Surgical instrument control system, surgical instrument, and position calibration method

Abstract

The application provides a surgical instrument control system, a surgical instrument and a position calibration method. The control system comprises: a first interface configured to couple a user's palm and be driven to deflect relative to an instrument platform; a second interface comprising a body part; a locking interface configured to generate a locking signal when receiving a first operation of the user; a locking power component configured to perform a specified calibration action; and a control unit configured to control a bending of an execution mechanism relative to an axis of the instrument platform in response to a deflection signal of the first interface, control a rotation of the execution mechanism around an axis of the execution mechanism in response to a rotation signal of the body part, and control the locking power component to perform the specified calibration action in a position calibration process when the locking signal is received, and monitor a first state parameter of the locking power component. When a preset locking condition is met, a position locking state is entered to stop responding to the deflection signal of the first interface, so as to maintain stability of a position of the execution mechanism in a surgical process.

Description

Technical Field

[0001] This application relates to the field of surgical instrument technology, specifically to a surgical instrument control system, surgical instruments, and a position calibration method. Background Technology

[0002] With the development of minimally invasive surgical techniques, surgical robot systems have been widely used in clinical practice. Current mainstream surgical robot systems generally consist of a user console, a robotic arm system, and a 3D imaging system. Their working principle involves the user issuing operating commands through the console to remotely control the robotic arm to complete the surgical procedure, offering advantages such as minimal trauma and high precision. However, existing surgical robot systems generally suffer from large size, complex structure, lengthy preoperative preparation, and a lack of operational feedback. Therefore, these surgical robot systems have significant limitations in practical applications, specifically: large system size, occupying a large operating room space; complex structure, long preoperative debugging period, increasing surgical preparation time; high user learning cost, requiring specialized training, with a steep learning curve; insufficient operational intuitiveness, as the physical isolation between the user and patient and the lack of direct operational feedback affect operational intuitiveness.

[0003] Based on this, a handheld surgical instrument with a compact master-slave control design has emerged. This handheld surgical instrument, with an architecture completely different from mainstream laparoscopic surgical robots, adopts a "direct handheld control + real-time motion mapping" design, conforming to the operating habits of surgeons, adapting to existing laparoscopic surgical procedures, and possessing the potential for multi-disciplinary clinical application. Compared to the large size of existing robots, the handheld surgical instrument has a more compact structure, employing a 5mm minimally invasive ultra-thin rod design. Compared to the 8mm technology of mainstream laparoscopic robots, this significantly reduces surgical trauma, increases the accessibility to special anatomical sites, and creates more space for single-port and natural cavity surgeries, aligning with the trend of minimally invasive surgery towards 5mm and 3mm technologies. Compared to the long preoperative debugging cycle and high learning cost of existing robotic systems, the handheld surgical instrument requires no modification to the operating room for installation and configuration, reducing equipment procurement and usage costs, greatly shortening the learning curve for surgeons, and promoting the widespread adoption of robot-assisted surgery. Compared to the lack of intuitive operation of existing robots, handheld surgical instruments control the end effector to perform corresponding operations by sensing the user's hand movements. Through a precisely designed internal control algorithm, they can achieve high-precision motion mapping, accurately converting the surgeon's subtle movements in real time, ensuring consistent response from the end effector. This facilitates delicate dissections, suturing, and electrocoagulation procedures, and is adaptable to different types of end effectors, improving surgical efficiency and safety. Compared to existing surgical robot systems, handheld surgical instruments offer higher precision control over the end effector, making them suitable for a wider range of minimally invasive surgical scenarios. To adapt to the angular requirements of various surgical scenarios, users often adjust the position of the end effector through hand movements. Maintaining the end effector in its current position after adjustment, and ensuring its positional stability throughout the entire surgical procedure, remains a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] To address the problems in the prior art, the purpose of this application is to provide a surgical instrument control system, surgical instruments, and a position calibration method, which allows for convenient adjustment of the position of the actuator when it is not locked, and maintains the position of the actuator unchanged and locked during the operation when the position is locked.

[0005] The first aspect of this application provides a surgical instrument control system, wherein the surgical instrument includes an actuator and an instrument platform, and the control system includes: The first interface is configured to couple to the user's palm and be driven to deflect relative to the instrument platform; The second interface includes a body portion configured to couple the user's finger and driven to rotate relative to the first interface; Lock the interface and configure it to generate a lock signal when the user's first operation is received; Lock the power component and configure it to perform a specified calibrated action; The control unit is configured to control the actuator to bend relative to the axis of the instrument platform when responding to the deflection signal of the first interface, control the actuator to rotate around the axis of the actuator when responding to the rotation signal of the main body, and start the position calibration process when receiving the locking signal. In the position calibration process, the control unit controls the locking power member to perform a specified calibration action and monitors the first state parameter of the locking power member. When the first state parameter of the locking power member meets the preset locking condition, the control unit enters the position locking state and stops responding to the deflection signal of the first interface.

[0006] In some embodiments, the first state parameter of the locking power element includes the operating current of the locking power element: the control unit is configured to determine whether the first state parameter of the locking power element meets a preset locking condition by the following steps: Determine whether the operating current of the locking power component is greater than or equal to the preset current threshold. If so, calculate the continuous holding time when the operating current of the locking power component is greater than or equal to the preset current threshold, and determine whether the continuous holding time is greater than or equal to the first time threshold. If the accumulated time is greater than or equal to the first time threshold, the preset locking condition is determined to be met.

[0007] In some embodiments, the control unit is also used to calculate the calibration time of the position calibration process, and determine whether the calibration failure condition is met based on the calibration time and the operating current of the locking power component.

[0008] In some embodiments, the calibration failure condition includes at least one of the following conditions (1) and (2): (1) When the calibration time is greater than or equal to the second time threshold, there is at least one moment during the calibration time when the operating current of the locking power component is greater than or equal to the preset current threshold, but the single continuous cumulative time when the operating current of the locking power component is greater than or equal to the preset current threshold is less than the first time threshold, and the second time threshold is greater than the first time threshold. (2) When the calibration time is greater than or equal to the third time threshold, the preset locking condition is not met within the calibration time, and the third time threshold is greater than the first time threshold.

[0009] In some embodiments, the control system further includes an indication module, which provides indication information to the user when the control unit determines that the calibration failure condition is met.

[0010] In some embodiments, the locking power member is configured to perform a specified calibration action including driving a moving member to move between an unlocked position and a locked position, wherein when the moving member moves to the locked position, the moving member abuts against a stop member.

[0011] In some embodiments, the locking interface is further configured to generate an unlock signal upon receiving a second operation from the user; The control unit is also configured to control the locking power component to perform a specified unlocking action when it receives an unlocking signal, and to monitor the second state parameter of the locking power component. When the second state parameter of the locking power component meets the preset unlocking conditions, it enters the unlocking state.

[0012] In some embodiments, the locking power element is configured to specify an unlocking action including driving a moving element from a locked position back to an unlocked position, and the second state parameter of the locking power element is the position detection signal of the moving element; The control unit uses the following steps to determine whether the second state parameter of the locking power component meets the preset unlocking conditions: Determine whether the moving part has returned to the unlocked position based on the position detection signal of the locking power component; When the moving part has returned to the unlocked position, it is determined that the preset unlocking conditions are met.

[0013] A second aspect of this application provides a surgical instrument, including an actuator, an instrument platform, and the aforementioned surgical instrument control system, wherein the actuator is mounted at the distal end of the instrument platform.

[0014] A third aspect of this application provides a method for calibrating the position of a surgical instrument, implemented using the surgical instrument control system of the first aspect. The method includes the following steps: Upon receiving a lock signal, initiate the position calibration process; In the position calibration process, the locking power component is controlled to perform the specified calibration action, and the first state parameter of the locking power component is monitored; When the first state parameter of the locking power component meets the preset locking condition, it enters the position locking state and stops responding to the deflection signal of the first interface.

[0015] The surgical instrument control system, surgical instruments, and position calibration method provided in this application have the following advantages: (1) When the position of the actuator is not locked, the actuator can be rotated relative to the axis of the instrument platform by the operation of the user's palm on the first interface, thereby flexibly adjusting the position of the actuator relative to the instrument platform; (2) When the user operates the rotating body of the second interface with his finger, the control unit drives the actuator to rotate around the axis of the actuator, thereby further adjusting the rotation angle of the actuator to facilitate the doctor's operation; (3) After the position adjustment is completed, the position calibration process can be started based on the locking signal of the locking interface, and the locking power component can be controlled to perform the specified calibration action during the position calibration process. When the first state parameter of the locking power component meets the preset locking condition, it enters the position locking state. In the position locking state, the response to the deflection signal of the first interface is stopped, thereby keeping the position of the actuator unchanged and keeping the position of the actuator stable during the operation. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0017] Figure 1 This is a structural block diagram of a surgical instrument control system according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a surgical instrument according to an embodiment of this application; Figure 3 This is a block diagram illustrating the circuit control principle of a surgical instrument according to an embodiment of this application; Figure 4 This is a schematic diagram of the current acquisition circuit of the locking power component according to an embodiment of this application; Figure 5 This is a schematic diagram of an indicator light driving circuit according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the change in the operating current of the locking power component during the position calibration process of a surgical instrument according to an embodiment of this application; Figure 7 This is a flowchart of a surgical instrument position calibration method according to an embodiment of this application; Figure label: 100-Actuator; 200-Shaft assembly; 300-Machinery platform; 310-Housing; 410-First interface; 420-Second interface; 421-Body part; 422-Operating part; 423-Center rod; 430-Flexible connection part; 500-Locking interface; 600-Locking power component; 700-Control unit. Detailed Implementation

[0018] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software or hardware. Although the terms "first," "second," or "third," etc., are used in this specification to denote certain features, these are merely indicative of function and not as a limitation on the number or importance of specific features.

[0019] This application provides a surgical instrument control system for controlling the actions of the actuators of surgical instruments. The surgical instrument includes an actuator and an instrument platform. The actuator is mounted at the distal end of the instrument platform and is used to perform designated surgical actions. The surgical instrument may be, for example, a laparoscopic surgical instrument, such as a surgical stapler, sampling instrument, electrosurgical unit, or surgical robot. This surgical instrument can be a handheld assisted surgical instrument and needs to meet the following requirements: compact structure: reducing equipment space occupation and adapting to various operating room environments; intuitive operation: retaining direct feedback from the surgeon's hands, conforming to clinical hand-eye coordination habits; efficient preparation: simplifying the system structure and shortening preoperative debugging time; and precise control: ensuring the accuracy of the actuator's movements at the instrument's end effector, meeting the requirements of minimally invasive surgery.

[0020] like Figure 1As shown, the control system includes: a first interface 410 configured to couple the user's palm and be driven to deflect relative to the instrument platform; a second interface 420 including a body configured to couple the user's fingers and be driven to rotate relative to the first interface 410; a locking interface 500 configured to generate a locking signal upon receiving a first operation from the user; a locking power member 600 configured to perform a specified calibration action; and a control unit 700 configured to control the actuator to bend relative to the axis of the instrument platform when responding to the deflection signal from the first interface 410, control the actuator to rotate around the axis of the actuator when responding to the rotation signal from the body 421, and, upon receiving the locking signal, initiate a position calibration process, control the locking power member 600 to perform the specified calibration action during the position calibration process, monitor the first state parameter of the locking power member 600, and when the first state parameter of the locking power member 600 meets the preset locking conditions, enter a position locking state and stop responding to the deflection signal from the first interface 410. Therefore, after the control system enters the position lock state, even if the user operates the first interface 410 to deflect relative to the instrument platform, the control unit 700 will not respond to the deflection signal, will not drive the actuator to bend, and will keep the current position of the actuator relative to the instrument platform unchanged.

[0021] As the control system enters the position lock state, the control unit 700 stops the operation of the locking power component 600, completing the zero-position calibration of the locking power component. The zero position of the locking power component is the lock position. The position calibration of the locking power component is a crucial step in ensuring the motion accuracy of the surgical instrument's end effector.

[0022] By employing the surgical instrument control system of this application, when the actuator position is not locked, the actuator's rotation relative to the instrument platform's axis can be controlled based on the user's hand operation on the first interface, thereby flexibly adjusting the actuator's position relative to the instrument platform. When the user's fingers rotate the body of the second interface, the control unit drives the actuator to rotate around its axis, further adjusting the actuator's rotation angle to facilitate the doctor's operation. After position adjustment is completed, a position calibration process can be initiated based on the locking signal of the locking interface. During the position calibration process, the locking power component is controlled to perform specified calibration actions. When the first state parameter of the locking power component meets the preset locking conditions, it enters the position locking state. In the position locking state, the response to the deflection signal of the first interface stops, thereby maintaining the actuator's position unchanged and ensuring stable locking of the actuator's position during surgery.

[0023] This application also provides a surgical instrument including the above-described control system. Figure 2 The structure of a surgical instrument according to an embodiment of this application is illustrated in the figure. Figure 3 This is a block diagram illustrating the circuit control principle of a surgical instrument according to an embodiment of this application. Figure 2 and Figure 3 As shown, in this embodiment, the surgical instrument includes an actuator 100, a shaft assembly 200, and an instrument platform 300. The shaft assembly 200 extends along the axial direction of the instrument platform 300, which is parallel to the axis of the instrument platform 300. Figure 2 In this design, S0 is exemplarily used to represent the axial direction of the instrument platform 300. The actuator 100 is mounted at the distal end of the instrument platform 300 via a shaft assembly 200. When the actuator 100 is not bent, its axial direction coincides with that of the instrument platform 300, and the shaft assembly 200 extends axially along the instrument platform 300. After the actuator 100 bends at a certain angle, its axial direction forms a certain angle with that of the instrument platform 300. A first interface 410 and a second interface 420 are respectively used to engage with the user's palm and fingers, receiving operations from the user's palm and fingers. A control unit 700 is used to control the distal actuator 100 in response to operations from the first interface 410 and the second interface 420. The instrument platform 300 includes a housing 310, within which a power module, a control unit 700, a bending power component, a rotating power component, a locking power component 600, and related transmission components are housed. The power module, for example, uses a 9V DC power supply to provide stable power to the various electrical components in the handheld surgical instrument. Figure 2 The location of the control unit 700 is shown only as an example. The control unit 700, for example, is implemented using an MCU (Microcontroller Unit). The control unit 700 is the control center of the entire control system, receiving hand operation signals transmitted from various interfaces, parsing and processing them to generate drive commands for each power component. Simultaneously, it monitors the operating status parameters of the power components in real time and can provide indications through an indicator module. The control unit 700 can also display the status of various components in the control system and the operations that need to be performed by the user through the indicator module. The locking power component 600 is implemented, for example, using a motor. The bending and rotating power components can also be implemented using separate motors. The process from receiving electrical signals to controlling the power components by the control unit is as follows: electrical signal... Filtering and noise reduction Parameter parsing Generate motor drive instructions.

[0024] In this embodiment, "distal" and "proximal" are relative to the operator; "distal" is the end furthest from the operator, i.e., the end closer to the surgical site, and "proximal" is the end closer to the operator. Figure 2 From the perspective of [the surgeon], the distal end of the surgical instrument is [the surgical instrument]. Figure 2 The left end shown in the image has the proximal end of the surgical instrument as... Figure 2 The right end is shown in the image.

[0025] like Figure 2As shown, the first interface 410 is connected to the housing 310 of the instrument platform 300 via a flexible connection 430, so that when the first interface 410 is deflected up and down and / or left and right relative to the instrument platform 300 by the user, the instrument platform 300 remains stationary. The first interface 410 is internally equipped with a first position sensor that senses the deflection movement of the first interface 410 and sends a deflection signal to the control unit 700. When the control unit 700 receives the deflection signal, if it is currently in an unlocked state, it generates a bending control signal in response to the deflection signal. The bending power component is used to drive the remote actuator 100 to bend relative to the axis of the instrument platform 300 through a transmission assembly based on the bending control signal from the control unit 700. The deflection direction and angle of the first interface 410 correspond to the bending direction and bending angle of the actuator 100.

[0026] The second interface 420 includes a body 421, an operating part 422, and a central rod 423. The body 421 is rotatably mounted to the first interface 410 via the central rod 423. The first end of the operating part 422 is pivotally connected to the body 421 via a pivot. When the user rotates the body 421, the body 421 drives the central rod 423 to rotate around the axis of the central rod 423. An angle sensor (such as an angle encoder, magnetic angle sensor, etc.) is installed inside the second interface 420 or the first interface 410 to measure the rotation angle of the central rod 423. When the body 421 drives the central rod 423 to rotate, the angle sensor detects the rotation angle of the central rod 423 and sends a rotation signal to the control unit 700. The control unit 700 is configured to generate a rotation control signal in response to the rotation signal of the body 421. The rotational power component, in response to the rotation control signal, drives the remote actuator 100 to rotate around the axis of the actuator 100 via a transmission assembly.

[0027] In this embodiment, the bending of the actuator 100 refers to the actuator 100 deflecting to one side relative to the axis of the instrument platform 300, such as along... Figure 2 The actuator 100 may bend in either direction S1 or S2 (S1 and S2 are merely examples of bending directions; depending on the specific scenario, the actuator 100 may bend laterally and / or longitudinally relative to the instrument platform 300). Rotation of the actuator 100 refers to its rotation about its central axis, such as along... Figure 2 Rotate in the direction of R1 or in the opposite direction of R1.

[0028] In some actuator configurations that include jaws, the actuator comprises a first and a second clamp that can be opened and closed. The user can also control the jaws to close and open by operating an operating unit 422. The operating unit 422 is configured to be pivoted relative to the body 421 by being driven by the user's finger, allowing a second end (free end) of the operating unit 422 to move relative to or away from the body 421. The control unit 700 is configured to control the jaws of the actuator 100 to close in response to the pivoting motion of the operating unit 422. In some actuator configurations that do not include jaws, such as electric knives or electric shovels, the control unit 700 does not need to control the jaws to close and open.

[0029] Optionally, the structure and principle of controlling the bending of the actuator 100 through the first interface 410, controlling the rotation of the actuator 100 through the body part 421, and controlling the closing of the jaws of the actuator 100 through the operating part 422 can refer to the relevant structure in patent CN108778163B. For example, the first interface 410 refers to the structure of the first interface in that patent, and the operating part 422 and the central rod 423 of the second interface 420 refer to the structures of the lever and the central shaft in that patent, respectively.

[0030] In this embodiment, the locking interface can be an operating interface located on the housing 310 of the instrument platform 300. For example, the locking interface can be a button, a knob, or an operating handle. The user can initiate the position calibration process by operating the locking interface. Taking a button as an example, the user can initiate the position calibration process to lock or unlock the device by performing different operations on the button. For instance, when the control system is not in a locked state, the user pressing the button is the first operation, and the button generates a locking signal and sends it to the control unit. When the control system is in a locked state, the user pressing the button is the second operation, and the button generates an unlocking signal and sends it to the control unit, which can then perform unlocking control. The locking signal and the unlocking signal can be the same signal. The control unit determines whether the received button signal corresponds to a locking signal or an unlocking signal based on the current system state.

[0031] In this embodiment, the first state parameter of the locking power element includes the operating current of the locking power element. For example... Figure 3 As shown, the control system also includes a current acquisition circuit for monitoring the operating current of the locking power component. Figure 4 The illustration shows a schematic diagram of a current acquisition circuit for a locking power component, but this application is not limited thereto; other circuits or current sensors capable of acquiring current from a locking power component can be applied to the solution of this embodiment. Figure 4As shown, taking the ZXCT1009 current sampling chip as an example, its S+ pin is connected to V_MOTOR, and its S- pin is connected to V_M1. The current sampling chip detects the voltage drop between these two pins and outputs a current signal proportional to this voltage drop at the IOUT pin. This current signal passes through an external resistor to obtain a voltage signal to ground, which is then used as the operating current sampling signal for the locking power unit and input to the ADC pin of the control unit. Here, V_MOTOR is the main power supply for the locking power unit, and V_M1 is the power supply node for the locking power unit after the sampling resistor. Since all the current of the locking power unit passes through the sampling resistor, a voltage drop proportional to the operating current of the locking power unit is formed between the V_MOTOR and V_M1 pins. By detecting the voltage drop between these two points, the current sampling chip can monitor the operating current of the locking power unit in real time, which is used for determining preset locking conditions and overcurrent protection control strategies.

[0032] The control unit is configured to determine whether the first state parameter of the locking power component meets the preset locking condition using the following steps: Determine whether the operating current of the locking power component is greater than or equal to the preset current threshold. If so, calculate the continuous holding time when the operating current of the locking power component is greater than or equal to the preset current threshold, and determine whether the continuous holding time is greater than or equal to the first time threshold. If the accumulated time is greater than or equal to the first time threshold, the preset locking condition is determined to be met.

[0033] After the position calibration process is initiated, the locking power component begins performing the designated calibration actions. The operating current of the locking power component gradually increases. When the operating current exceeds or equals a preset current threshold and the continuous holding time exceeds or equals a first time threshold, the preset locking condition is deemed met, and entry into the position locking state is permitted. The preset current threshold and the first time threshold can be set empirically based on the operating parameters of the locking power component. For example, the preset current threshold can be set to 350mA, 300mA, or 250mA, and the first time threshold can be set to 200ms, 250ms, or 300ms, etc., without being limited to the numerical ranges listed here. Taking a preset current threshold of 350mA and a first time threshold of 200ms as an example, after the position calibration process is initiated, if the operating current of the locking power component exceeds or equals 350mA and the continuous holding time exceeds or equals 200ms, the preset locking condition is deemed met. Here, the continuous holding time refers to the time during which the operating current is continuously maintained at or above 350mA. If the operating current drops below 350mA during the accumulation process, the continuous holding time is reset to zero.

[0034] In this embodiment, the control unit is also used to calculate the calibration time of the position calibration process and determine whether the calibration failure condition is met based on the calibration time and the operating current of the locking power component. If the calibration failure condition is met, entering the position locking state is not allowed. Here, the calibration time refers to the duration of the position calibration process from the start of the control unit's initiation of the position calibration process to the current moment.

[0035] In this embodiment, the calibration failure condition includes at least one of the following conditions (1) and (2): (1) When the calibration time is greater than or equal to the second time threshold, there is at least one moment during the calibration time when the operating current of the locking power component is greater than or equal to the preset current threshold, but the single continuous cumulative time when the operating current of the locking power component is greater than or equal to the preset current threshold is less than the first time threshold, and the second time threshold is greater than the first time threshold. (2) When the calibration time is greater than or equal to the third time threshold, the preset locking condition is not met within the calibration time, and the third time threshold is greater than the first time threshold.

[0036] Both the second and third time thresholds are chosen to be values ​​greater than the first time threshold, and can be set and adjusted based on experience. Optionally, if the third time threshold is greater than the second time threshold, the calibration failure can be divided into two stages: (1) and (2). In the position calibration process, if the preset locking condition is not met, when the calibration time reaches the second time threshold, the above condition (1) is first determined. If the calibration is determined to be failed, the position calibration process is stopped. If neither the preset locking condition nor the calibration time condition is met, the position calibration process continues. When the third time threshold is reached, if the preset locking condition is still not met, the calibration failure condition is determined to be met. Therefore, the third time threshold is the maximum calibration time of the position calibration process.

[0037] In this embodiment, the control system further includes an indication module, which provides indication information to the user when the control unit determines that the calibration failure condition is met. The indication module may be, for example, an LED indicator, a display screen, or an alarm. For instance, the indicator lights can display different system states: green lights correspond to normal operation, purple lights correspond to system faults (such as motor overcurrent, power supply abnormalities, etc.), yellow lights correspond to standby / calibration, and red lights correspond to calibration failure. The correspondence between colors and states here is merely an example and is not intended to limit the scope of protection of this application. Figure 5 An exemplary circuit diagram of an indicator module using indicator lights is shown, wherein the driving circuit for two LED indicator lights LD9 and LD10 is shown as an example, but the number of indicator lights and the structure of the driving circuit are not the same. Figure 5 The examples shown are limited to those shown.

[0038] Taking an indicator light as an example with a first time threshold of 200ms, a second time threshold of 1.3s, and a third time threshold of 3s, the implementation process of the position calibration procedure is explained. In the position calibration procedure, if the current is greater than or equal to the preset current threshold and the continuous holding time is greater than or equal to 200ms, the preset locking condition is satisfied. If the preset locking condition is not satisfied, if the calibration time reaches 1.3s, and if the overcurrent is greater than or equal to the preset current threshold but the continuous holding time is less than 200ms each time, the locking is considered unstable, the calibration fails, the position calibration procedure is stopped, the indicator light flashes red, and a prompt to re-operate is displayed. If the calibration time reaches 3s and the overcurrent is still not greater than or equal to the preset current threshold and the continuous accumulated time is greater than or equal to 200ms, the locking power component is not in place or there is a mechanical abnormality, the calibration fails, the position calibration procedure is stopped, and the indicator light remains red, prompting a check of the mechanical structure.

[0039] In this embodiment, the locking power component is configured to perform a specified calibration action, including driving a moving part to move between an unlocked position and a locked position. When the moving part moves to the locked position, it abuts against a stop. The locking power component is, for example, a DC brushed motor. The moving part is, for example, the motor output shaft of the locking power component, or a component that can be driven by the motor output shaft. Initially, the moving part is in the unlocked position and does not contact the stop. After the position calibration process is started, the locking power component is driven by a constant PWM voltage. The locking power component drives the moving part to move towards the locked position in a first direction. After the moving part reaches the locked position, it abuts against the stop. Under the mechanical resistance of the stop, the operating current rises. After the operating current rises to a preset current threshold and is delayed for a period of time, the control unit performs zero-position calibration to ensure that the locking power component is fully locked and reaches the zero position. That is, after the operating current rises to a value greater than or equal to the preset current threshold and the continuous cumulative time reaches a first time threshold, the position calibration process is stopped, and the locking power component stops working.

[0040] In this embodiment, the locking interface is further configured to generate an unlock signal upon receiving a second user operation. The control unit is also configured to, upon receiving the unlock signal, control the locking power component to perform a specified unlocking action and monitor a second state parameter of the locking power component. When the second state parameter of the locking power component meets a preset unlocking condition, it enters an unlocked state. After entering the unlocked state, the control system controls the locking power component to stop working and releases the position lock on the actuator. Subsequently, if the user operates the first interface again, the control unit will automatically adjust the bending angle of the actuator in response to the deflection signal of the first interface.

[0041] In this embodiment, the locking power component performs a specified unlocking action by driving a moving component to move from a locked position towards an unlocked position along a second direction, which is opposite to the first direction. A position sensor is provided at the unlocked position of the moving component. When the moving component returns to the unlocked position, the position sensor sends a position detection signal to the control unit. Therefore, the second state parameter of the locking power component is the position detection signal of the moving component.

[0042] The control unit is also configured to determine whether the second state parameter of the locking power component meets the preset unlocking condition by the following steps: determining whether the moving part has returned to the unlocked position based on the position detection signal of the locking power component; when the moving part has returned to the unlocked position, it is determined that the preset unlocking condition is met.

[0043] Figure 6 This is a schematic diagram illustrating the change in the operating current of the locking power component during the position calibration process of a surgical instrument according to an embodiment of this application. The following is in conjunction with... Figure 6 Taking a preset current threshold of 350mA, a first time threshold of 200ms, a second time threshold of 1.3s, a third time threshold of 3s, an indicator light as the indicator module, and an unlock button as the locking interface as an example, the functional implementation process of the control system in this embodiment is explained.

[0044] 1. Preparation stage.

[0045] When the control system is powered on, the indicator light turns yellow, indicating standby mode. The doctor can adjust the attitude of the actuator by operating the first and / or second interface.

[0046] 2. Location calibration process.

[0047] The doctor presses the locking interface, which sends a locking signal to the control unit, which then initiates the position calibration process. During the position calibration process, the control unit drives the locking power component, which in turn drives the moving part to move from the unlocked position to the locked position. The control unit monitors the operating current of the locking power component in real time and begins accumulating the calibration time.

[0048] Locking determination strategies include: If, during the position calibration process, the operating current of the locking power component is greater than or equal to 350mA and the continuous holding time is greater than or equal to 200ms, the preset locking condition is met (the moving part reaches the locking position, that is, the locking power component reaches the zero position corresponding to the maximum angle), and the locking state is entered. If the accumulated calibration time reaches 1.3s, and although the overcurrent is greater than or equal to 350mA, the single continuous holding time is less than 200ms, it is determined that the locking is unstable, the calibration failure condition is met, the calibration fails, the operation of the locking power component is stopped, the current position calibration process is stopped, the indicator light flashes red and prompts to reoperate.

[0049] If the cumulative calibration time reaches 3 seconds and there is still no current greater than or equal to 350mA and a continuous holding time greater than or equal to 200ms, it is determined that the locking power component is not in place or there is a mechanical abnormality. The calibration failure condition is met, the calibration fails, the indicator light stays red and prompts to check the mechanical structure.

[0050] 3. Locking process.

[0051] During the position calibration process, once the preset locking conditions are met, the control system enters the position lock state, stops responding to the deflection signal of the first interface, and simultaneously stops the operation of the locking power component. After successful zero-position calibration, the indicator light returns to green, and the control system enters the surgical ready state. Figure 6 The example shown is 200ms, from the start of entering the position lock state to the completion of calibration (preparation lock time), but this application is not limited to this.

[0052] 4. Unlocking process.

[0053] After entering the position lock state, if the actuator position needs to be adjusted, it can be unlocked through the locking interface. The doctor presses the locking interface, which sends an unlock signal to the control unit. The control unit then controls the locking power component to perform the specified unlocking action. The second state parameter of the locking power component is monitored, and when the second state parameter of the locking power component meets the preset unlocking conditions, it enters the unlock state. Figure 6 The example shown is 1.3 seconds from the time the doctor presses the lock interface to the time the system completes unlocking, but this application is not limited thereto.

[0054] like Figure 7 As shown in the figure, this application embodiment also provides a method for calibrating the position of a surgical instrument, which is implemented using the above-mentioned surgical instrument control system. The method includes the following steps: S100: Upon receiving a lock signal, the position calibration process is initiated; S200: In the position calibration process, control the locking power component to perform the specified calibration action and monitor the first state parameter of the locking power component; S300: When the first state parameter of the locking power component meets the preset locking condition, it enters the position locking state and stops responding to the deflection signal of the first interface.

[0055] In this embodiment, the location calibration method may further include the following unlocking step: After the control system enters the position lock state, when it receives the unlock signal from the lock interface, it controls the locking power component to perform the specified unlocking action. The second state parameter of the locking power component is monitored. When the second state parameter of the locking power component meets the preset unlocking conditions, the unlocking state is entered.

[0056] The execution process of each step in the position calibration method can be specifically implemented using the corresponding function implementation method in the above-mentioned control system, and the corresponding beneficial effects of the above-mentioned control system can be obtained, which will not be elaborated here.

[0057] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications or substitutions should be considered within the scope of protection of this application.

Claims

1. A surgical instrument control system, wherein the surgical instrument includes an actuator and an instrument platform, characterized in that, The control system includes: The first interface is configured to couple to the user's palm and be driven to deflect relative to the instrument platform; The second interface includes a body portion configured to couple a user's finger and driven to rotate relative to the first interface; Lock the interface and configure it to generate a lock signal when the user's first operation is received; Lock the power component and configure it to perform a specified calibrated action; The control unit is configured to control the actuator to bend relative to the axis of the instrument platform when responding to the deflection signal of the first interface, control the actuator to rotate about the axis of the actuator when responding to the rotation signal of the body, and start a position calibration process when receiving the locking signal. In the position calibration process, the control unit controls the locking power member to perform the specified calibration action and monitors the first state parameter of the locking power member. When the first state parameter of the locking power member meets the preset locking condition, the control unit enters the position locking state and stops responding to the deflection signal of the first interface.

2. The surgical instrument control system according to claim 1, characterized in that, The first state parameter of the locking power component includes the operating current of the locking power component; the control unit is configured to determine whether the first state parameter of the locking power component meets the preset locking conditions by the following steps: Determine whether the operating current of the locking power component is greater than or equal to a preset current threshold. If so, calculate the continuous holding time when the operating current of the locking power component is greater than or equal to a preset current threshold, and determine whether the continuous holding time is greater than or equal to a first time threshold. If the continuous holding time is greater than or equal to the first time threshold, then the preset locking condition is determined to be met.

3. The surgical instrument control system according to claim 2, characterized in that, The control unit is also used to calculate the calibration time of the position calibration process, and determine whether the calibration failure condition is met based on the calibration time and the operating current of the locking power component.

4. The surgical instrument control system according to claim 3, characterized in that, The calibration failure conditions include at least one of the following conditions (1) and (2): (1) When the calibration time is greater than or equal to the second time threshold, there is at least one moment during the calibration time when the operating current of the locking power component is greater than or equal to the preset current threshold, but the single continuous cumulative time when the operating current of the locking power component is greater than or equal to the preset current threshold is less than the first time threshold, and the second time threshold is greater than the first time threshold. (2) When the calibration time is greater than or equal to the third time threshold, the preset locking condition is not met within the calibration time, and the third time threshold is greater than the first time threshold.

5. The surgical instrument control system according to claim 3, characterized in that, It also includes an indication module, which is used to provide indication information to the user when the control unit determines that the calibration failure condition is met.

6. The surgical instrument control system according to claim 1, characterized in that, The locking power component is configured to perform a specified calibration action, including driving a moving component to move between an unlocked position and a locked position, wherein when the moving component moves to the locked position, the moving component abuts against a stop.

7. The surgical instrument control system according to claim 6, characterized in that, The locking interface is also configured to generate an unlock signal when a second user operation is received. The control unit is further configured to, upon receiving the unlock signal, control the locking power component to perform a specified unlocking action and monitor the second state parameter of the locking power component; and when the second state parameter of the locking power component meets the preset unlocking conditions, enter the unlocking state.

8. The surgical instrument control system according to claim 7, characterized in that, The locking power component is configured to perform a specified unlocking action including driving a moving component to return from the locked position to the unlocked position, and the second state parameter of the locking power component is the position detection signal of the moving component; The control unit determines whether the second state parameter of the locking power component meets the preset unlocking condition using the following steps: Based on the position detection signal of the locking power component, it is determined whether the moving component returns to the unlocked position; When the moving part has returned to the unlock position, it is determined that the preset unlock condition is met.

9. A surgical instrument, characterized in that, The device includes an actuator, an instrument platform, and a surgical instrument control system according to any one of claims 1 to 8, wherein the actuator is mounted at the distal end of the instrument platform.

10. A method for calibrating the position of a surgical instrument, characterized in that, The method, implemented using the surgical instrument control system according to any one of claims 1 to 8, comprises the following steps: Upon receiving a lock signal, initiate the position calibration process; In the position calibration process, the locking power component is controlled to perform the specified calibration action, and the first state parameter of the locking power component is monitored; When the first state parameter of the locking power component meets the preset locking condition, it enters the position locking state and stops responding to the deflection signal of the first interface.

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