

[0100] When the encoded value changes, the change difference of the encoded value and the change duration corresponding to the change difference are determined;

[0101] The actual state of the main operator of the surgical robot is obtained based on the change difference and the change duration;

[0102] When the actual state of the main operator is stationary, the surgical instruments of the surgical robot are kept stationary by locking the coded value.

[0103] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A surgical instrument control system, characterized in that, include: The sampling unit is used to sample the encoder values ​​of the surgical robot in real time after the surgical robot is started. A calculation unit is used to determine the change difference of the encoded value and the change duration corresponding to the change difference when the encoded value changes; The judgment unit is used to determine the actual state of the main operator of the surgical robot based on the change difference and the change duration; Based on the change difference and the change duration, the actual state of the main operator of the surgical robot is obtained, including: The actual state of the main operator is determined based on the relationship between the change difference and a preset difference threshold, and the change duration and a preset duration threshold, respectively; wherein, if 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 actual state is determined to be a static state. The actual state of the main operator also includes the motion state. The step of obtaining the actual state of the main operator of the surgical robot based on the change difference and the change duration further includes: if the change difference is greater than or equal to the preset difference threshold, then the actual state is determined to be the motion state. The actual state of the main operator also includes the motion state. The step of obtaining the actual state of the main operator of the surgical robot based on the change difference and the change duration further includes: if the change difference is less than the preset difference threshold, then 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, then determine that the actual state is the motion state. The control unit is used to control the surgical instruments of the surgical robot to remain stationary by locking the coded value when the actual state of the main operator is stationary.

2. The surgical instrument control system according to claim 1, characterized in that, When the encoded value changes, determining the difference in the encoded value and the duration of the change corresponding to the difference includes: By determining whether the current encoded value is the same as the encoded value at the time of the last sampling, it is determined whether the encoded value has changed; Specifically, if the current encoded value is different from the encoded value at the time of the last sampling, it is determined that the encoded value has changed; if the current encoded value is the same as the encoded value at the time of the last sampling, it is determined that the encoded value has not changed. If the encoded value changes, the difference between the current encoded value and the encoded value at the time of the last sampling is taken as the change difference, and the time interval between the last sampling and the current sampling is taken as the change duration corresponding to the change difference.

3. The surgical instrument control system according to claim 2, characterized in that, When the actual state of the main operator is stationary, locking the coded value to control the surgical instruments of the surgical robot to remain stationary includes: By setting the difference in the change of the encoded value to 0, the encoded value is controlled to always be the encoded value at the time of the last sampling while the main operator is in a stationary state; The surgical instruments of the surgical robot are controlled to remain stationary based on the encoded value from the previous sampling.

4. The surgical instrument control system according to claim 2, characterized in that, The actual state of the main operator also includes the motion state, and the surgical instrument control system can also perform the following steps: When the actual state of the main operator is the motion state, the control parameters of the surgical instrument are determined according to the current encoded value; The surgical instrument is controlled to move based on the control parameters and a feedback control mechanism.

5. The surgical instrument control system according to claim 3, characterized in that, The surgical instrument control system is also capable of performing the following steps: Based on the operational requirements of the surgical instrument and the type of the encoder, a preset difference threshold corresponding to the change difference and a preset duration threshold corresponding to the change duration are set.

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