Surgical instrument control method, device and equipment and storage medium

Abstract

The invention discloses a surgical instrument control method, device and equipment and a storage medium, and can be applied to the technical field of surgical instrument control. The method is applied to a control device, and the control device is connected with a control handle comprising two rockers and a surgical instrument. The two rockers are arranged on different surfaces of the handle body of the control handle, so that the two rockers can be operated by two fingers respectively, and single-hand operation is realized. The method comprises the following steps: firstly, acquiring a control instruction of a control handle comprising rocker action information of two rockers; and determining a control mode according to the rocker action type included in the rocker action information. According to the rocker motion information of the two rockers and the control mode, instrument motion information describing instrument motion is determined. And finally, controlling the surgical instrument according to the instrument action information. The mode of controlling the surgical instrument through the two rockers is simple, and medical staff can conveniently control the surgical instrument through the control handles of the two rockers.

Description

Technical Field

[0001] This application relates to the field of surgical instrument control technology, specifically to a method, device, equipment, and storage medium for controlling surgical instruments. Background Technology

[0002] A surgical robot is a robot capable of performing simple operations to assist in medical treatment. A surgical robot may include a robotic arm and a controller. One end of the robotic arm can be fixed near the operating table, such as to a trolley in the operating room. The other end of the robotic arm can hold surgical instruments. The surgeon can control the surgical instruments to perform actions through the surgical robot's controller, thereby treating the patient. The surgical robot's controller is in the form of a console. The console is equipped with control handles. Medical personnel can control the surgical instruments through the control handles.

[0003] Currently, the control handle has buttons. Medical staff control the surgical instruments by pressing these buttons. However, controlling surgical instruments via buttons is relatively complex and inconvenient. Summary of the Invention

[0004] In view of this, this application provides a method, device, equipment and storage medium for controlling surgical instruments, which can flexibly control surgical instruments using a dual-joystick control handle. The joystick control method is relatively simple and facilitates single-handed operation and control of surgical instruments by doctors.

[0005] To solve the above problems, the technical solution provided in this application is as follows:

[0006] In a first aspect, this application provides a method for controlling a surgical instrument. The method is applied to a control device, which is connected to a control handle and a surgical instrument. The control handle includes a handle body and two rockers disposed on the handle body. The two rockers are disposed on different surfaces of the handle body, and the rockers are capable of performing pressing and pushing actions.

[0007] The method includes:

[0008] Obtain control commands from the control handle, the control commands including joystick action information of the two joysticks, the joystick action information describing the action of the joysticks, and the joystick action information including the joystick action type;

[0009] If the joystick action type of the two joysticks includes a pressing action, the control mode is determined to include a pressing mode, wherein the pressing mode is a control method of controlling the surgical instrument by pressing the joystick;

[0010] If the joystick action type of the two joysticks includes a pushing action, the control mode is determined to include a pushing mode, which is a control method of controlling the surgical instrument by pushing the joystick;

[0011] Based on the joystick motion information of the two joysticks and the control mode, the device motion information is determined. The device motion information is used to describe the device motion, which includes one or more of the device's functional motion and movement motion.

[0012] Based on the instrument action information, the surgical instrument is controlled to perform the instrument action.

[0013] In one possible implementation, the determined control mode includes a push mode, comprising:

[0014] Based on the joystick action type of the two joysticks, determine the number of joysticks that perform the pushing action;

[0015] The sub-mode type of the driving mode is determined based on the quantity.

[0016] In one possible implementation, determining the sub-mode type of the push mode based on the quantity includes:

[0017] If only one of the two joysticks performs the pushing action, the pushing mode is determined to be a single-joystick mode, which is a control method that uses one joystick to control the surgical instrument.

[0018] If two of the two joysticks perform the pushing action, the pushing mode is determined to be a dual-joystick mode, which is a control method in which two joysticks are pushed together to control the surgical instrument.

[0019] In one possible implementation, the joystick motion information further includes the motion direction, and determining the push mode as a dual-stick sub-mode includes:

[0020] If the two joysticks move in the same direction, the dual-joystick mode is determined to be the dual-joystick simultaneous movement mode, which is a control method in which the two joysticks are pushed in the same direction to control the surgical instrument;

[0021] If the two joysticks move in different directions, the dual-joystick mode is determined to be a dual-joystick differential mode. The dual-joystick differential mode is a control method in which the two joysticks are pushed in different directions to control the surgical instrument.

[0022] In one possible implementation, the control mode includes a pressing mode, and determining the device action information based on the joystick action information of the two joysticks and the control mode includes:

[0023] Based on the pressing action and the pressing pattern, a first action type is determined, wherein the first action type is the instrument function action of the surgical instrument.

[0024] In one possible implementation, the control mode includes a push mode, and the joystick motion information further includes push direction and push speed. Determining the device motion information based on the joystick motion information of the two joysticks and the control mode includes:

[0025] Based on the pushing direction and the pushing pattern, a second action type is determined. The second action type is a movement action towards a target direction, which corresponds to the pushing direction. The pushing pattern is used to indicate the correspondence between the target direction and the pushing direction.

[0026] The moving speed is determined based on the pushing speed and the pushing mode, wherein the moving speed corresponds to the pushing speed, and the pushing mode is used to indicate the correspondence between the moving speed and the pushing speed.

[0027] In one possible implementation, the pushing mode is a single-lever mode or a dual-lever simultaneous mode. The single-lever mode is a mode in which one joystick is pushed to control the surgical instrument, and the dual-lever simultaneous mode is a mode in which two joysticks are pushed in the same direction to control the surgical instrument. The target direction is the horizontal direction.

[0028] or,

[0029] The pushing mode is a dual-bar differential mode, which is a mode in which the two rockers are pushed in different directions to control the surgical instrument, and the target direction is the rotation direction or the pitch direction.

[0030] In one possible implementation, the pushing mode is a single-lever mode, which is a mode in which a single joystick is pushed to control the surgical instrument, and the single-lever mode is used to indicate a first conversion relationship from the pushing speed to the moving speed;

[0031] or,

[0032] The pushing mode is a dual-lever simultaneous movement mode, which is a mode in which the two levers are pushed in the same direction to control the surgical instrument. The dual-lever simultaneous movement mode is used to indicate a second conversion relationship from the pushing speed to the moving speed, and the first conversion relationship is different from the second conversion relationship.

[0033] Secondly, this application provides a control device for a surgical instrument. The device is applied to a control equipment, which is connected to a control handle and a surgical instrument respectively. The control handle includes a handle body and two rockers disposed on the handle body. The two rockers are disposed on different surfaces of the handle body, and the rockers are capable of performing pressing and pushing actions.

[0034] The device includes:

[0035] The acquisition unit is used to acquire the control command of the control handle, the control command including the joystick action information of the two joysticks, the joystick action information being used to describe the action of the joysticks, and the joystick action information including the joystick action type;

[0036] The first mode determination unit is used to determine that if the joystick action type of the two joysticks includes a pressing action, the control mode includes a pressing mode, wherein the pressing mode is a control method of controlling the surgical instrument by pressing the joystick;

[0037] The second mode determination unit is used to determine that if the rocker arm action type of the two rockers includes a pushing action, the control mode includes a pushing mode, wherein the pushing mode is a control method of controlling the surgical instrument by pushing the rocker arm;

[0038] The information determination unit is used to determine the device action information based on the joystick action information of the two joysticks and the control mode. The device action information is used to describe the device action, which includes one or more of the device's functional action and movement action.

[0039] The control unit is used to control the surgical instrument to perform the instrument action based on the instrument action information.

[0040] In one possible implementation, the second mode determining unit, used to determine that the control mode includes a push mode, includes:

[0041] The second mode determination unit is used to determine the number of the two joysticks that perform the pushing action based on the joystick action type of the two joysticks; and to determine the sub-mode type of the pushing mode based on the number.

[0042] In one possible implementation, the second mode determining unit is configured to determine the sub-mode type of the driving mode based on the quantity, including:

[0043] The second mode determining unit is configured to determine the pushing mode as a single-lever mode if one of the two joysticks performs the pushing action, wherein the single-lever mode is a control method that pushes one joystick to control the surgical instrument; and to determine the pushing mode as a dual-lever mode if two of the two joysticks perform the pushing action, wherein the dual-lever mode is a control method that pushes two joysticks together to control the surgical instrument.

[0044] In one possible implementation, the second mode determining unit, for the joystick action information, further includes the action direction, and the determination of the push mode as a dual-stick sub-mode includes:

[0045] The second mode determining unit is used to determine the dual-lever sub-mode as a dual-lever synchronous mode if the two joysticks move in the same direction, wherein the dual-lever synchronous mode is a control method in which the two joysticks are pushed in the same direction to control the surgical instrument; and to determine the dual-lever differential mode as a dual-lever differential mode if the two joysticks move in different directions, wherein the dual-lever differential mode is a control method in which the two joysticks are pushed in different directions to control the surgical instrument.

[0046] In one possible implementation, the control mode includes a push-button mode, and the information determination unit is specifically used for:

[0047] Based on the pressing action and the pressing pattern, a first action type is determined, wherein the first action type is the instrument function action of the surgical instrument.

[0048] In one possible implementation, the control mode includes a push mode, and the joystick action information further includes the push direction and push speed. The information determination unit is specifically used for:

[0049] Based on the pushing direction and the pushing pattern, a second action type is determined, which is a movement action towards a target direction, the target direction corresponding to the pushing direction, and the pushing pattern indicating the correspondence between the target direction and the pushing direction; based on the pushing speed and the pushing pattern, a movement speed is determined, the movement speed corresponding to the pushing speed, and the pushing pattern indicating the correspondence between the movement speed and the pushing speed.

[0050] In one possible implementation, the pushing mode is a single-lever mode or a dual-lever simultaneous mode. The single-lever mode is a mode in which one joystick is pushed to control the surgical instrument, and the dual-lever simultaneous mode is a mode in which two joysticks are pushed in the same direction to control the surgical instrument. The target direction is the horizontal direction.

[0051] or,

[0052] The pushing mode is a dual-bar differential mode, which is a mode in which the two rockers are pushed in different directions to control the surgical instrument, and the target direction is the rotation direction or the pitch direction.

[0053] In one possible implementation, the pushing mode is a single-lever mode, which is a mode in which a single joystick is pushed to control the surgical instrument, and the single-lever mode is used to indicate a first conversion relationship from the pushing speed to the moving speed;

[0054] or,

[0055] The pushing mode is a dual-lever simultaneous movement mode, which is a mode in which the two levers are pushed in the same direction to control the surgical instrument. The dual-lever simultaneous movement mode is used to indicate a second conversion relationship from the pushing speed to the moving speed, and the first conversion relationship is different from the second conversion relationship.

[0056] Thirdly, this application provides a control device for surgical instruments, including: a processor, a memory, and a system bus;

[0057] The processor and the memory are connected via the system bus;

[0058] The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the method described in any of the embodiments of the first aspect above.

[0059] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the method described in any of the embodiments of the first aspect.

[0060] Therefore, this application has the following beneficial effects:

[0061] This application provides a method, apparatus, device, and storage medium for controlling surgical instruments. The method is applied to a control device connected to a control handle and a surgical instrument. The control handle includes a handle body and two rocker arms mounted on the handle body. The two rocker arms are positioned on different surfaces of the handle body, allowing for single-handed operation using two fingers. The rocker arms can perform pressing or pushing actions. The rocker arm operation is relatively simple, facilitating the use of the two-rocker control handle by medical personnel to control the surgical instrument.

[0062] The method includes: first, acquiring control commands from the control handle. These commands include joystick action information for two joysticks, with the joystick action information including the joystick action type. Based on the joystick action types, a control mode is determined. If the joystick action types include a pressing action, the control mode is determined to be a pressing mode; if the joystick action types include a pushing action, the control mode is determined to be a pushing mode. Next, based on the joystick action information and the control mode, instrument action information describing the instrument's movement is determined. Instrument actions include one or more of the instrument's functional actions and movement actions. Finally, based on the instrument action information, the surgical instrument is controlled to perform the instrument action. In this way, pressing or pushing the joysticks, according to the control mode, allows control of the surgical instrument to move or perform functional actions. Controlling surgical instruments via joysticks is relatively simple, requiring medical personnel to learn and adapt to multi-button control logic. Attached Figure Description

[0063] Figure 1a and Figure 1b This is a schematic diagram illustrating an application scenario of a surgical instrument control method provided in an embodiment of this application;

[0064] Figure 2 A schematic flowchart illustrating a method for controlling a surgical instrument according to an embodiment of this application;

[0065] Figure 3 A schematic diagram illustrating how the movement of surgical instruments is controlled by sub-modes of the three control modes provided in the embodiments of this application;

[0066] Figure 4 This is a schematic diagram of the structure of a control device for a surgical instrument provided in an embodiment of this application. Detailed Implementation

[0067] To facilitate understanding and explanation of the technical solutions provided in the embodiments of this application, the background technology of this application will be described first.

[0068] Surgical robots are applicable to a variety of surgeries, especially interventional procedures. For example, in the diagnosis and treatment of natural cavities such as the digestive and respiratory tracts, where the surgical space is relatively narrow, surgical robots are often required to control surgical instruments. Surgical instruments can be flexible. Flexible instruments typically have characteristics such as bendability and deformability, making them suitable for complex, narrow, or irregular operating environments.

[0069] Medical staff can control surgical instruments through the control console of the surgical robot. Current control consoles include control handles with buttons. The control logic of button-controlled surgical instruments is relatively complex, requiring learning and familiarization with the function of each button. Learning button control is difficult for medical staff, and accidental button presses can easily lead to operational errors.

[0070] Based on this, this application provides a method for controlling a surgical instrument. This method is applied to a control device that connects a control handle and a surgical instrument. The control handle includes a handle body and two rockers mounted on the handle body. The two rockers are mounted on different surfaces of the handle body, facilitating single-handed operation by using two fingers to operate each rocker separately. The rockers can perform pressing or pushing actions. The operation of the rockers is relatively simple, making it convenient for medical personnel to use the two-rocker control handle.

[0071] The control method for this surgical instrument includes: first, acquiring control commands from a control handle containing joystick motion information (including two joysticks). The joystick motion information includes the joystick motion type. Based on the joystick motion types, a control mode is determined. The control mode includes one or both of a push mode and a press mode. Next, based on the joystick motion information and the control mode, instrument motion information describing the instrument's movement is determined. Instrument motion includes one or more of a functional movement and a movement movement. Finally, based on the instrument motion information, the surgical instrument is controlled to perform the instrument motion. By pressing or pushing the joysticks, according to the control mode, the surgical instrument can be controlled to move or perform functional movements. Controlling surgical instruments using joysticks is relatively simple, requiring no learning or adaptation of multi-button control logic by medical personnel. Furthermore, the combination of two joysticks can achieve multiple control methods, meeting the needs for multi-degree-of-freedom control of surgical instruments.

[0072] To facilitate understanding of the technical solutions provided in the embodiments of this application, the control method of the surgical instruments provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0073] See Figure 1a As shown in the figure, this is a schematic diagram of an application scenario for a surgical instrument control method provided in an embodiment of this application. The surgical instrument control method provided in this embodiment can be applied to a control device 101. The control device 101 is connected to a control handle 102 and a surgical instrument 103, respectively.

[0074] The control handle 102 includes a handle body 1021 and two joysticks disposed on the handle body 1021, namely a first joystick 1022 and a second joystick 1023. The two joysticks are disposed on different surfaces of the handle body 1021. See, for example... Figure 1bAs shown, the first joystick 1022 and the second joystick 1023 are respectively disposed on the upper and lower surfaces of the handle body 1021. The operator can control the two joysticks using their thumb and forefinger, or two other fingers, while gripping the handle with other fingers, achieving one-handed operation. The joysticks can perform pressing or pushing actions.

[0075] It should be noted that the positions of the two joysticks on the control handle 102 can be flexibly set as needed. Figure 1b The two joysticks are respectively located on the upper and lower surfaces of the control handle 102, which is only an example. For example, the two joysticks can be located on the upper and side surfaces of the control handle 102, respectively.

[0076] Operators, such as medical personnel, can trigger control commands by operating two joysticks. Control device 101 acquires these control commands. The control commands include joystick action information for the first joystick 1022 and the second joystick 1023. The joystick action information for the first joystick 1022 describes its movement. The joystick action information for the second joystick 1023 describes its movement. Control device 101 determines the control mode based on the joystick action type. Control modes include push and push modes. The control mode indicates the control method for the surgical instruments. Based on the joystick action information and the control mode, control device 101 determines instrument action information, which describes the instrument's movement. Instrument actions include one or more of the instrument's functional and movement actions. Based on the instrument action information, control device 101 controls the surgical instruments to perform the instrument actions.

[0077] Controlling surgical instruments with joysticks is relatively simple, has a low learning curve, and does not require medical staff to learn and adapt to multi-button control logic. Furthermore, the combination of two joystick movements can achieve various control methods, meeting the needs for multi-degree-of-freedom control of surgical instruments.

[0078] Furthermore, operators can control surgical instruments by operating the two joysticks with one hand, allowing them to control other instruments with the other hand, thus achieving compatibility in controlling multiple surgical instruments. For example, when medical staff also need to control the endoscope, one person can control the endoscope with one hand and the surgical instruments with the other hand using the control handle, eliminating the need for additional medical staff to assist in controlling the surgical instruments, thereby reducing labor and operational costs.

[0079] See Figure 2 As shown, this figure is a schematic flowchart of a surgical instrument control method provided in an embodiment of this application. Figure 2 As shown in the embodiment of this application, a method for controlling a surgical instrument includes steps S201-S205.

[0080] S201: The control device receives control commands from the control handle.

[0081] A control device is a device that connects a control handle to surgical instruments. The control device is used to control the surgical instruments to perform instrument movements based on the joystick action of the control handle.

[0082] This application does not limit the type of control device. The control device can be a standalone physical device or a virtual module that implements the control function of a device. As an example, the control device is the controller of a surgical robot.

[0083] The control handle connected to the control device is a dual-joystick control handle, meaning it includes two joysticks. A dual-joystick control handle consists of a handle body and two joysticks. It may also include a grip sensor, function buttons, and internal circuitry. The grip sensor detects whether the control handle is being gripped. The function buttons assist in operating the control handle. The internal circuitry generates control commands for the control handle.

[0084] The two joysticks are mounted on different surfaces of the control handle body. For example... Figure 1b As shown, two joysticks can be mounted on the upper and lower surfaces of the handle body. Furthermore, the two joysticks are located on the same axis, which is perpendicular to the horizontal plane of the handle body.

[0085] The two joysticks can have the same control level; that is, there is no distinction between a master and slave joystick. Control is based solely on joystick movements to determine the instrument's action. Alternatively, the two joysticks can have different control levels. For example, the joystick located on the upper surface can be designated as the master joystick, and the joystick located on the lower surface as the slave joystick. During control, the more important information about the instrument's action, such as direction, is determined based on the master joystick's movement, while the slave joystick is used to assist in determining less important information, such as speed.

[0086] The joystick can perform both pressing and pushing actions. As an example, the joystick can remain pressed and then be released by pressing it again. As another example, the joystick can only perform pressing actions and cannot remain pressed.

[0087] The pushing action has a direction. The direction of the pushing action refers to the direction from the original position when the joystick is not pushed to the position of the joystick after the push. The pushing action can have four directions: forward, backward, left, and right, or it can have a direction covering 360 degrees, which can be set according to the control needs.

[0088] It should be noted that in one possible implementation, the joystick can perform both pressing and pushing actions simultaneously. For example, after pressing, the joystick can be pushed while still in the pressed state. In another possible implementation, the joystick resets after being pressed, and can only perform either pressing or pushing actions, not both simultaneously.

[0089] The control device can acquire control commands from the control handle. This application does not limit the method by which the control handle sends control commands to the control device. As an example, the control handle can generate control commands in real time and send them to the control device. As another example, the control commands from the control handle are generated based on the operator's operation of the joysticks. The control handle can generate control commands corresponding to the changed joysticks when the states of the two joysticks change, and send them to the control device.

[0090] Control commands include joystick action information for both joysticks. Joystick action information describes the joystick movements. Joystick action information includes the joystick action type. The joystick action type includes one or more of the following: pressing and pushing actions.

[0091] When the two joysticks have different control levels, the joystick action information includes a joystick identifier. The joystick identifier is used to mark the joysticks and distinguish them. Based on the joystick identifier included in the joystick action information, the specific joystick actions performed by each joystick can be determined.

[0092] Control commands can also include timing information. This timing information indicates the moment the control command was generated. This allows for determining when the operator manipulates the control handle based on the timing information, and thus the sequence of actions performed by the surgical instruments.

[0093] S202: If the joystick action type of both joysticks includes a pressing action, the control device determines that the control mode includes the pressing mode.

[0094] The control mode is a method of controlling surgical instruments via a joystick. The control mode is used to determine the movement of the instruments.

[0095] The control mode is related to the type of joystick action. Control modes can be divided into push mode and push mode.

[0096] The control methods are as follows: Press mode involves controlling the surgical instrument by pressing a joystick; Push mode involves controlling the surgical instrument by pushing a joystick. The logic for determining instrument movement differs between the two control modes.

[0097] In one possible implementation, the joystick action is determined based on the joystick action type of the two joysticks, and the control mode is determined based on the joystick action.

[0098] Specifically, if the joystick action types of both joysticks include pressing actions, the control mode is determined to be the pressing mode.

[0099] As an example, if the control levels of the two joysticks are the same, and the joystick action types of the two joysticks include pressing actions, that is, if it is determined that at least one joystick has a pressing action based on the joystick action types of the two joysticks, then the control mode is determined to be pressing mode.

[0100] As another example, if the control levels of the two joysticks are different, and the joystick action type of both joysticks includes a press action, and the joystick action type of the master joystick includes a press action, then the control mode is determined to be the press mode.

[0101] After determining the control mode, the specific instrument action can be determined based on the joystick movement information of the two joysticks and the control mode. The instrument action is the movement that the surgical instrument is to perform. For details on how to determine the instrument action based on the pressing mode, please refer to the relevant description below.

[0102] S203: If the joystick action type of both joysticks includes a push action, the control device determines that the control mode includes the push mode.

[0103] Based on the joystick action types of the two joysticks, determine the joystick action, and then determine the control mode based on the joystick action.

[0104] Specifically, if the joystick action types of both joysticks include push actions, the control mode is determined to be push mode.

[0105] As an example, if the control levels of the two joysticks are the same, and the joystick action types of the two joysticks include push actions, that is, if it is determined that at least one joystick has a push action based on the joystick action types of the two joysticks, then the control mode is determined to be push mode.

[0106] As another example, when the control levels of the two joysticks are different, if the joystick action type of both joysticks includes a push action, and the joystick action type of the master control joystick includes a push action, then the control mode is determined to be the push mode.

[0107] After determining the control mode, the specific instrument action can be determined based on the joystick movement information of the two joysticks and the control mode. The instrument action is the movement that the surgical instrument is to perform. For details on how to determine the instrument action based on the push mode, please refer to the relevant description below.

[0108] It should be noted that push mode and press mode can coexist. For example, if one joystick can simultaneously perform a press action and a push action, or if one joystick performs a press action and the other performs a push action, then push mode and press mode coexist. When push mode and press mode coexist, the sub-actions included in the instrument action can be determined according to push mode and push action, and the other sub-actions included in the instrument action can be determined according to press mode and press action.

[0109] Furthermore, push and press modes can also exist independently. This allows for flexible configuration based on control needs.

[0110] In some possible implementations, the push mode includes multiple sub-modes. These sub-modes correspond to different control logics. This allows for the fulfillment of multi-degree-of-freedom control requirements for surgical instruments. For a detailed description of the various sub-modes of the push mode and how they are determined, please refer to the following section.

[0111] S204: The control device determines the motion information of the instrument based on the rocker arm motion information of the two rockers and the control mode.

[0112] After determining the control mode, based on the joystick motion information of the two joysticks and the control mode, the instrument actions to be performed by the surgical instruments can be determined, generating instrument action information. This instrument action information describes the instrument actions.

[0113] Surgical instruments can perform one or more of the following actions: instrumental actions and movement actions.

[0114] Among these, the functional actions of the instruments are related to the function of the surgical instruments themselves. For example, if the surgical instrument is an injection needle, its functional action is injection. Another example is a biopsy forceps, whose functional action is opening and closing the jaws. Yet another example is a snare, whose functional action is releasing and retracting the snare.

[0115] Movement refers to the movement of surgical instruments.

[0116] The motion information of the apparatus must include at least the motion type. For some types of apparatus motions, such as movement motions, the motion information also needs to determine the target direction and movement speed.

[0117] The following describes the possible ways to determine the device's motion information based on the joystick motion information of the two joysticks and the control mode in both push and push modes.

[0118] First, the control modes include push-button mode.

[0119] The joystick action information for both joysticks includes the joystick action type. Specifically, the joystick action type for both joysticks includes a press action.

[0120] The push-button mode can indicate the correspondence between the push-button action of the joystick and the functional action of the surgical instruments.

[0121] Based on the pressing action and pressing pattern, determine the first action type included in the device action information. The first action type is the device functional action.

[0122] Therefore, when the operator presses the joystick, the surgical instruments can be controlled to perform instrument functions.

[0123] Furthermore, for surgical instruments involving two functional actions, the control device can determine the functional action by the number of presses and the initial state. For example, taking biopsy forceps as an example, if the initial state is that the jaws are closed, then an odd number of presses corresponds to opening the jaws, and an even number of presses corresponds to closing the jaws. The joystick action information can include the number of presses. As one possible implementation, the joystick action information can include the number of presses and the initial state. Alternatively, as another possible implementation, the control device can record the number of presses and the initial state based on historically acquired joystick action information.

[0124] Second, the control mode includes the push mode.

[0125] The joystick action information for both joysticks includes the joystick action type, push direction, and push speed. The joystick action type includes a push action. The push direction is the direction in which the joystick performs the push action. The push speed is the speed at which the joystick performs the push action. Push speed can also be represented by the push distance.

[0126] The push mode indicates the correspondence between the push action of the joystick and the movement of the surgical instruments. In other words, the operator can control the movement of the surgical instruments by pushing the joystick. Because there are multiple ways to push the joystick, various methods of controlling the movement of surgical instruments can be achieved, improving the flexibility and freedom of control and meeting the needs of surgical procedures.

[0127] In push mode, the device motion information includes two aspects: the second motion type and the movement speed. Based on the joystick motion information and the control mode, the device motion information is determined through the following two steps:

[0128] Step A: Determine the type of the second action based on the direction and mode of the push.

[0129] The second type of motion is a movement in a target direction. The target direction is the direction in which the surgical instrument will move when performing the movement. The target direction corresponds to the pushing direction. The correspondence between the target direction and the pushing direction is determined based on the pushing pattern. The pushing pattern is used to indicate the correspondence between the target direction and the pushing direction.

[0130] In one possible implementation, see Figure 1b As shown, the pushable space of the two joysticks can be constructed as a geometric isomorphism with the same degrees of freedom as the surgical instrument. Specifically, by treating the two joysticks as a geometrically isomorphic body elastically connected, a similar geometric isomorphism is also constructed at the end of the surgical instrument, i.e., the end that performs the instrument's movement. This geometric isomorphism is used to link the attitudes of the two joysticks with the attitudes of the surgical instrument.

[0131] As an example, the two joysticks, positioned vertically opposite each other, form a geometric isomorphism in space, resembling an hourglass structure. The upper and lower joysticks correspond to the upper cone and lower pyramidal structures of the hourglass, respectively. The swinging of the two joysticks can be seen as applying force to the isomorphic geometry, corresponding to the geometry's translation, left-right swing, up-down pitch, and rotation around its axis.

[0132] Correspondingly, the movements of surgical instruments during surgery mainly include four forms: forward and backward movement, left and right movement, up and down pitching, and rotation. Imagine a virtual geometric isomorphism within the surgical instrument. The spatial movements of the surgical instrument can also be viewed as the translation, pitching, oscillation, and rotation around an axis of this geometric isomorphism.

[0133] Based on the establishment of geometric isomorphism, the pushing direction of the two joysticks forms a spatial correspondence with the target direction of movement of the surgical instrument. For example, the forward pushing direction of the joysticks can be preset. The pushing mode is used to indicate the forward pushing direction, which corresponds to the target direction of the surgical instrument's forward movement. Operators, based on their spatial imagination, can associate the forward pushing direction of the joysticks with the target direction of the surgical instrument being the forward pushing direction. This correspondence between the target direction and the pushing direction conforms to operational logic, reducing the difficulty of learning and operating surgical instruments using two joysticks.

[0134] Step B: Determine the traverse speed based on the pushing speed and pushing mode. The traverse speed is the speed at which the surgical instrument moves when performing a traverse action. The traverse speed corresponds to the pushing speed. This correspondence is also determined based on the pushing mode. The pushing mode is used to indicate the correspondence between the traverse speed and the pushing speed.

[0135] S205: The control device controls the surgical instruments to perform instrument actions based on the instrument action information.

[0136] The control device controls the surgical instruments according to the information included in the instrument motion information. The control method of the control device controlling the surgical instruments can be the control method that the control device itself has for the surgical instruments, and this application does not limit this.

[0137] In some possible implementations, the joystick's pushing action is quite flexible, with corresponding pushing modes including multiple sub-modes. Each sub-mode corresponds to a control method for controlling surgical instruments by pushing the joystick. Different sub-modes correspond to different control methods. This allows for more flexible control of the movement of surgical instruments, meeting the need for flexible control of surgical instruments.

[0138] The following section introduces the various sub-modes included in the promotion model.

[0139] The number of joysticks that perform the pushing action is determined based on the joystick action type of the two joysticks.

[0140] Based on the number of joysticks used in the push mode, the push mode can be divided into single-stick mode and double-stick mode.

[0141] If only one of the two joysticks performs the pushing action, the pushing mode is determined to be single-stick mode. Single-stick mode is a control mode where only one joystick is pushed to control the surgical instrument. It should be noted that for dual joysticks with the same control level, single-stick mode is triggered when exactly one of the two joysticks performs the pushing action. For dual joysticks with different control levels, single-stick mode is triggered when only the primary control joystick performs the pushing action.

[0142] If two joysticks are used to perform the pushing action, the pushing mode is determined to be the dual-joystick mode. Dual-joystick mode is a control mode in which two joysticks are used to jointly control the surgical instrument.

[0143] Furthermore, when both joysticks perform a pushing action, the dual-joystick sub-mode can be divided into dual-joystick simultaneous action mode and dual-joystick differential action mode according to whether the action directions of the two joysticks are the same.

[0144] If the two joysticks move in the same direction, the dual-joystick mode is determined to be the simultaneous dual-joystick mode. The simultaneous dual-joystick mode is a control method where surgical instruments are controlled by pushing the two joysticks in the same direction.

[0145] If the two joysticks move in different directions, the dual-joystick mode is determined to be the dual-joystick differential mode. Dual-joystick differential mode is a control method where surgical instruments are controlled by pushing two joysticks in different directions.

[0146] The above describes how the sub-modes of the three control modes are determined. The control methods for these sub-modes will be described below.

[0147] In one possible implementation, the single-lever mode, the dual-lever synchronous mode, and the dual-lever differential mode control the movement of surgical instruments in different ways.

[0148] As an example, see Figure 3 As shown in the figure, this figure is a schematic diagram of the sub-mode control of the movement of surgical instruments provided in the embodiments of this application.

[0149] First, the control methods for single-lever mode and dual-lever simultaneous operation mode will be explained.

[0150] Since the two joysticks move in the same direction in the dual-lever simultaneous mode, this mode can be considered an enhanced version of the single-lever sub-mode. This aligns with control logic, reduces the learning curve for operators, and simplifies operation.

[0151] The control method for the second action type is the same in both single-lever mode and dual-lever simultaneous action mode.

[0152] Both single-lever mode and dual-lever simultaneous movement mode control the surgical instrument to move horizontally. That is, the target direction is horizontal. The horizontal direction includes horizontal forward movement, horizontal backward movement, horizontal leftward movement, and horizontal rightward movement. The horizontal direction is the direction encompassed by the horizontal plane operated by the surgical instrument.

[0153] The single-lever mode and the dual-lever simultaneous mode differ in their control methods regarding movement speed. The single-lever mode indicates the first conversion relationship from push speed to movement speed. The dual-lever simultaneous mode indicates the second conversion relationship from push speed to movement speed. The first and second conversion relationships are different.

[0154] Specifically, the second transformation relation is obtained by adjusting the first transformation relation. This application does not limit the method of adjustment.

[0155] For example, according to the first conversion relationship, the pushing speed A is converted into the moving speed A. According to the second conversion relationship, the pushing speed A is converted into the moving speed B. The moving speed B can be a multiple of the moving speed A. The value of the multiple is greater than 0. That is, the moving speed B can be slower or faster than the moving speed A. The multiple can be set based on control requirements.

[0156] The following examples illustrate how the determination of the apparatus motion information is achieved in single-bar mode and double-bar simultaneous motion mode.

[0157] See the coordinate system of the two joysticks. Figure 3As shown. The zero point is defined when the joystick is upright. The pose vector of each joystick can be represented as [x, y]. Where x is the forward / backward pushing distance, and y is the left / right pushing distance. The two joysticks are the first joystick and the second joystick, respectively. The first pose vector of the first joystick is represented as [...]. The second pose vector of the second joystick is represented as []. The first and second pose vectors can contain information about the propulsion direction and propulsion velocity.

[0158] Based on the pushing direction and speed of the first joystick, and the pushing direction and speed of the second joystick, the pose vectors of the two joysticks are represented as follows: .

[0159] Determine the mode matrix based on the control mode. :

[0160] ,in,

[0161] Where i is the mode identifier of the control mode.

[0162] Furthermore, the pose vectors of the two joysticks are converted into a six-dimensional pose vector of a geometric isomorphism. The six-dimensional pose vector includes the projected distances on the X, Y, and Z axes of the reference coordinate system, as well as the roll, pitch, and yaw angles.

[0163] For the single-rod mode, the six-dimensional pose vector of the geometric isomorphism can be represented as:

[0164]

[0165] For the two-bar simultaneous motion mode, the six-dimensional pose vector of the geometric isomorphism can be expressed as:

[0166]

[0167] in, and The parameter is used to indicate how the second transformation relationship is adjusted compared to the first transformation relationship. and It can be a positive number, and the specific value can be flexibly set according to the adjustment needs.

[0168] The six-dimensional pose vector of the surgical instrument can be represented as:

[0169]

[0170] Where K is the conversion ratio for different directions, it can be expressed as:

[0171]

[0172] Where K is a diagonal matrix, and each coefficient ki represents the motion mapping coefficient in the corresponding direction.

[0173] T is a diagonal matrix obtained by determining the pattern matrix. .

[0174] M is the pose mapping matrix from the joystick to the surgical instrument, and its form is: The pose matrix transforms the motion vectors of the joystick in the coordinate system into the motion vectors of the surgical instrument in the coordinate system. As an example:

[0175]

[0176] The six-dimensional pose vector of the surgical instrument includes the target direction and the movement speed.

[0177] This method allows for the determination of the control mode based on the joystick motion information of two joysticks, and the conversion of the pushing direction and speed into the pose vector of the joystick's geometric isomorphism. Then, the pose vector of the joystick's geometric isomorphism is converted into the instrument motion information of the surgical instrument. This achieves the conversion from joystick motion information to surgical instrument motion information and enables control of the surgical instrument's movement speed, avoiding the jittering of the surgical instrument caused by directly converting the joystick pose to the surgical instrument pose.

[0178] The process of determining the six-dimensional pose vector of the surgical instrument described above is only an example. Other pose vector representation methods and other data optimization methods can also be used, and this application does not limit them.

[0179] Second, the control method of the dual-bar differential mode will be explained.

[0180] In dual-stick differential mode, the two joysticks are pushed in different directions, and the pushing of the two joysticks can create a sense of rotation.

[0181] The dual-bar differential mode is used to control the rotation of surgical instruments. The target direction is either the rotation direction or the pitch direction. The rotation direction is axial rotation, and the axis used can be the axis of symmetry of the surgical instrument. The pitch direction is the pitch direction relative to the horizontal plane in which the surgical instrument is operating.

[0182] As an example, when the two joysticks are pushed in opposite directions (left and right), the target direction is the rotation direction. When the two joysticks are pushed in opposite directions (back and forth), the target direction is the pitch direction. In dual-stick differential mode, the movement speed can be a preset fixed value.

[0183] In the dual-bar differential mode, the pushing action of the two joysticks corresponds to rotation in a geometric isomorphism. This enables rotational control of surgical instruments, increasing the degrees of freedom in controlling surgical instruments and meeting the needs of surgical instrument control.

[0184] Based on the surgical instrument control method provided in the above embodiments, this application also provides a surgical instrument control device, which will be described below with reference to the accompanying drawings. The surgical instrument control device is applied to a control equipment, which is connected to a control handle and the surgical instrument. The control handle includes a handle body and two rockers disposed on the handle body. The two rockers are disposed on different surfaces of the handle body, and the rockers can perform pressing and pushing actions.

[0185] See Figure 4 As shown in the figure, this is a schematic diagram of the structure of a control device for a surgical instrument provided in an embodiment of this application. Figure 4 As shown, the control device for this surgical instrument includes:

[0186] The acquisition unit 401 is used to acquire the control command of the control handle, the control command includes the joystick action information of the two joysticks, the joystick action information is used to describe the action of the joysticks, and the joystick action information includes the joystick action type;

[0187] The first mode determination unit 402 is used to determine that if the rocker action type of the two rockers includes a pressing action, the control mode includes a pressing mode, wherein the pressing mode is a control method of controlling the surgical instrument by pressing the rocker;

[0188] The second mode determination unit 403 is used to determine that if the rocker action type of the two rockers includes a pushing action, the control mode includes a pushing mode, wherein the pushing mode is a control method of controlling the surgical instrument by pushing the rocker;

[0189] Information determination unit 404 is used to determine device action information based on the joystick action information of the two joysticks and the control mode. The device action information is used to describe the device action, which includes one or more of the device function action and movement action.

[0190] The control unit 405 is used to control the surgical instrument to perform the instrument action based on the instrument action information.

[0191] In one possible implementation, the second mode determining unit 403 is used to determine that the control mode includes a push mode, including:

[0192] The second mode determination unit 403 is used to determine the number of the two joysticks that perform the pushing action based on the joystick action type of the two joysticks; and to determine the sub-mode type of the pushing mode based on the number.

[0193] In one possible implementation, the second mode determining unit 403 is configured to determine the sub-mode type of the driving mode based on the quantity, including:

[0194] The second mode determination unit 403 is used to determine the pushing mode as a single-lever mode if only one of the two joysticks performs the pushing action, wherein the single-lever mode is a control method that pushes one joystick to control the surgical instrument; and to determine the pushing mode as a dual-lever mode if two of the two joysticks perform the pushing action, wherein the dual-lever mode is a control method that pushes two joysticks together to control the surgical instrument.

[0195] In one possible implementation, the second mode determining unit 403, for the joystick action information, further includes the action direction, and the determination of the push mode as a dual-stick sub-mode includes:

[0196] The second mode determination unit 403 is used to determine the dual-lever sub-mode as a dual-lever synchronous mode if the two joysticks move in the same direction, wherein the dual-lever synchronous mode is a control method in which the two joysticks are pushed in the same direction to control the surgical instrument; and to determine the dual-lever differential mode as a dual-lever differential mode if the two joysticks move in different directions, wherein the dual-lever differential mode is a control method in which the two joysticks are pushed in different directions to control the surgical instrument.

[0197] In one possible implementation, the control mode includes a push-button mode, and the information determination unit 404 is specifically used for:

[0198] Based on the pressing action and the pressing pattern, a first action type is determined, wherein the first action type is the instrument function action of the surgical instrument.

[0199] In one possible implementation, the control mode includes a push mode, and the joystick action information further includes the push direction and push speed. The information determination unit 404 is specifically used for:

[0200] Based on the pushing direction and the pushing pattern, a second action type is determined, which is a movement action towards a target direction, the target direction corresponding to the pushing direction, and the pushing pattern indicating the correspondence between the target direction and the pushing direction; based on the pushing speed and the pushing pattern, a movement speed is determined, the movement speed corresponding to the pushing speed, and the pushing pattern indicating the correspondence between the movement speed and the pushing speed.

[0201] In one possible implementation, the pushing mode is a single-lever mode or a dual-lever simultaneous mode. The single-lever mode is a mode in which one joystick is pushed to control the surgical instrument, and the dual-lever simultaneous mode is a mode in which two joysticks are pushed in the same direction to control the surgical instrument. The target direction is the horizontal direction.

[0202] or,

[0203] The pushing mode is a dual-bar differential mode, which is a mode in which the two rockers are pushed in different directions to control the surgical instrument, and the target direction is the rotation direction or the pitch direction.

[0204] In one possible implementation, the pushing mode is a single-lever mode, which is a mode in which a single joystick is pushed to control the surgical instrument, and the single-lever mode is used to indicate a first conversion relationship from the pushing speed to the moving speed;

[0205] or,

[0206] The pushing mode is a dual-lever simultaneous movement mode, which is a mode in which the two levers are pushed in the same direction to control the surgical instrument. The dual-lever simultaneous movement mode is used to indicate a second conversion relationship from the pushing speed to the moving speed, and the first conversion relationship is different from the second conversion relationship.

[0207] Based on the surgical instrument control method provided in the above method embodiments, this application provides a surgical instrument control device, including: a processor, a memory, and a system bus;

[0208] The processor and the memory are connected via the system bus;

[0209] The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the control method of the surgical instrument described in any of the above embodiments.

[0210] Based on the surgical instrument control method provided in the above embodiments, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the surgical instrument control method described in any of the above embodiments.

[0211] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0212] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0213] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0214] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0215] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a surgical instrument, characterized in that, The method is applied to a control device, which is connected to a control handle and a surgical instrument respectively. The control handle includes a handle body and two rockers disposed on the handle body. The two rockers are disposed on different surfaces of the handle body. The rockers are capable of performing pressing and pushing actions. The method includes: Obtain control commands from the control handle, the control commands including joystick action information of the two joysticks, the joystick action information describing the action of the joysticks, and the joystick action information including the joystick action type; If the joystick action type of the two joysticks includes a pressing action, the control mode is determined to include a pressing mode, wherein the pressing mode is a control method of controlling the surgical instrument by pressing the joystick; If the joystick action type of the two joysticks includes a pushing action, the control mode is determined to include a pushing mode, which is a control method of controlling the surgical instrument by pushing the joystick; Based on the joystick motion information of the two joysticks and the control mode, the device motion information is determined. The device motion information is used to describe the device motion, which includes one or more of the device's functional motion and movement motion. Based on the instrument action information, the surgical instrument is controlled to perform the instrument action.

2. The method according to claim 1, characterized in that, The determined control mode includes a push mode, which includes: Based on the joystick action type of the two joysticks, determine the number of joysticks that perform the pushing action; The sub-mode type of the driving mode is determined based on the quantity.

3. The method according to claim 2, characterized in that, The step of determining the sub-mode type of the driving mode based on the quantity includes: If only one of the two joysticks performs the pushing action, the pushing mode is determined to be a single-joystick mode, which is a control method that uses one joystick to control the surgical instrument. If two of the two joysticks perform the pushing action, the pushing mode is determined to be a dual-joystick mode, which is a control method in which two joysticks are pushed together to control the surgical instrument.

4. The method according to claim 3, characterized in that, The joystick action information also includes the direction of action, and the determination of the push mode as a dual-stick mode includes: If the two joysticks move in the same direction, the dual-joystick mode is determined to be the dual-joystick simultaneous movement mode, which is a control method in which the two joysticks are pushed in the same direction to control the surgical instrument; If the two joysticks move in different directions, the dual-joystick mode is determined to be a dual-joystick differential mode. The dual-joystick differential mode is a control method in which the two joysticks are pushed in different directions to control the surgical instrument.

5. The method according to claim 1, characterized in that, The control mode includes a push-button mode. Determining the device action information based on the joystick motion information of the two joysticks and the control mode includes: Based on the pressing action and the pressing pattern, a first action type is determined, wherein the first action type is the instrument function action of the surgical instrument.

6. The method according to claim 1, characterized in that, The control mode includes a push mode, and the joystick motion information also includes the push direction and push speed. Determining the device motion information based on the joystick motion information of the two joysticks and the control mode includes: Based on the pushing direction and the pushing pattern, a second action type is determined. The second action type is a movement action towards a target direction, which corresponds to the pushing direction. The pushing pattern is used to indicate the correspondence between the target direction and the pushing direction. The moving speed is determined based on the pushing speed and the pushing mode, wherein the moving speed corresponds to the pushing speed, and the pushing mode is used to indicate the correspondence between the moving speed and the pushing speed.

7. The method according to claim 6, characterized in that, The pushing mode is either a single-lever mode or a dual-lever simultaneous mode. The single-lever mode is a mode in which one joystick is pushed to control the surgical instrument, and the dual-lever simultaneous mode is a mode in which two joysticks are pushed in the same direction to control the surgical instrument. The target direction is the horizontal direction. or, The pushing mode is a dual-bar differential mode, which is a mode in which the two rockers are pushed in different directions to control the surgical instrument, and the target direction is the rotation direction or the pitch direction.

8. The method according to claim 6, characterized in that, The pushing mode is a single-lever mode, which is a mode in which a single joystick is pushed to control the surgical instrument. The single-lever mode is used to indicate a first conversion relationship between the pushing speed and the moving speed. or, The pushing mode is a dual-lever simultaneous movement mode, which is a mode in which the two levers are pushed in the same direction to control the surgical instrument. The dual-lever simultaneous movement mode is used to indicate a second conversion relationship from the pushing speed to the moving speed, and the first conversion relationship is different from the second conversion relationship.

9. A control device for a surgical instrument, characterized in that, The device is applied to a control equipment, which is connected to a control handle and a surgical instrument respectively. The control handle includes a handle body and two rockers disposed on the handle body. The two rockers are disposed on different surfaces of the handle body. The rockers are capable of performing pressing and pushing actions. The device includes: The acquisition unit is used to acquire the control command of the control handle, the control command including the joystick action information of the two joysticks, the joystick action information being used to describe the action of the joysticks, and the joystick action information including the joystick action type; The first mode determination unit is used to determine that if the joystick action type of the two joysticks includes a pressing action, the control mode includes a pressing mode, wherein the pressing mode is a control method of controlling the surgical instrument by pressing the joystick; The second mode determination unit is used to determine that if the rocker arm action type of the two rockers includes a pushing action, the control mode includes a pushing mode, wherein the pushing mode is a control method of controlling the surgical instrument by pushing the rocker arm; The information determination unit is used to determine the device action information based on the joystick action information of the two joysticks and the control mode. The device action information is used to describe the device action, which includes one or more of the device's functional action and movement action. The control unit is used to control the surgical instrument to perform the instrument action based on the instrument action information.

10. A control device for surgical instruments, characterized in that, include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, the one or more programs including instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the method described in any one of claims 1-8.

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