Clamping force control system and method, surgical robot system and computer equipment

Abstract

The invention relates to a clamping force control system and method, a surgical robot system and computer equipment. The system comprises a detection module used for detecting the actual clamping force of a clamping device at the tail end of a surgical instrument; the first acquisition module is used for acquiring a clamping operation instruction of the clamping device; the first control module is used for controlling the change of the actual clamping force according to the actual clamping force and the preset clamping force under the condition that the clamping operation instruction is used for instructing the clamping device to execute the closing operation; the preset clamping force is the maximum clamping force limit value when the clamping device executes the closing operation. By adopting the system, the safety can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technical field, in particular to a clamping force control system, method, surgical robot system and computer device. BACKGROUND

[0002] In the process of surgery, the doctor can clamp, pull, coagulate, close and so on the patient's tissue or other material through the clamping device.

[0003] However, the doctor's hand needs to be continuously forced to stabilize the clamping device at present, which is easy to cause the doctor's hand fatigue and the clamping force of the clamping device is not suitable, and even causes the clamping device to fall off or tissue damage in serious cases. Therefore, how to provide a control system with high safety to control the clamping force of the clamping device is the focus of the person skilled in the art. SUMMARY

[0004] Therefore, it is necessary to provide a clamping force control system, method, surgical robot system and computer device with high safety for the above technical problems.

[0005] In a first aspect, the present application provides a clamping force control system, comprising:

[0006] A detection module is configured to detect an actual clamping force of a clamping device at the end of a surgical instrument.

[0007] A first acquisition module is configured to acquire a clamping operation instruction of the clamping device.

[0008] A first control module is configured to, in a case where the clamping operation instruction is used to instruct the clamping device to perform a closing operation, control a change of the actual clamping force according to the actual clamping force and a preset clamping force. The preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0009] In one of the embodiments, the first control module is configured to, if the actual clamping force is less than the preset clamping force, control the actual clamping force to increase.

[0010] In one of the embodiments, the first control module is configured to, if the actual clamping force is not less than the preset clamping force, control the actual clamping force to decrease or remain unchanged.

[0011] In one of the embodiments, the system further comprises:

[0012] A second control module is configured to, in a case where the tissue of interest in the target image does not move with the clamping device, control the actual clamping force to increase.

[0013] In one of the embodiments, the system further comprises:

[0014] The third control module is configured to control the actual clamping force to be unchanged or reduced when the damage rate of the tissue of interest in the target image is greater than a preset damage rate.

[0015] In one of the embodiments, the system further includes:

[0016] The fourth control module is configured to control the surgical instrument to open according to the clamping operation instruction when the clamping operation instruction is used to instruct the clamping device to perform an opening operation.

[0017] In one of the embodiments, the system further includes:

[0018] The second acquisition module is configured to acquire a preset clamping force in response to an input operation based on the clamping force input device; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of the region of interest, and a type of the surgical instrument.

[0019] In a second aspect, the present application further provides a clamping force control method, including:

[0020] detecting an actual clamping force of a clamping device at a distal end of a surgical instrument;

[0021] acquiring a clamping operation instruction of the clamping device;

[0022] controlling a change of the actual clamping force according to the actual clamping force and a preset clamping force when the clamping operation instruction is used to instruct the clamping device to perform a closing operation; the preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0023] In a third aspect, the present application further provides a surgical robot system, which includes the clamping force control system according to any one of the above.

[0024] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0025] In a fifth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of any one of the above methods when executed by a processor.

[0026] In a sixth aspect, the present application further provides a computer program product, including a computer program, and the computer program implements the steps of any one of the above methods when executed by a processor.

[0027] The clamping force control system, the clamping force control method, the surgical robot system and the computer device have the advantages that the actual clamping force of the clamping device at the end of the surgical instrument is detected, and the clamping operation instruction of the clamping device is acquired. Since the preset clamping force is the maximum clamping force limit value when the clamping device performs the closing operation, when the clamping operation instruction is used to instruct the clamping device to perform the closing operation, the actual clamping force is controlled according to the actual clamping force and the preset clamping force after the change of the actual clamping force. Therefore, when the closing operation is performed, the doctor's hand does not need to be continuously forced to stabilize the clamping device, and the actual clamping force can be controlled near the preset clamping force. On the one hand, the situation that the clamping is unstable or falls off due to the too small clamping force is reduced. On the other hand, the situation that the tissue is damaged in the clamping process due to the too large clamping force is reduced. Therefore, the safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 FIG. 1 is a structural schematic diagram of a clamping force control system according to an embodiment of the present application;

[0030] Figure 2 FIG. 2 is a structural schematic diagram of another clamping force control system according to an embodiment of the present application;

[0031] Figure 3 FIG. 3 is a structural schematic diagram of another clamping force control system according to an embodiment of the present application;

[0032] Figure 4 FIG. 4 is a structural schematic diagram of another clamping force control system according to an embodiment of the present application;

[0033] Figure 5 FIG. 5 is a structural schematic diagram of another clamping force control system according to an embodiment of the present application;

[0034] Figure 6 FIG. 6 is a flow schematic diagram of a clamping force control method according to an embodiment of the present application;

[0035] Figure 7 FIG. 7 is an interaction architecture diagram of a clamping force control method according to an embodiment of the present application;

[0036] Figure 8 FIG. 8 is a process schematic diagram of a clamping force control method according to an embodiment of the present application;

[0037] Figure 9A schematic diagram of a structure of a surgical robot system in an embodiment of the present application;

[0038] Figure 10 A schematic diagram of a structure of another surgical robot system in an embodiment of the present application;

[0039] Figure 11 An internal structure diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0041] Surgery using a surgical robot is increasingly widely used in the medical field. For example, in abdominal surgery, a surgeon needs to manipulate various control devices at a control console to transmit the surgeon's control instructions to a surgical robot (also referred to as a surgical cart) through the control console to control surgical instruments connected to the surgical robot, thereby achieving surgery on tissues.

[0042] Specifically, the surgical instrument includes a proximal end, a middle end and a distal end, and the distal end of the surgical instrument can be configured in different types to perform different surgical operations at different times. Through the control instructions, the servo motor of the power box of the surgical robot can output driving information to the proximal end of the corresponding surgical instrument, and the transmission mechanism inside the surgical instrument will deliver the driving information through the middle end to the end effector of the distal end. When using the clamping device at the distal end of the surgical instrument, the surgeon can control the clamping device through the power box to clamp, pull, coagulate, seal, etc. the tissue or other substances.

[0043] When using the clamping device to perform different operations on different tissues, the clamping force of the clamping device desired by the surgeon will also be different. For example, the clamping force required to clamp a catheter, a blood vessel, a liver, etc. fragile tissue is smaller than the clamping force required to clamp a uterus, and the clamping force required for mechanical pulling of the tissue should be smaller than the clamping force required for sealing. In some application scenarios, if the clamping force is not enough when coagulating the tissue, effective contact with the surface of the sealed tissue cannot be achieved, which may result in coagulation failure; if the clamping force is too large when coagulating the tissue, the tissue may be crushed, which also results in coagulation failure. In addition, when using the clamping device to cut the tissue, if the clamping force is attenuated due to the performance of the clamping device, it will also affect the efficiency and quality of the surgery.

[0044] In the related art, a doctor can control the opening and closing angle of the clamp opening and closing control mechanism of the control console to realize the opening and closing control of the clamping device and the corresponding clamping force control. However, in the related art, the doctor needs to press the clamp opening and closing control mechanism with fingers to control the clamp opening and closing control mechanism to be neither fully opened nor fully closed. At the same time, the doctor is required to continuously exert force with hands to maintain the clamping action to maintain the stable control of the opening and closing angle of the clamp opening and closing control mechanism. Therefore, in the related art, the surgeon's hands are prone to fatigue, and the clamping device is prone to unstable clamping or inappropriate clamping force, which may even cause the clamping device to fall off or cause tissue damage. Therefore, it is necessary to provide a clamping force control system capable of improving safety. The following will introduce the clamping force control system.

[0045] Figure 1 A schematic structural diagram of a clamping force control system in an embodiment of the present application is shown in FIG. 1. In an exemplary embodiment, the clamping force control system 100 includes a detection module 101, a first acquisition module 102, and a first control module 103. Figure 1

[0046] The detection module 101 is configured to detect the actual clamping force of the clamping device at the end of the surgical instrument.

[0047] In the present embodiment, the clamping device refers to a device capable of generating clamping force, which can include but is not limited to a clamp. The clamping device is arranged at the end of the surgical instrument, which can be an instrument connected to a surgical robot or a surgical instrument held by a doctor.

[0048] Further, the detection module 101 can detect the actual clamping force of the clamping device. Optionally, the detection module 101 can acquire the actual clamping force through a detection device. The detection device includes but is not limited to a force sensor connected to the clamping device.

[0049] It should be noted that the detection module 101 can periodically detect the actual clamping force of the clamping device during the operation, or detect the actual clamping force of the clamping device when the doctor needs to perform a closing operation, which is not limited in the present embodiment.

[0050] The first acquisition module 102 is configured to acquire a clamping operation instruction of the clamping device.

[0051] ​Further, the doctor can initiate a clamping operation instruction in case that the clamping device needs to be operated, and the first acquisition module 102 can acquire the clamping operation instruction of the clamping device. Optionally, the first acquisition module 102 can provide a visual interface, and the doctor can initiate the clamping operation instruction through the visual interface. The first acquisition module 102 can also provide other input components, such as a handle, so that the doctor can initiate the clamping operation instruction through the input component. In some embodiments, the clamping operation instruction can also be automatically triggered by the first acquisition module 102 according to actual conditions, and the present embodiment does not make any limitation.

[0052] Further optionally, the first acquisition module 102 can periodically acquire the clamping operation instruction, for example, the first acquisition module 102 acquires the clamping operation instruction every 4 milliseconds.

[0053] The clamping operation instruction is used to indicate the operation that the doctor expects the clamping device to perform. If the doctor expects the clamping device to perform a closing operation, the clamping operation instruction can be used to instruct the clamping device to perform the closing operation. If the doctor expects the clamping device to perform an opening operation, the clamping operation instruction can be used to instruct the clamping device to perform the opening operation.

[0054] Further optionally, the detection module 101 can acquire the actual clamping force of the clamping device when the clamping operation instruction is used to instruct the clamping device to perform a closing operation.

[0055] The first control module 103 is configured to control the change of the actual clamping force according to the actual clamping force and the preset clamping force when the clamping operation instruction is used to instruct the clamping device to perform a closing operation. The preset clamping force is a maximum clamping force limit value when the clamping device performs a closing operation.

[0056] In the present embodiment, the preset clamping force is a maximum clamping force limit value when the clamping device performs a closing operation. That is, the preset clamping force can not only make the clamping device perform a closing operation smoothly and reduce the situation of unstable clamping or falling off, but also reduce the situation of tissue damage during the performance of the closing operation, which is used to indicate the expected value of the clamping force of the clamping device.

[0057] For example, the first control module 103 can acquire the preset clamping force in response to the input of the doctor. The first control module 103 can also automatically calculate the preset clamping force according to at least one of the surgical procedure, the tissue characteristics, and the type of surgical instrument.

[0058] It should be noted that the preset clamping force can be determined before surgery or during surgery. For example, for experienced doctors, the preset clamping force can be set according to experience to avoid setting the preset clamping force during surgery, so as to ensure the continuity and efficiency of the operation. When the clamping device is used to operate the tissue during surgery, if the doctor finds that the clamping device cannot effectively clamp the tissue or causes tissue damage after clamping, the preset clamping force can be increased or decreased flexibly to achieve effective clamping of the tissue or reduce tissue damage. Alternatively, the preset clamping force can change, for example, as the number of uses or the use time of the surgical instrument increases, the preset clamping force can also increase accordingly.

[0059] Further, in the case where the clamping operation instruction is used to instruct the clamping device to perform the closing operation, the first control module 103 can control the change of the actual clamping force according to the actual clamping force and the preset clamping force.

[0060] For example, the first control module 103 can compare the actual clamping force and the preset clamping force, and in the case where the difference between the actual clamping force and the preset clamping force is not less than the preset difference, the difference between the actual clamping force and the preset clamping force is controlled to be less than the preset difference according to the difference between the actual clamping force and the preset clamping force based on proportional-integral-derivative (PID) adjustment or the like. The preset difference is set according to the requirement, which can be a number close to zero.

[0061] In the above clamping force control system, the actual clamping force of the clamping device at the end of the surgical instrument is detected, and the clamping operation instruction of the clamping device is obtained. Since the preset clamping force is the maximum clamping force limit value when the clamping device performs the closing operation, in the case where the clamping operation instruction is used to instruct the clamping device to perform the closing operation, after the change of the actual clamping force is controlled according to the actual clamping force and the preset clamping force, the actual clamping force can be controlled near the preset clamping force when the closing operation is performed, without the need for the doctor's hand to continuously exert force to stabilize the clamping device, on the one hand, reducing the situation of unstable clamping or falling off due to too small clamping force, on the other hand, also reducing the situation of tissue damage in the clamping process due to too large clamping force, improving the safety.

[0062] In an exemplary embodiment, the first control module 103 is configured to control the actual clamping force to increase if the actual clamping force is less than the preset clamping force.

[0063] In this embodiment, if the actual clamping force is less than the preset clamping force, it means that the actual clamping force is small, and the problem of clamping force attenuation caused by performance attenuation of the clamping device may occur. Therefore, in order to reduce the situation of clamping force attenuation, the first control module 103 controls the actual clamping force to increase.

[0064] Optionally, the first control module 103 can control the surgical instrument by controlling the driving information output by the driving device, so as to increase the actual clamping force of the clamping device.

[0065] The driving device refers to a device capable of controlling the movement of the surgical instrument, which can include but is not limited to a motor, a gear or a chain. The driving information includes but is not limited to a torque or a displacement, and in some embodiments, the driving information further includes the size and direction of the driving. The driving information is used to control the surgical instrument, and the clamping device is arranged at the end of the surgical instrument. Therefore, after the driving information is used to control the surgical instrument, the actual clamping force of the clamping device can be controlled to change. For example, the driving information can indicate that the driving device rotates forward, so as to control the surgical instrument to move forward, so as to drive the clamping device to close.

[0066] Further optionally, the clamping operation instruction can include a first clamping information change amount of the clamping device. The first clamping information change amount can indicate a change amount of the clamping device expected to perform the closing operation. The first clamping information change amount can be an angle, a displacement or the like that the clamping device needs to close. For example, if the doctor expects the clamping device to close 1°, the first clamping information change amount is 1°.

[0067] Further, the first control module 103 can increase the actual clamping force of the clamping device according to the first clamping information change amount. For example, the first control module 103 can determine the driving information according to the first clamping information change amount and a preset corresponding relationship. The preset corresponding relationship can include a corresponding relationship between the clamping information change amount and the driving information. For example, assuming that according to the preset corresponding relationship, the torque needs to be increased by 10 N (Newton) when closing 1°, the first control module 103 can determine the driving information as the torque of 10 N. Therefore, after the driving information is used to control the surgical instrument, the clamping device will be closed by 1°, so as to increase the actual clamping force of the clamping device.

[0068] In the above embodiments, since the actual clamping force can be increased when the actual clamping force is less than the preset clamping force, the problem of clamping force attenuation caused by the performance attenuation of the clamping device is avoided, the situation of unstable clamping or falling caused by too small clamping force is reduced, and the safety is improved.

[0069] In one of the embodiments, optionally, the first control module 103 is configured to control the actual clamping force to decrease or remain unchanged if the actual clamping force is not less than the preset clamping force.

[0070] In this embodiment, if the actual clamping force is not less than the preset clamping force, it means that the actual clamping force is large, and further closing the clamping device may damage the tissue. Therefore, the first control module 103 controls the actual clamping force to decrease or remain unchanged.

[0071] Optionally, the first control module 103 can control the driving device to stop outputting any driving information to avoid the clamping device continuing to close, so as to control the actual clamping force to be unchanged, in the case that the actual clamping force is not less than the preset clamping force.

[0072] Optionally, the first control module 103 can also control the surgical instrument by the driving information output by the driving device according to a certain step or according to the difference between the actual clamping force and the preset clamping force to reduce the actual clamping force of the clamping device, in the case that the actual clamping force is not less than the preset clamping force. For example, the driving information can instruct the driving device to reverse, and then control the surgical instrument to move reversely to drive the clamping device to open to reduce the actual clamping force. The principle of reducing the actual clamping force can refer to the process of increasing the actual clamping force, which will not be described here.

[0073] In the above embodiments, since the actual clamping force is controlled to be reduced or unchanged in the case that the actual clamping force is not less than the preset clamping force. Therefore, the possibility of the clamping device losing the tissue is reduced, and the safety is improved.

[0074] Figure 2 For another structure of a clamping force control system in the embodiments of the present application, as shown in FIG. 1B, in an exemplary embodiment, the clamping force control system 100 can further include a second control module 201. Figure 2

[0075] The second control module 201 is configured to control the actual clamping force to be increased in the case that the tissue of interest in the target image does not move with the clamping device.

[0076] In the present embodiment, the target image includes the image of the clamping device and the tissue of interest, and the tissue of interest refers to the tissue that needs to be clamped by the clamping device. Optionally, the determination module 401 can periodically acquire the target image through the visual sensor.

[0077] The second control module 201 can determine that the tissue of interest in the target image does not move with the clamping device in response to the input operation of the doctor. For example, the doctor can observe the region of interest in real time during the operation, and initiate the input operation to the third control module 301 in the case that the tissue of interest does not move with the clamping device.

[0078] In some embodiments, the second control module 201 can also identify the tissue of interest and the clamping device from the target image through a preset visual detection algorithm, and then determine whether the tissue of interest moves with the clamping device. For example, the determination module 401 can determine that the tissue of interest in the target image does not move with the clamping device in the case that the distance between the tissue of interest and the clamping device is greater than a preset distance for a preset time length. ​

[0079] Further, if the tissue of interest does not move with the clamping device, it indicates that the actual clamping force is too small at this time, that is, the actual clamping force is too small, and therefore the second control module 201 controls the actual clamping force to increase.

[0080] For example, the second control module 201 can increase the actual clamping force according to a preset step size. In some embodiments, the second control module 201 can also compare the actual clamping force with the first clamping force, and in the case that the difference between the actual clamping force and the first clamping force is not less than a first preset difference, the actual clamping force is controlled to increase according to the difference between the actual clamping force and the first clamping force based on a proportional-integral-derivative (PID) adjustment or the like. The first clamping force represents a clamping force that can effectively clamp the tissue of interest, which can be determined according to actual needs.

[0081] The second control module 201 can also determine an amount to be increased of the clamping force in response to an input operation of the doctor, and increase the actual clamping force according to the amount to be increased of the clamping force. For example, the doctor finds that the clamping device is separated from the tissue, and can input 10N to the third control module 301 according to experience, and then the third control module 301 can increase the actual clamping force by 10N.

[0082] Further optionally, the second control module 201 can control the surgical instrument by controlling the driving information output by the driving device to increase the actual clamping force of the clamping device. The process can refer to the above embodiments, which will not be described here.

[0083] In some embodiments, the second control module 201 is further configured to control the actual clamping force to increase if the actual clamping force is less than a preset clamping force and the tissue of interest in the target image does not move with the clamping device, and control the actual clamping force to increase if the actual clamping force is not less than the preset clamping force and the tissue of interest in the target image does not move with the clamping device.

[0084] In the above embodiments, the actual clamping force is controlled to increase in the case that the tissue of interest in the target image does not move with the clamping device. Therefore, the problem of clamping force decay caused by performance decay of the clamping device is reduced, the clamping instability or separation caused by too small clamping force is avoided, and the safety is improved.

[0085] Figure 3 FIG. 1 shows a structure schematic diagram of another clamping force control system in the embodiments of the present application. As shown in FIG. 1, in an example embodiment, the clamping force control system 100 can further include a third control module 301. Figure 3

[0086] The third control module 301 is configured to control the actual clamping force to be unchanged or decreased in the case that the damage rate of the tissue of interest in the target image is greater than a preset damage rate.​

[0087] In the embodiment, the third control module 301 can determine the damage rate of the tissue of interest according to a threshold segmentation algorithm, and determine whether the damage rate of the tissue of interest is greater than a preset damage rate. The preset damage rate can be set according to requirements. If the damage rate of the tissue of interest is greater than the preset damage rate, it indicates that the tissue has been damaged, and therefore the third control module 301 controls the actual clamping force to be unchanged or reduced.

[0088] Further optionally, if the preset damage rate is a small value, for example, the preset damage rate is the first threshold, it indicates that the tissue is slightly damaged, and the third control module 301 can control the actual clamping force to be unchanged. If the preset damage rate is a large value, for example, the preset damage rate is the second threshold, it indicates that the tissue is severely damaged, and the third control module 301 controls the actual clamping force to be reduced. The first threshold is smaller than the second threshold.

[0089] The principle of reducing the actual clamping force is similar to the principle of increasing the actual clamping force, and the third control module 301 can reduce the actual clamping force according to the preset step size. In some embodiments, the third control module 301 can compare the actual clamping force and the second clamping force, and in the case that the difference between the actual clamping force and the second clamping force is not less than a second preset difference, the actual clamping force is increased according to the difference between the actual clamping force and the second clamping force based on proportional-integral-derivative (PID) adjustment or the like. The second clamping force represents a clamping force that can not cause tissue damage, which can be determined according to actual requirements.

[0090] The third control module 301 can also determine the amount to be increased of the clamping force in response to an input operation of the doctor, and reduce the actual clamping force according to the amount to be increased of the clamping force. For example, the doctor finds that the clamping device has caused tissue damage, and can input 5N to the third control module 301 according to experience, and then the third control module 301 can reduce the actual clamping force by 10N.

[0091] It should be noted that the input operation described above can be at least one of any manner such as a keyboard, a mouse, a gesture, a voice, etc., and the present embodiment is not limited.

[0092] Similarly, the third control module 301 can also control the surgical instrument by controlling the driving information output by the driving device to reduce the actual clamping force of the clamping device, which is not described herein again.

[0093] In some embodiments, the third control module 301 is further configured to, if the actual clamping force is less than the preset clamping force and the damage rate of the target tissue in the target image is greater than the preset damage rate, control the actual clamping force to be unchanged or reduced; and if the actual clamping force is not less than the preset clamping force and the damage rate of the target tissue in the target image is greater than the preset damage rate, control the actual clamping force to be unchanged or reduced.

[0094] In the above embodiments, since the actual clamping force is controlled to be unchanged or reduced when the damage rate of the target tissue in the target image is greater than the preset damage rate, the problem of tissue damage caused by excessive actual clamping force is reduced, and the safety is improved.

[0095] Figure 4 FIG. 4 is a structural schematic diagram of another clamping force control system according to an embodiment of the present application. Figure 4 As shown in FIG. 4, in an exemplary embodiment, the clamping force control system 100 can further include a fourth control module 401.

[0096] The fourth control module 401 is configured to, in a case where the clamping operation instruction is used to instruct the clamping device to perform an opening operation, control the surgical instrument to open according to the clamping operation instruction.

[0097] In the present embodiment, similarly, the fourth control module 401 can control the surgical instrument by controlling the driving information output by the driving device, so as to reduce the actual clamping force of the clamping device. For example, the driving information can instruct the driving device to reverse, and then control the surgical instrument to move reversely, so as to drive the clamping device to open.

[0098] Further optionally, the clamping operation instruction includes a second clamping information change amount of the clamping device, and the second clamping information change amount can indicate a change amount at which the clamping device is expected to perform the opening operation. Similarly, the second clamping information change amount can be an angle or a displacement at which the clamping device needs to open, etc. For example, if the doctor expects the clamping device to open by 2°, the second clamping information change amount is 2°.

[0099] Further, the fourth control module 401 can also control the driving information output by the driving device according to the second clamping information change amount, so as to control the surgical instrument to open. For example, the fourth control module 401 can determine the driving information according to the second clamping information change amount and a preset corresponding relationship, and control the clamping device to reverse according to the driving information, so as to drive the clamping device to open by 2°.

[0100] In the above embodiments, since the surgical instrument is controlled to open according to the clamping operation instruction in a case where the clamping operation instruction is used to instruct the clamping device to perform an opening operation, the clamping device can also flexibly respond to the opening operation.

[0101] Figure 5Fig. 1 shows a schematic diagram of a structure of another clamping force control system in the embodiments of the present application. Figure 5 As shown in Fig. 1, in an exemplary embodiment, the clamping force control system 100 can further include a second acquisition module 501.

[0102] The second acquisition module 501 is configured to acquire a preset clamping force in response to an input operation based on the clamping force input device. The preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of a region of interest, and a type of surgical instrument.

[0103] In the embodiment, the clamping force input device is used to set the preset clamping force. The clamping force input device can include, but is not limited to, a manipulation mechanism arranged in a clamping jaw opening and closing control mechanism or other mechanism of a control console, or can be a visual interface. The embodiment is not limited.

[0104] Optionally, the preset clamping force can be determined according to at least one of the surgical procedure, the tissue characteristic of the region of interest, and the type of surgical instrument. The tissue characteristic refers to a characteristic of a tissue to be operated on by the clamping device, and the type of surgical instrument refers to a type of surgical instrument connected to the clamping device.

[0105] In the above embodiment, since the preset clamping force is determined according to at least one of the surgical procedure, the tissue characteristic of the region of interest, and the type of surgical instrument, and the preset clamping force is acquired in response to the input operation based on the clamping force input device, the flexibility and accuracy of the preset clamping force are improved.

[0106] In an embodiment, the clamping force control system 100 can include the second acquisition module 501, the detection module 101, the first acquisition module 102, the first control module 103, the second control module 201, the third control module 301, and the fourth control module 401. The principle of the clamping force control system 100 can refer to the above embodiments, which will not be repeated here.

[0107] The above modules in the clamping force control system can be realized by software, hardware, or a combination thereof, in whole or in part. The above modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to the above modules.

[0108] Based on the same inventive concept, the embodiments of the present application also provide a clamping force control method for the above-mentioned clamping force control system. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme described in the above clamping force control system. Therefore, the specific limitations in one or more clamping force control method embodiments provided below can refer to the limitations of the clamping force control system described above, which will not be repeated here.

[0109] Figure 6 For the flowchart of the clamping force control method in the embodiments of the present application, in an exemplary embodiment, as shown in Figure 6 , a clamping force control method is provided, which is taken as an example for description in the case where the method is applied to the clamping force control system of any one of the above, and includes the following S601 to S603.

[0110] S601, detecting an actual clamping force of a clamping device at the end of a surgical instrument.

[0111] S602, obtaining a clamping operation instruction of the clamping device.

[0112] S603, in the case where the clamping operation instruction is used to instruct the clamping device to perform a closing operation, controlling a change of the actual clamping force according to the actual clamping force and a preset clamping force; the preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0113] In the above clamping force control method, the actual clamping force of the clamping device at the end of the surgical instrument is detected, the clamping operation instruction of the clamping device is obtained, and in the case where the clamping operation instruction is used to instruct the clamping device to perform a closing operation, the change of the actual clamping force is controlled according to the actual clamping force and the preset clamping force; the preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation. Therefore, the doctor's hand does not need to be continuously forced to stabilize the clamping device, and the actual clamping force can be controlled near the preset clamping force, reducing the situation of unstable clamping or inappropriate clamping force of the clamping device, thereby improving the safety.

[0114] In an exemplary embodiment, S603 can be implemented by the following way:

[0115] If the actual clamping force is less than the preset clamping force, the actual clamping force is controlled to increase.

[0116] In an exemplary embodiment, S603 can be implemented by the following way:

[0117] If the actual clamping force is not less than the preset clamping force, the actual clamping force is controlled to decrease or remain unchanged.

[0118] In an exemplary embodiment, the clamping force control method further includes the following steps:

[0119] In the case where the tissue of interest in the target image does not move with the clamping device, the actual clamping force is controlled to increase.

[0120] In an exemplary embodiment, the clamping force control method further includes the following steps:

[0121] In a case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to be unchanged or reduced.

[0122] In an exemplary embodiment, optionally, the clamping force control method further comprises the following steps:

[0123] In a case where the clamping operation instruction is used to instruct the clamping device to perform the opening operation, the surgical instrument is controlled to open according to the clamping operation instruction.

[0124] In an exemplary embodiment, optionally, the clamping force control method further comprises the following steps:

[0125] In response to an input operation based on the clamping force input device, a preset clamping force is obtained; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of a region of interest, and a type of surgical instrument.

[0126] In order to more clearly introduce the clamping force control method in the present application, hereinafter Figure 7 and Figure 8 are described. Figure 7 is a schematic diagram of the interaction architecture of a clamping force control method in an embodiment of the present application. As shown in Figure 7 , a doctor can set a preset clamping force through a clamping force input device according to a surgical procedure, a tissue characteristic, and a type of surgical instrument. Further, a clamping force control system obtains an actual clamping force of a clamping device through a detection device, and obtains a clamping operation instruction of the clamping device, and further controls the change of the actual clamping force according to the actual clamping force and the preset clamping force in a case where the clamping operation instruction is used to instruct the clamping device to perform a closing operation, so as to perform clamping force control.

[0127] Figure 8 is a process schematic diagram of a clamping force control method in an embodiment of the present application. As shown in Figure 8 , a clamping force control system can perform the clamping force control method according to the following process.

[0128] S801, in response to an input operation based on a clamping force input device, a preset clamping force is obtained; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of a region of interest, and a type of surgical instrument.

[0129] S802, the actual clamping force of the clamping device at the end of the surgical instrument is detected.

[0130] S803, a clamping operation instruction of the clamping device is obtained.

[0131] S804, in the case where the clamping operation instruction is used to instruct the clamping device to perform the closing operation, if the actual clamping force is less than the preset clamping force, the actual clamping force is controlled to increase; if the actual clamping force is not less than the preset clamping force, the actual clamping force is controlled to decrease or remain unchanged.

[0132] S805, in the case where the clamping operation instruction is used to instruct the clamping device to perform the opening operation, the surgical instrument is controlled to open according to the clamping operation instruction.

[0133] S806, in the case where the tissue of interest in the target image does not move with the clamping device, the actual clamping force is controlled to increase.

[0134] S807, in the case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to remain unchanged or decrease.

[0135] S801-S807 can refer to the above embodiments, which will not be described here.

[0136] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0137] Based on the same inventive concept, in one embodiment, the present application also provides a surgical robot system, which comprises the clamping force control system 100 of any one of the above.

[0138] Figure 9 For the structural schematic diagram of a surgical robot system in an embodiment of the present application, as shown in FIG. 9, in an exemplary embodiment, the surgical robot system 900 can include a detection device 901, a clamping device 903 arranged at the end of a surgical instrument 902a in a surgical robot 902, and a clamping force control system 100. Figure 9

[0139] The detection device 901 is used to detect the actual clamping force of the clamping device 903 at the end of the surgical instrument 902a.

[0140] ​The clamping force control system 100 is used to acquire clamping operation commands from the clamping device 903, and when the clamping operation command instructs the clamping device 903 to perform a closing operation, it controls the change of the actual clamping force based on the actual clamping force and the preset clamping force. The preset clamping force is the maximum clamping force limit value when the clamping device performs a closing operation.

[0141] Figure 10 This is a schematic diagram of the structure of another surgical robot system in the embodiments of this application, as shown below. Figure 10 As shown, in an exemplary embodiment, the surgical robot system 900 may further include a clamping force input device 1001. Furthermore, the clamping force control system 100 is also configured to acquire a preset clamping force in response to an input operation based on the clamping force input device 1001.

[0142] In an exemplary embodiment, the surgical robot 902 may further include a drive unit for controlling the surgical instrument 902a. Exemplarily, a power box may be provided within the surgical robot 902, containing a servo motor. The clamping force control system 100 can control the drive information output by the servo motor, thereby controlling the clamping force of the clamping device through the movement of the surgical instrument.

[0143] Therefore, the clamping force control system, method, and surgical robot system provided in this application offer a solution to the problem of active control of clamping force in laparoscopic surgical robot instruments. On the one hand, it eliminates the need for surgeons to continuously exert force with their fingers to maintain a semi-clamping action, thus delaying surgeon hand fatigue and reducing tissue damage to patients. On the other hand, it also ensures appropriate clamping force, preventing the clamping force after the clamping device is closed from gradually decreasing with repeated use, and reducing tissue damage caused by excessive clamping force.

[0144] Figure 11 The diagram below shows the internal structure of a computer device as described in an embodiment of this application. In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown below. Figure 11The computer device shown in the figure includes a processor, a memory, an Input / Output (I / O) interface, and a communication interface. The processor, the memory, and the I / O interface are connected through a system bus, and the communication interface is connected to the system bus through the I / O interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store relevant data. The I / O interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through a network connection. The computer program is executed by the processor to implement a clamping force control method.

[0145] Those skilled in the art can understand that, Figure 11 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0146] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0147] Detecting an actual clamping force of a clamping device at the end of a surgical instrument;

[0148] Obtaining a clamping operation instruction of the clamping device;

[0149] In a case where the clamping operation instruction is used to instruct the clamping device to perform a closing operation, controlling a change of the actual clamping force according to the actual clamping force and a preset clamping force. The preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0150] In one embodiment, the processor executing the computer program further implements the following steps:

[0151] If the actual clamping force is less than the preset clamping force, the actual clamping force is controlled to increase.

[0152] In one embodiment, the processor executing the computer program further implements the following steps:

[0153] If the actual clamping force is not less than the preset clamping force, the actual clamping force is controlled to decrease or remain unchanged.

[0154] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0155] In a case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to be unchanged or reduced.

[0156] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0157] In a case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to be unchanged or reduced.

[0158] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0159] In a case where the clamping operation instruction is used to instruct the clamping device to perform the opening operation, the surgical instrument is controlled to be opened according to the clamping operation instruction.

[0160] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0161] In response to an input operation based on the clamping force input device, a preset clamping force is obtained; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of the region of interest, and an instrument type of the surgical instrument.

[0162] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the following steps:

[0163] Detecting an actual clamping force of a clamping device at a distal end of a surgical instrument;

[0164] Obtaining a clamping operation instruction of the clamping device;

[0165] In a case where the clamping operation instruction is used to instruct the clamping device to perform the closing operation, the actual clamping force is controlled to change according to the actual clamping force and a preset clamping force; the preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0166] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0167] If the actual clamping force is less than the preset clamping force, the actual clamping force is controlled to be increased.

[0168] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0169] If the actual clamping force is not less than the preset clamping force, the actual clamping force is controlled to be reduced or unchanged.

[0170] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0171] In a case where the tissue of interest in the target image does not move with the clamping device, the actual clamping force is controlled to increase.

[0172] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0173] In a case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to remain unchanged or decrease.

[0174] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0175] In a case where the clamping operation instruction is used to instruct the clamping device to perform the opening operation, the surgical instrument is controlled to open according to the clamping operation instruction.

[0176] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0177] In response to an input operation based on the clamping force input device, a preset clamping force is obtained; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of the region of interest, and an instrument type of the surgical instrument.

[0178] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by the processor, implements the following steps:

[0179] Detecting an actual clamping force of a clamping device at a distal end of a surgical instrument;

[0180] Obtaining a clamping operation instruction of the clamping device;

[0181] In a case where the clamping operation instruction is used to instruct the clamping device to perform the closing operation, the actual clamping force is controlled to change according to the actual clamping force and a preset clamping force; the preset clamping force is a maximum clamping force limit value when the clamping device performs the closing operation.

[0182] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0183] If the actual clamping force is less than the preset clamping force, the actual clamping force is controlled to increase.

[0184] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0185] If the actual clamping force is not less than the preset clamping force, the actual clamping force is controlled to decrease or remain unchanged.

[0186] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0187] In a case where the tissue of interest in the target image does not move with the clamping device, the actual clamping force is controlled to increase.

[0188] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0189] In a case where the damage rate of the tissue of interest in the target image is greater than the preset damage rate, the actual clamping force is controlled to remain unchanged or decrease.

[0190] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0191] In a case where the clamping operation instruction is used to instruct the clamping device to perform the opening operation, the surgical instrument is controlled to open according to the clamping operation instruction.

[0192] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0193] In response to an input operation based on the clamping force input device, a preset clamping force is obtained; the preset clamping force is determined according to at least one of a surgical procedure, a tissue characteristic of a region of interest, and a type of surgical instrument.

[0194] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0195] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0196] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A clamping force control system, characterized in that, The system includes: The detection module is used to detect the actual clamping force of the clamping device at the end of the surgical instrument; The first acquisition module is used to acquire the clamping operation command of the clamping device; The first control module is configured to control the change of the actual clamping force based on the actual clamping force and the preset clamping force when the clamping operation command instructs the clamping device to perform a closing operation; the preset clamping force is a maximum clamping force limit value when the clamping device performs a closing operation.

2. The system according to claim 1, characterized in that, The first control module is configured to increase the actual clamping force if the actual clamping force is less than the preset clamping force.

3. The system according to claim 1 or 2, characterized in that, The first control module is used to control the actual clamping force to decrease or remain unchanged if the actual clamping force is not less than the preset clamping force.

4. The system according to claim 1 or 2, characterized in that, The system also includes: The second control module is used to control the increase of the actual clamping force when the tissue of interest in the target image does not move with the clamping device.

5. The system according to claim 1 or 2, characterized in that, The system also includes: The third control module is used to control the actual clamping force to remain unchanged or decrease when the damage rate of the tissue of interest in the target image is greater than the preset damage rate.

6. The system according to claim 1 or 2, characterized in that, The system also includes: The fourth control module is used to control the surgical instrument to open according to the clamping operation instruction when the clamping operation instruction instructs the clamping device to perform an opening operation.

7. The system according to claim 1 or 2, characterized in that, The system also includes: The second acquisition module is used to acquire the preset clamping force in response to an input operation based on the clamping force input device; the preset clamping force is determined based on at least one of the surgical procedure, the tissue characteristics of the region of interest, and the instrument type of the surgical instrument.

8. A clamping force control method, characterized in that, The method includes: To test the actual clamping force of the clamping device at the end of the surgical instrument; Obtain the clamping operation command of the clamping device; When the clamping operation command is used to instruct the clamping device to perform a closing operation, the change of the actual clamping force is controlled according to the actual clamping force and the preset clamping force; the preset clamping force is the maximum clamping force limit value when the clamping device performs a closing operation.

9. A surgical robot system, characterized in that, The surgical robot system includes a clamping force control system as described in any one of claims 1-7.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method of claim 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method of claim 8.

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