Interventional surgery robot and adaptive clamping method and device compatible with multi-specification interventional instruments thereof

Abstract

The application relates to an interventional surgery robot and an adaptive clamping method and device compatible with multiple specifications of interventional instruments, which are applied to a clamping structure of the interventional surgery robot, wherein a clamping force detection element is arranged on the clamping structure, the method comprises the following steps: acquiring adaptive threshold data; controlling the clamping structure to clamp the interventional instrument to move according to a moving step quantity of the adaptive threshold data, acquiring a pushing displacement of the clamping structure and clamping force data detected by the clamping force detection element in real time; determining an adaptive clamping strategy according to the adaptive threshold data, the clamping force data and the pushing displacement; and controlling the clamping structure to clamp the interventional instrument to move according to the adaptive clamping strategy. The adaptive clamping strategy of the adaptive clamping structure to the interventional instrument is determined by combining the adaptive threshold data with the real-time collected clamping force data and the pushing displacement, so that different specifications of the interventional instruments can be clamped without being damaged, and the compatibility of the clamping structure is high.

Description

Technical Field

[0001] This application relates to the field of clamping control technology for surgical robots, and in particular to an interventional surgical robot and its adaptive clamping method and device compatible with multiple sizes of interventional instruments. Background Technology

[0002] Interventional surgical robots typically need to be compatible with a variety of instruments, such as guidewires and catheters of different diameters, surface coatings, rigidities, and wall thicknesses. Existing clamping structures in interventional surgical robots often only accommodate a limited number of guidewire and catheter sizes. Problems with existing clamping structures include: insufficient clamping force leading to slippage after changing guidewire or catheter models; excessive clamping force causing damage to the instrument surface; unstable rotational transmission within the clamping structure; and complex clamping switching procedures, affecting efficiency.

[0003] Therefore, existing interventional surgical robots typically employ fixed gaps or fixed clamping forces, resulting in poor adaptability. The guidewires and catheters of existing interventional surgical robots vary greatly in structure, making it difficult to use the same clamping structure. For fine-diameter guidewires, the clamping structure must ensure sufficient friction while avoiding local pressure injuries. For catheter delivery, the movement of the clamping blocks on the track and the clamping / releasing actions of the clamping structure are not well coordinated. Summary of the Invention

[0004] This application provides an interventional surgical robot and its adaptive clamping method and apparatus compatible with multiple sizes of interventional instruments, which solves the technical problem of low compatibility of clamping components in existing interventional surgical robot clamping methods.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] On the one hand, an adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments is provided. This method is applied to the clamping structure of the interventional surgical robot, which is equipped with a clamping force detection element for detecting the clamping force of the interventional instruments. The adaptive clamping method includes the following steps:

[0007] S1. Obtain adaptive threshold data corresponding to the clamping structure clamping the interventional device;

[0008] S2. Control the movement of the clamping structure to clamp the interventional instrument according to the movement step amount of the adaptive threshold data, and obtain the advancement displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time;

[0009] S3. Determine an adaptive clamping strategy based on the adaptive threshold data, the clamping force data, and the propulsion displacement; control the clamping structure to clamp the interventional device and move it according to the adaptive clamping strategy.

[0010] Optionally, the adaptive threshold data includes: safe clamping force, minimum clamping force, maximum clamping force, movement step, and maximum pushing displacement, wherein the safe clamping force is greater than the maximum clamping force, and the maximum clamping force is greater than the minimum clamping force; the adaptive clamping strategy includes:

[0011] If the clamping force data is greater than the safe clamping force, then the clamping structure is controlled to stop working and return to the initial state;

[0012] If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, then the stepping amount of the clamping structure is dynamically adjusted according to the minimum clamping force and the clamping force data collected in real time to obtain the real-time stepping amount; the real-time stepping amount is used as the moving stepping amount to re-execute step S2;

[0013] If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data, so as to obtain the final displacement and final clamping force for successfully clamping the interventional device;

[0014] If the clamping force data is not greater than the safe clamping force but is greater than the maximum clamping force, then a retraction step is determined based on the maximum clamping force and the clamping force data collected in real time; the clamping structure is controlled to retract the interventional device according to the retraction step, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

[0015] Optionally, controlling the clamping structure to clamp the interventional device based on the clamping force data, and obtaining the final displacement and final clamping force for successfully clamping the interventional device, includes:

[0016] The clamping structure is controlled to clamp the interventional device according to the clamping force data, and n clamping force values ​​and displacement values ​​are continuously acquired within a set time, where n is a natural number that is not 0;

[0017] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0018] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verification and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0019] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure exhibits slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and step S3 is re-executed.

[0020] Optionally, controlling the clamping structure to clamp the interventional device based on the clamping force data to obtain the final displacement and final clamping force for successfully clamping the interventional device further includes: if at least one of the changes in the n clamping force values ​​is not less than a stable change threshold and / or at least one of the changes in the n displacement values ​​is not less than the maximum pushing displacement, controlling the clamping structure to move the interventional device forward or backward, obtaining the adjusted clamping force data detected by the clamping force detection element, until the adjusted clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

[0021] Optionally, the adaptive clamping strategy further includes: if the clamping force data is less than the minimum clamping force and the pushing displacement is not less than the maximum pushing displacement, then the clamping structure does not clamp the interventional device, and the clamping structure is controlled to stop working.

[0022] Optionally, the clamping structure includes a pushing element and a drive source that drives the pushing element to move the interventional instrument, and the clamping force detection element is installed at the connection between the drive source and the pushing element.

[0023] On the other hand, an adaptive clamping device compatible with multiple sizes of interventional instruments for interventional surgery robots is provided. It is applied to the clamping structure of the interventional surgery robot. The clamping structure is provided with a clamping force detection element for detecting the clamping force of the interventional instruments. The adaptive clamping device includes: a first data acquisition module, a second data acquisition module and an adaptive clamping module.

[0024] The first data acquisition module is used to acquire adaptive threshold data corresponding to the clamping structure clamping the interventional device;

[0025] The second data acquisition module is used to control the movement of the clamping structure to clamp the interventional instrument according to the movement step amount of the adaptive threshold data, and to acquire the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time;

[0026] The adaptive clamping module is used to determine an adaptive clamping strategy based on the adaptive threshold data, the clamping force data, and the advance displacement; and to control the clamping structure to clamp the interventional instrument and move it according to the adaptive clamping strategy.

[0027] Optionally, the adaptive threshold data includes: safe clamping force, minimum clamping force, maximum clamping force, movement step, and maximum pushing displacement, wherein the safe clamping force is greater than the maximum clamping force, and the maximum clamping force is greater than the minimum clamping force; the adaptive clamping strategy includes:

[0028] If the clamping force data is greater than the safe clamping force, then the clamping structure is controlled to stop working and return to the initial state;

[0029] If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, then the step size of the clamping structure is dynamically adjusted according to the minimum clamping force and the clamping force data collected in real time to obtain the real-time step size; the real-time step size is used as the moving step size to re-execute the second data acquisition module;

[0030] If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data, so as to obtain the final displacement and final clamping force for successfully clamping the interventional device;

[0031] If the clamping force data is not greater than the safe clamping force but is greater than the maximum clamping force, then a retraction step is determined based on the maximum clamping force and the clamping force data collected in real time; the clamping structure is controlled to retract the interventional device according to the retraction step, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

[0032] Optionally, controlling the clamping structure to clamp the interventional device based on the clamping force data, and obtaining the final displacement and final clamping force for successfully clamping the interventional device, includes:

[0033] The clamping structure is controlled to clamp the interventional device according to the clamping force data, and n clamping force values ​​and displacement values ​​are continuously acquired within a set time, where n is a natural number that is not 0;

[0034] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0035] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verification and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0036] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure exhibits slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and the adaptive clamping module is re-executed.

[0037] On another front, an interventional surgical robot is provided, comprising a robot body and a control system for controlling the operation of the robot body, the control system including a processor and a memory;

[0038] The memory is used to store program code and transmit the program code to the processor;

[0039] The processor is configured to execute the aforementioned adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments, according to instructions in the program code.

[0040] This interventional surgical robot and its adaptive clamping method and device compatible with multiple sizes of interventional instruments are applied to the clamping structure of the interventional surgical robot. The clamping structure is equipped with a clamping force detection element for detecting the clamping force of the interventional instruments. The adaptive clamping method of the interventional surgical robot compatible with multiple sizes of interventional instruments includes: S1. acquiring adaptive threshold data corresponding to the interventional instruments clamped by the clamping structure; S2. controlling the movement of the clamping structure to clamp the interventional instruments according to the movement step amount of the adaptive threshold data, and acquiring the advance displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time; S3. determining an adaptive clamping strategy based on the adaptive threshold data, clamping force data, and advance displacement; and controlling the movement of the clamping structure to clamp the interventional instruments according to the adaptive clamping strategy.

[0041] As can be seen from the above technical solutions, this application has the following advantages: The adaptive clamping method of the interventional surgical robot, which is compatible with multiple sizes of interventional instruments, sets a clamping force detection element on the clamping structure to detect the clamping force of the interventional instruments. Based on adaptive threshold data combined with real-time collected clamping force data and propulsion displacement, an adaptive clamping strategy is formulated to realize the adaptive clamping of the interventional instruments by the clamping structure, thereby clamping interventional instruments of different sizes without damaging the interventional instruments, making the clamping structure highly compatible; it solves the technical problem of low compatibility of clamping components in the existing clamping methods of interventional surgical robots.

[0042] The adaptive clamping device of this interventional surgical robot is compatible with multiple sizes of interventional instruments. Through a first data acquisition module, a second data acquisition module, and an adaptive clamping module, a clamping force detection element is set on the clamping structure to detect the clamping force of the interventional instruments. Based on adaptive threshold data combined with real-time collected clamping force data and advance displacement, an adaptive clamping strategy is formulated to realize the adaptive clamping of interventional instruments by the clamping structure. In this way, interventional instruments of different sizes can be clamped without damaging the interventional instruments, making the clamping structure highly compatible. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating the steps of the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application.

[0045] Figure 2 This is a schematic diagram of the clamping structure in the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments described in the embodiments of this application;

[0046] Figure 3 This is a flowchart illustrating the steps of the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application.

[0047] Figure 4 This is a schematic diagram of the frame of the adaptive clamping device for the interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application;

[0048] Figure 5 This is a schematic diagram of the control system in the interventional surgical robot described in the embodiments of this application. Detailed Implementation

[0049] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0052] Patent terminology used in this application:

[0053] Adaptive step size algorithms are a class of optimization methods that balance convergence speed, computational efficiency, and stability / accuracy by dynamically adjusting the step size (learning rate, time step, search step, etc.) during the iteration or computation process.

[0054] The backtracking step size adjustment function refers to a backtracking-based line search method in optimization algorithms, used to dynamically adjust the step size to ensure that the descent condition (such as the Armijo criterion) is met. In each iteration, starting from the initial step size (e.g., α0=1), the step size is gradually backtracked (reduced) by a fixed factor (e.g., β∈(0,1), usually 0.5) until the Armijo descent condition is met. , where d is the search direction (usually the negative gradient) and c∈(0,1) is the descent coefficient.

[0055] A distance sensor is an electronic device used for non-contact measurement of the distance between an object and the sensor. It calculates the distance by emitting signals and receiving reflections.

[0056] A force sensor is a device that converts the magnitude of force into a corresponding electrical signal. Force is the direct cause of changes in the motion of matter. Force sensors can detect mechanical quantities such as tension, strain, pressure, weight, torque, internal stress, and strain. Specific devices include metal strain gauges and pressure sensors.

[0057] This application provides an interventional surgical robot and its adaptive clamping method and device compatible with multiple sizes of interventional instruments, which solves the technical problem of low compatibility of clamping components in existing interventional surgical robot clamping methods.

[0058] Example 1:

[0059] Figure 1 This is a flowchart illustrating the steps of the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application. Figure 2 This is a schematic diagram of the clamping structure in the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments described in the embodiments of this application.

[0060] like Figure 2 As shown, this application provides an adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments. The method is applied to the clamping structure of the interventional surgical robot, which includes a clamping force detection element 101 for detecting the clamping force of the interventional instruments. The clamping structure includes a pushing element 102 and a driving source 103 that drives the pushing element 102 to move the interventional instruments. The clamping force detection element 101 is installed at the connection between the driving source 103 and the pushing element 102.

[0061] It should be noted that the interventional device can be a guidewire, catheter, etc. The clamping force detection element 101 can be a force sensor. The pushing element 102 can be a push rod, push shaft, etc. The drive source 103 can be a motor or a push-type power device. In this embodiment, the specific structure and working principle of the clamping structure can be found in the technical solution of the clamping device and slave device disclosed in announcement number CN220001913U. Figure 2 As shown, the clamping structure can detect the magnitude of the clamping force in real time during the clamping process. When the guide wire or catheter passes through the guide hole 104 of the clamping structure, the pushing element 102 applies a driving force, causing the camshaft 106 to drive the clamped interventional instrument 105 to form a squeezing relationship, thereby clamping the interventional instrument 105 and transmitting axial and / or rotational motion.

[0062] like Figure 1 As shown in the figure, this application provides an adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments, including the following steps:

[0063] S1. Obtain adaptive threshold data corresponding to the interventional instrument held by the clamping structure.

[0064] It should be noted that the adaptive threshold data includes: safe clamping force F_safe, minimum clamping force F_min, maximum clamping force F_max, movement step Δd, and maximum pushing displacement D_max. The safe clamping force F_safe is greater than the maximum clamping force F_max, which is greater than the minimum clamping force F_min, i.e., F_safe > F_max > F_min. In the adaptive clamping process of the interventional surgical robot compatible with multiple sizes of interventional instruments, step S1 can obtain the adaptive threshold data for the clamping structure to clamp the interventional instrument from the factory parameter table based on the outer diameter, material, and type of the interventional instrument. This provides judgment data for subsequent steps to control the clamping structure to adaptively clamp the interventional instrument. In this embodiment, the safe clamping force F_safe refers to the maximum upper limit of the force that the interventional instrument can withstand for absolute safety when clamped by the clamping structure. If the clamping force data F reaches the safe clamping force F_saf, it indicates a risk that the clamping structure will damage or crush the interventional instrument (such as guidewires, catheters, etc.), and an emergency retraction must be triggered. Minimum clamping force F_min refers to the minimum force required to ensure that interventional instruments (such as guidewires and catheters) are securely clamped without slippage. Maximum clamping force F_max refers to the highest expected force for interventional instruments (such as guidewires and catheters) under normal clamping conditions. Exceeding the maximum clamping force F_max indicates that the clamping is too tight and requires fine-tuning. Movement step Δd refers to the basic step size used when the clamping structure has just begun to advance, has not yet made contact, or is under minimal force. Maximum pushing displacement D_max refers to the limit distance that the pushing element of the clamping structure can advance. If the maximum pushing displacement D_max is reached but the clamping force data F has not yet stabilized, it indicates that the clamping structure is unloaded, has missing parts, or is severely slipping.

[0065] In this embodiment of the application, step S1 can be customized to set the adaptive threshold data for the clamping structure to clamp the interventional device as needed.

[0066] In other practical examples, adaptive threshold data for clamping interventional devices using clamping structures can be obtained by analyzing historical data of each type of interventional device using intelligent algorithms (such as the Canny operator).

[0067] S2. The movement of the clamping structure is controlled by the movement step amount based on the adaptive threshold data, and the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element are acquired in real time.

[0068] It should be noted that step S2 controls the movement of the clamping structure holding the interventional device based on the movement step amount obtained from the adaptive threshold data in step S1. For example, the clamping structure is controlled to move the interventional device one step, and the advancing displacement D of the clamping structure and the clamping force data F detected by the clamping force detection element are acquired in real time. This provides data for subsequently determining the adaptive clamping strategy for the clamping structure to clamp the interventional device. In this embodiment, the advancing displacement D refers to the distance between the pushing element 102 of the clamping structure and the moving position of the interventional device. The clamping force data F refers to the clamping force borne by the pushing element detected by the clamping force detection element.

[0069] In this embodiment of the application, before controlling the movement of the clamping structure to clamp the interventional device according to the movement step amount of the adaptive threshold data, the adaptive clamping method of the interventional surgical robot compatible with multiple sizes of interventional devices also performs initialization processing on the clamping structure, such as the push element 102 returning to zero.

[0070] In this embodiment of the application, the advancing displacement D of the clamping structure can be obtained by a displacement sensor or a distance sensor.

[0071] S3. Determine the adaptive clamping strategy based on the adaptive threshold data, clamping force data, and advance displacement; control the movement of the clamping structure to clamp the interventional instrument according to the adaptive clamping strategy.

[0072] It should be noted that step S3 involves formulating an adaptive clamping strategy based on the clamping force data and propulsion displacement obtained in step S2 and the adaptive threshold data obtained in step S1, using pre-set rules. The adaptive clamping strategy controls the movement of the clamping structure to hold the interventional device, achieving clamping without damage or slippage. In this embodiment, the adaptive clamping method of this interventional surgical robot, compatible with multiple sizes of interventional devices, controls the movement of the clamping structure to hold the interventional device through an adaptive clamping strategy. This allows the clamping structure of the interventional surgical robot to simultaneously accommodate the clamping needs of different sizes of interventional devices (such as fine-diameter guidewires and guidewire catheters of different sizes), improving the stability of the device's propulsion, retraction, and rotational transmission, and reducing the risk of coating damage and local indentation.

[0073] In this embodiment, step S3 can be understood as using clamping force data as the core feedback, advancing displacement as motion correction, and adaptive threshold as dynamic benchmark to integrate the three to generate an adaptive clamping strategy for real-time clamping. Then, the clamping structure is driven by closed-loop control to dynamically adjust the clamping force, so that the interventional device is always in a safe, stable, and controllable clamping state during the entire operation process such as advancing, positioning, and reversing, thereby achieving true adaptive clamping and precise movement control.

[0074] In the practical example of this application, the adaptive clamping method of the interventional surgical robot compatible with multiple sizes of interventional instruments first sets a clamping force detection element on the clamping structure for detecting the clamping force of the interventional instruments, and then uses steps S1 to S3 to optimize the motion control of the clamping structure for clamping interventional instruments based on the clamping force data detected in real time by the clamping force detection element.

[0075] In the practical example of this application, the adaptive clamping method of the interventional surgical robot compatible with multiple sizes of interventional instruments is achieved by setting a clamping force detection element on the clamping structure to detect the clamping force of the interventional instruments. Based on adaptive threshold data combined with real-time collected clamping force data and advance displacement, an adaptive clamping strategy is formulated to realize the adaptive clamping of interventional instruments by the clamping structure. In this way, interventional instruments of different sizes (thickness, elasticity) can be clamped. By controlling the magnitude of the clamping force, the interventional instruments are not damaged.

[0076] This application provides an adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments. The method is applied to the clamping structure of the interventional surgical robot, which is equipped with a clamping force detection element for detecting the clamping force of the interventional instruments. The adaptive clamping method includes: S1. Acquiring adaptive threshold data corresponding to the interventional instruments clamped by the clamping structure; S2. Controlling the movement of the clamping structure to hold the interventional instruments based on the movement step amount of the adaptive threshold data, and acquiring the advance displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time; S3. Determining an adaptive clamping strategy based on the adaptive threshold data, clamping force data, and advance displacement; and controlling the movement of the clamping structure to hold the interventional instruments according to the adaptive clamping strategy. This interventional surgical robot employs an adaptive clamping method compatible with multiple sizes of interventional instruments. This method utilizes a clamping force detection element on the clamping structure to detect the clamping force of the interventional instruments. Based on adaptive threshold data combined with real-time collected clamping force data and propulsion displacement, an adaptive clamping strategy is developed to achieve adaptive clamping of the interventional instruments. This allows for the clamping of interventional instruments of different sizes without damage, resulting in high compatibility of the clamping structure. This solves the technical problem of low compatibility of clamping components in existing interventional surgical robots.

[0077] Figure 3 This is a flowchart illustrating the steps of the adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application.

[0078] like Figure 3 As shown, in one embodiment of this application, the adaptive clamping strategy includes:

[0079] If the clamping force data is greater than the safe clamping force, the clamping structure will stop working and return to the initial state.

[0080] If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, then the stepping amount of the clamping structure is dynamically adjusted according to the minimum clamping force and the real-time collected clamping force data to obtain the real-time stepping amount; the real-time stepping amount is used as the moving stepping amount to re-execute step S2.

[0081] If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data and the movement step, so as to obtain the final displacement and final clamping force for successful clamping of the interventional device.

[0082] If the clamping force data is not greater than the safe clamping force but greater than the maximum clamping force, then the retraction step amount is determined based on the maximum clamping force and the real-time collected clamping force data; the clamping structure is controlled to retract the interventional instrument based on the retraction step amount, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force;

[0083] If the clamping force is less than the minimum clamping force and the pushing displacement is not less than the maximum pushing displacement, then the clamping structure has not clamped the interventional device, and the clamping structure should be stopped.

[0084] In this embodiment, if the clamping force data F > the safe clamping force F_safe, the clamping structure is immediately controlled to stop the interventional device from advancing forward, and the clamping structure is controlled to return the interventional device to a safe position, such as the initial position of the clamping structure, according to the emergency retraction amount Δd_back.

[0085] It should be noted that the emergency retraction amount Δd_back can be set according to requirements. When the clamping force data F > the safe clamping force F_safe, the installation protection will be triggered, that is, the safe distance at which the pushing element of the clamping structure is quickly withdrawn will be controlled. In this embodiment, when the clamping force data F > the safe clamping force F_safe, it indicates that the clamping structure is in an overpressure risk state when clamping the interventional device, and an alarm message (such as sound, text, etc.) will be issued and the abnormality will be recorded, indicating that there is an abnormality in the parameters or clamping of this specification of interventional device.

[0086] In this embodiment of the application, if the clamping force data F < minimum clamping force F_min and the pushing displacement D ≥ maximum pushing displacement D_max, it indicates that the clamping structure has reached the maximum displacement of the interventional device but still has not clamped the interventional device tightly. The clamping force of the clamping structure is insufficient, and slippage is likely to occur. An alarm message (such as sound, message, etc.) is issued and the abnormality is recorded, indicating that there is an abnormality in the parameters or clamping of the interventional device of this specification.

[0087] In this embodiment, when the clamping force data F < minimum clamping force F_min and the advancing displacement D < maximum pushing displacement D_max, after dynamically increasing or decreasing the step size according to the force deviation, the clamping structure fails to clamp the interventional device. The clamping structure needs to clamp the interventional device according to the adjusted real-time step size to continue advancing / moving forward.

[0088] It should be noted that during the acquisition of the real-time step size, the step size can be calculated using an adjustment function (such as an adaptive step size algorithm) based on the force deviation between the minimum clamping force F_min and the clamping force data F. The adjustment function is f(F_min-F). The clamping structure is controlled to continue advancing / moving the interventional instrument according to the adjusted real-time step size. The process returns to step S2 to again acquire the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time. The adaptive clamping strategy is then re-determined based on the updated data (such as clamping force data and advancing displacement) combined with the adaptive threshold data. In other embodiments, the step size adjustment function can be replaced by an error-driven adaptive function (such as the LMS algorithm).

[0089] In the embodiments of this application, when the minimum clamping force F_min ≦ the clamping force data F ≦ the maximum clamping force F_max, it indicates that the clamping force of the clamping structure on the interventional device has entered a stable stage. According to this clamping force data F, the interventional device can be clamped stably, and there will be no slippage or damage to the interventional device, thereby improving the working efficiency and operation accuracy of the interventional surgery robot.

[0090] It should be noted that when the minimum clamping force F_min ≦ the clamping force data F ≦ the maximum clamping force F_max, the clamping force and displacement of the clamping structure clamping the interventional device can be obtained from the collected clamping force data F and displacement D.

[0091] In this embodiment, when the maximum clamping force F_max < clamping force data F < safe clamping force F_safe, it indicates that the clamping structure clamps the interventional device beyond the target clamping force limit, which may damage the interventional device. Therefore, after dynamically increasing or decreasing the step amount according to the force deviation, the clamping structure clamps the interventional device too tightly. The clamping structure needs to slightly retract the interventional device according to the adjusted retraction step amount.

[0092] It should be noted that during the process of obtaining the retraction step size, it can be calculated using the retraction step size adjustment function based on the force deviation between the clamping force data and the maximum clamping force F_max. The clamping structure is then controlled to retract the interventional instrument to the target range according to the adjusted retraction step size (e.g., minimum clamping force F_min ≦ clamping force data F ≦ maximum clamping force F_max). The retraction step size adjustment function is g(F - F_max). When the clamping force data F slightly exceeds the maximum clamping force F_max, it is necessary to calculate the retraction distance (e.g., the retraction step size) to return to the normal target range.

[0093] Once the detected clamping force data F enters the target range, continuous sampling and stability assessment are performed. Fine-tuning of the displacement is necessary to obtain the final displacement and final clamping force for successful clamping of the interventional device. In one embodiment of this application, controlling the clamping structure to clamp the interventional device based on the clamping force data to obtain the final displacement and final clamping force for successful clamping of the interventional device includes:

[0094] The clamping structure is controlled to clamp the interventional device based on the clamping force data. Within a set time, n clamping force values ​​and displacement values ​​are continuously acquired, where n is a non-zero natural number.

[0095] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0096] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verifications and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0097] If the changes in the n clamping force values ​​are all less than the stable change threshold and the n displacement values ​​are all less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure has slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and step S3 is executed again.

[0098] If at least one of the changes in the n clamping force values ​​is not less than the stable change threshold and / or at least one of the changes in the n displacement values ​​is not less than the maximum pushing displacement, the clamping structure is controlled to move the interventional instrument forward or backward, and the clamping force data detected by the clamping force detection element is obtained until the adjusted clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

[0099] It should be noted that the setting time can be set to 0.1s, or it can be set according to requirements. The stable change threshold can be set according to requirements, for example, a stable change threshold of 50mN. The change in n clamping force values ​​refers to the difference between any two clamping force values. In this embodiment, the final displacement D_final refers to the final position coordinate of the pushing element after the interventional device is successfully clamped and stabilized by the clamping structure. The final clamping force F_final refers to the magnitude of the actual clamping force maintained by the clamping structure after the interventional device is successfully clamped by the clamping structure. It is required that the clamping force values ​​detected consecutively in n tests are all within the target range for the interventional device to be considered stably clamped by the clamping structure.

[0100] In this embodiment of the application, the adaptive clamping method of the interventional surgical robot, which is compatible with multiple sizes of interventional instruments, can prevent slippage when clamping interventional instruments. Specifically, by comparing the changes in moving displacement, maximum pushing displacement, and clamping force, the slippage phenomenon is identified and the clamping force is dynamically adjusted by adjusting the step size.

[0101] In the embodiments of this application, when the clamping structure clamps interventional devices such as catheters, the adaptive clamping method of the interventional surgical robot, which is compatible with multiple sizes of interventional devices, stably clamps and delivers the catheters.

[0102] Example 2:

[0103] Figure 4 This is a schematic diagram of the frame of the adaptive clamping device for the interventional surgical robot compatible with multiple sizes of interventional instruments as described in the embodiments of this application.

[0104] like Figure 4 As shown, this application embodiment provides an adaptive clamping device for an interventional surgical robot that is compatible with multiple sizes of interventional instruments. It is applied to the clamping structure of the interventional surgical robot. The clamping structure is provided with a clamping force detection element for detecting the clamping force of the interventional instruments. The adaptive clamping device includes: a first data acquisition module 100, a second data acquisition module 200 and an adaptive clamping module 300.

[0105] The first data acquisition module 100 is used to acquire adaptive threshold data corresponding to the interventional instrument held by the clamping structure.

[0106] The second data acquisition module 200 is used to control the movement of the clamping structure holding the interventional instrument according to the movement step amount of the adaptive threshold data, and to acquire the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time.

[0107] The adaptive clamping module 300 is used to determine an adaptive clamping strategy based on adaptive threshold data, clamping force data, and advance displacement; and to control the clamping structure to move the interventional instrument according to the adaptive clamping strategy.

[0108] It should be noted that the content of each module in the device of Embodiment 2 corresponds to the content of each step in the method of Embodiment 1. Therefore, the content of each module of the adaptive clamping device for multi-specification interventional instruments of the interventional surgical robot will not be repeated in this embodiment. This adaptive clamping device for multi-specification interventional instruments of the interventional surgical robot, through a first data acquisition module, a second data acquisition module, and an adaptive clamping module, is equipped with a clamping force detection element on the clamping structure for detecting the clamping force of the interventional instruments. Based on adaptive threshold data combined with real-time collected clamping force data and propulsion displacement, an adaptive clamping strategy is formulated to achieve adaptive clamping of the interventional instruments by the clamping structure. This allows for the clamping of interventional instruments of different specifications without damage, resulting in high compatibility of the clamping structure.

[0109] In the embodiments of this application, the adaptive threshold data includes: safe clamping force, minimum clamping force, maximum clamping force, movement step, and maximum pushing displacement, wherein the safe clamping force is greater than the maximum clamping force, and the maximum clamping force is greater than the minimum clamping force; the adaptive clamping strategy includes:

[0110] If the clamping force data is greater than the safe clamping force, the clamping structure will stop working and return to the initial state.

[0111] If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, the step size of the clamping structure is dynamically adjusted based on the minimum clamping force and the real-time collected clamping force data to obtain the real-time step size; the real-time step size is then used as the moving step size to re-execute the second data acquisition module.

[0112] If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data, so as to obtain the final displacement and final clamping force for successful clamping of the interventional device;

[0113] If the clamping force data is not greater than the safe clamping force but greater than the maximum clamping force, then the retraction step amount is determined based on the maximum clamping force and the real-time collected clamping force data; the clamping structure is controlled to retract the interventional instrument according to the retraction step amount, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

[0114] In the embodiments of this application, controlling the clamping structure to clamp the interventional device based on the clamping force data, and obtaining the final displacement and final clamping force for successful clamping of the interventional device includes:

[0115] The clamping structure is controlled to clamp the interventional device based on the clamping force data. Within a set time, n clamping force values ​​and displacement values ​​are continuously acquired, where n is a non-zero natural number.

[0116] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0117] If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verifications and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement.

[0118] If the changes in the n clamping force values ​​are all less than the stable change threshold and the n displacement values ​​are all less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure exhibits slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and the adaptive clamping module is re-executed.

[0119] Example 3:

[0120] Figure 5 This is a schematic diagram of the control system in the interventional surgical robot described in the embodiments of this application.

[0121] like Figure 5 As shown, this application provides an interventional surgical robot, including a robot body and a control system for controlling the operation of the robot body. The control system includes a processor and a memory.

[0122] Memory is used to store program code and transfer the program code to the processor;

[0123] The processor is used to execute the aforementioned adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments, according to instructions in the program code.

[0124] It should be noted that the processor is used to execute the steps in the above-described embodiment of an adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments, according to the instructions in the program code. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described system / device embodiments.

[0125] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device.

[0126] Terminal devices can be computing devices such as desktop computers, laptops, handheld computers, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will understand that this does not constitute a limitation on the terminal device, which may include more or fewer components than illustrated, or combinations of certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.

[0127] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0128] Memory can be an internal storage unit of a terminal device, such as a hard drive or RAM. Memory can also be an external storage device, such as a plug-in hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, memory can include both internal and external storage units. Memory is used to store computer programs and other programs and data required by the terminal device. Memory can also be used to temporarily store data that has been output or will be output.

[0129] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments, applied to the clamping structure of the interventional surgical robot, characterized in that, The clamping structure is provided with a clamping force detection element for detecting the clamping force of interventional instruments. The adaptive clamping method includes the following steps: S1. Obtain adaptive threshold data corresponding to the clamping structure clamping the interventional device; S2. Control the movement of the clamping structure to clamp the interventional instrument according to the movement step amount of the adaptive threshold data, and obtain the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time; S3. Determine an adaptive clamping strategy based on the adaptive threshold data, the clamping force data, and the advancing displacement; control the clamping structure to clamp and move the interventional device according to the adaptive clamping strategy; The adaptive threshold data includes: safe clamping force, minimum clamping force, maximum clamping force, movement step, and maximum pushing displacement, wherein the safe clamping force is greater than the maximum clamping force, and the maximum clamping force is greater than the minimum clamping force; the adaptive clamping strategy includes: If the clamping force data is greater than the safe clamping force, then the clamping structure is controlled to stop working and return to the initial state; If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, then the stepping amount of the clamping structure is dynamically adjusted according to the minimum clamping force and the clamping force data collected in real time to obtain the real-time stepping amount; the real-time stepping amount is used as the moving stepping amount to re-execute step S2; If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data, so as to obtain the final displacement and final clamping force for successfully clamping the interventional device; If the clamping force data is not greater than the safe clamping force but greater than the maximum clamping force, then a retraction step is determined based on the maximum clamping force and the clamping force data collected in real time; the clamping structure is controlled to retract the interventional device according to the retraction step, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

2. The adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments according to claim 1, characterized in that, Based on the clamping force data, the clamping structure is controlled to clamp the interventional device, and the final displacement and final clamping force for successfully clamping the interventional device include: The clamping structure is controlled to clamp the interventional device according to the clamping force data, and n clamping force values ​​and displacement values ​​are continuously acquired within a set time, where n is a natural number that is not 0; If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement. If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verification and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement. If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure exhibits slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and step S3 is re-executed.

3. The adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments according to claim 2, characterized in that, Controlling the clamping structure to clamp the interventional device based on the clamping force data, and obtaining the final displacement and final clamping force for successfully clamping the interventional device, further includes: if at least one of the changes in the n clamping force values ​​is not less than a stable change threshold and / or at least one of the n displacement values ​​is not less than the maximum pushing displacement, controlling the clamping structure to move the interventional device forward or backward, obtaining the adjusted clamping force data detected by the clamping force detection element, until the adjusted clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

4. The adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments according to claim 1, characterized in that, The adaptive clamping strategy further includes: if the clamping force data is less than the minimum clamping force and the pushing displacement is not less than the maximum pushing displacement, then the clamping structure does not clamp the interventional device, and the clamping structure is controlled to stop working.

5. The adaptive clamping method for an interventional surgical robot compatible with multiple sizes of interventional instruments according to any one of claims 1-4, characterized in that, The clamping structure includes a pushing element and a driving source that drives the pushing element to move the interventional instrument. The clamping force detection element is installed at the connection between the driving source and the pushing element.

6. An adaptive clamping device for an interventional surgical robot compatible with multiple sizes of interventional instruments, applied to the clamping structure of an interventional surgical robot, characterized in that, The clamping structure is provided with a clamping force detection element for detecting the clamping force of the interventional device. The adaptive clamping device includes: a first data acquisition module, a second data acquisition module and an adaptive clamping module. The first data acquisition module is used to acquire adaptive threshold data corresponding to the clamping structure clamping the interventional device; The second data acquisition module is used to control the movement of the clamping structure to clamp the interventional instrument according to the movement step amount of the adaptive threshold data, and to acquire the advancing displacement of the clamping structure and the clamping force data detected by the clamping force detection element in real time; The adaptive clamping module is used to determine an adaptive clamping strategy based on the adaptive threshold data, the clamping force data, and the advancing displacement; and to control the clamping structure to clamp the interventional instrument and move it according to the adaptive clamping strategy. The adaptive threshold data includes: safe clamping force, minimum clamping force, maximum clamping force, movement step, and maximum pushing displacement, wherein the safe clamping force is greater than the maximum clamping force, and the maximum clamping force is greater than the minimum clamping force; the adaptive clamping strategy includes: If the clamping force data is greater than the safe clamping force, then the clamping structure is controlled to stop working and return to the initial state; If the clamping force data is less than the minimum clamping force and the pushing displacement is less than the maximum pushing displacement, then the step size of the clamping structure is dynamically adjusted according to the minimum clamping force and the clamping force data collected in real time to obtain the real-time step size; the real-time step size is used as the moving step size to re-execute the second data acquisition module; If the clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force, the clamping structure is controlled to clamp the interventional device according to the clamping force data, so as to obtain the final displacement and final clamping force for successfully clamping the interventional device; If the clamping force data is not greater than the safe clamping force but greater than the maximum clamping force, then a retraction step is determined based on the maximum clamping force and the clamping force data collected in real time; the clamping structure is controlled to retract the interventional device according to the retraction step, and the retraction clamping force data detected by the clamping force detection element is obtained until the retraction clamping force data is not less than the minimum clamping force and not greater than the maximum clamping force.

7. The adaptive clamping device for interventional surgical robots compatible with multiple sizes of interventional instruments according to claim 6, characterized in that, Based on the clamping force data, the clamping structure is controlled to clamp the interventional device, and the final displacement and final clamping force for successfully clamping the interventional device include: The clamping structure is controlled to clamp the interventional device according to the clamping force data, and n clamping force values ​​and displacement values ​​are continuously acquired within a set time, where n is a natural number that is not 0; If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure does not perform pull-out and friction verification, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement. If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, and the clamping structure performs pull-out and friction verification and there is no slippage in the clamping structure, then the nth clamping force value is taken as the final clamping force and the nth displacement value is taken as the final displacement. If the changes in all n clamping force values ​​are less than the stable change threshold and all n displacement values ​​are less than the maximum pushing displacement, the clamping structure performs pull-out and friction verification. If the clamping structure exhibits slippage and the nth clamping force value is not greater than the safe clamping force, the pushing displacement is increased and the adaptive clamping module is re-executed.

8. An interventional surgical robot, characterized in that, It includes a robot body and a control system for controlling the operation of the robot body, the control system including a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute, according to the instructions in the program code, the adaptive clamping method for interventional surgical robots compatible with multiple sizes of interventional instruments as described in any one of claims 1-5.

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