Tactile feedback method, apparatus, and system applicable to narrow lumen surgical scene

Abstract

The present application provides a tactile feedback method, apparatus, and system applicable to a narrow lumen surgical scene. The method comprises: when a surgeon holds one end of a tactile grip to control a surgical instrument to perform surgery on lesion tissue in a narrow lumen, and a time-varying electromagnetic field is generated inside a cavity in a tactile sensing and generation array, acquiring, on the basis of a signal collection device, a first signal collected by a detection coil in the tactile grip; extracting a locating signal in the first signal; on the basis of the amplitude of a time domain locating signal corresponding to the locating signal, determining the distance between the detection coil and electromagnetic coils in the tactile sensing and generation array; and determining a pose of the tactile grip on the basis of the distance. According to the present application, a tactile sensing and generation array applicable to a surgical scene is designed, wherein electromagnetic coils are arranged in a symmetrical redundant mode to form a tactile cavity, for simulating real-time tactile sensation of a surgical instrument in a narrow lumen, thereby realizing tactile locating of an operation of the surgical instrument in the narrow lumen.

Description

Tactile feedback method, device and system suitable for narrow cavity surgery scenes

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202310992442.8 filed on August 8, 2023, entitled “Tactile feedback method, device and system suitable for narrow cavity surgical scenarios”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the field of human-computer interaction technology, and in particular to a tactile feedback method, device, and system suitable for narrow cavity surgery scenarios. Background Art

[0004] Whether performing surgery through a narrow natural cavity or an interventional procedure, the visual information surgeons receive is currently the only reliable data on the surgical process. Most surgical instruments rely on mechanical stability for precise control. With the advancement of robotic surgery and the flexible shift in surgical techniques, integrating visual information with tactile information to provide multi-dimensional surgical perception has become a research hotspot for the next phase of human-machine interaction in surgical robots.

[0005] In terms of specific tactile feedback implementation methods, devices that use mechanical structures to generate tactile sensations, such as Force Dimension's various force feedback manipulators, 3D Systems' Touch series, and Haption's multi-degree-of-freedom force feedback joysticks, have been widely used in many industries. However, due to mechanical friction and the characteristics of their own structures, these devices have not been able to gain the full trust of surgeons for safe use in minimally invasive surgery.

[0006] Currently, many studies are concentrated in this field, including: array electromagnetic coil tumor ablation technology using high-temperature superconductor materials; devices and methods for converting electromagnetic energy into mechanical energy in array form for use as tactile display; micro-electromagnetic coil arrays for touch; remote tactile feedback devices that use neural network methods to determine parameter adjustment; the use of combined electromagnets to provide users with fingertip tactile feedback; the addition of tactile feedback software and hardware functions to the basic configuration of the mouse; electromagnetic coil focusing arrays for eye surgery, and the optimization design of electromagnetic coils and their array arrangements is analyzed from the perspective of the workspace.

[0007] The existing technology has the following shortcomings or deficiencies:

[0008] (1): Commercially, for example, the American company https: / / www.geeplus.com / provides various closed drive devices based on solenoids, but the tactile applications they can provide are greatly limited by their structure. For example, the tactile driver developed by Cirrus Logic is a driver for LRA or VCM developed based on its audio R&D Class D amplifier. For example, the linear motor developed by Nidec provides single-axis mobile tactile sensation. For example, the series of tactile exploration kits designed by Boreas. For example, the thin-film tactile actuator developed by TDK. For example, the driver for various tactile elements developed by Texas Instruments. The tactile drivers mentioned above can be widely used in the field of consumer electronics, but in the medical field, the open-loop characteristics of the above products themselves make it impossible for patients and doctors to trust such tactile feedback devices or components in critical scenarios where the patient's life safety is at stake.

[0009] (2): Existing solenoid-based tactile generation devices are relatively large in size, require customized drivers that can provide high power consumption, and are relatively expensive. For example, in the article "Rendering of Virtual Volumetric Shapes Using an Electromagnetic-Based Haptic Interface", the volume of the electromagnetic coil array is not proportional to its effective range. If such a mechanism is used in actual minimally invasive surgery, it will first occupy valuable operating room space. An overly large operating device will make it inconvenient for doctors to perform multitasking operations. In addition, if operations involving magnetic resonance imaging (MRI) are considered, the shape and effective range of the tactile feedback device need to be designed more carefully to prevent interference with existing surgical instruments.

[0010] (3): Currently, there are no device inventions, software and hardware methods that are suitable for both natural cavity and vascular intervention in the patents for tactile feedback. This part of the invention is still in a relatively blank state.

[0011] (4): Currently, there is no sophisticated device that can simultaneously achieve tactile positioning and feedback functions. Various existing tactile feedback devices are not well integrated with tactile sensors. As a result, although a current closed loop is introduced within the algorithm, the feeling ultimately fed back to the human hand cannot be effectively measured. This is especially true in the application scenario of minimally invasive surgery, which may cause unexpected fatal consequences.

[0012] (5): In terms of fingertip tactile feedback, other applications have not considered combining it with muscle tactile feedback. In the current operation mode of minimally invasive surgery, doctors not only lack tactile feedback from their fingertips, but also do not effectively utilize muscle feedback from their palms, wrists, and elbows.

[0013] Summary of the Invention

[0014] The tactile feedback method, device, and system provided in the present application are suitable for narrow cavity surgery scenarios, and are used to solve at least one of the above-mentioned problems existing in the prior art.

[0015] This application provides a tactile feedback method suitable for narrow cavity surgery scenarios, including:

[0016] When a doctor holds one end of a tactile grip in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile grip is obtained based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile grip is extended into an area where the time-varying electromagnetic field is generated inside the cavity. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0017] extracting a positioning signal from the first signal;

[0018] determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0019] The position and posture of the tactile grip are determined according to the distance.

[0020] According to a tactile feedback method suitable for narrow cavity surgery scenarios provided by this application,

[0021] Determining the position and posture of the tactile grip according to the distance includes:

[0022] determining a first position and posture of the tactile grip according to a posture angle of the tactile grip and a phase and a frequency of the time-domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip;

[0023] Correcting the first position and the posture based on a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined based on the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined based on the distance, and the second magnetic field strength is measured based on a Hall sensor in the tactile gripper;

[0024] The position and posture of the tactile grip are determined according to the corrected first position and posture.

[0025] According to a tactile feedback method applicable to a narrow cavity surgery scenario provided by the present application, after determining the position and posture of the tactile grip according to the corrected first position and posture, the method further includes:

[0026] determining a current matrix according to the driving current of the tactile grip and the number of the electromagnetic coils;

[0027] determining a position matrix according to the corrected first position and the number of the electromagnetic coils;

[0028] determining a posture matrix according to the corrected posture and the number of the electromagnetic coils;

[0029] Determining a first matrix according to the current matrix, the position matrix, and the posture matrix;

[0030] calibrating a driving current of the tactile grip and the first matrix according to force feedback data of the tactile grip collected by a force sensor in the tactile grip and force feedback data expected to be achieved by the tactile grip, and obtaining the calibrated driving current and first matrix;

[0031] Calibrate the calibrated driving current and the first matrix according to the target tactile signal collected by the tactile sensor in the tactile grip and the expected measured tactile signal to obtain a second matrix;

[0032] The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix. The target driving current is used as the tactile feedback signal of the tactile grip.

[0033] According to a tactile feedback method applicable to narrow cavity surgery scenarios provided by the present application, extracting the positioning signal from the first signal includes:

[0034] Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands;

[0035] The tactile signal is filtered out using a bandpass filter to obtain the positioning signal.

[0036] According to a tactile feedback method applicable to narrow cavity surgery scenarios provided by the present application, the method for obtaining the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal includes:

[0037] Perform the Hilbert transform on the positioning signal to obtain the amplitude, phase and frequency of a time-domain positioning signal corresponding to the positioning signal.

[0038] The present application also provides a tactile feedback device suitable for narrow cavity surgery scenarios, including the tactile sensing and generating array in any of the above-mentioned tactile feedback methods suitable for narrow cavity surgery scenarios.

[0039] A tactile feedback device suitable for narrow cavity surgery provided by the present application also includes:

[0040] The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation perceived by the wrist when the outer sheath connected to the surgical instrument moves in the narrow cavity, when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

[0041] The present application also provides a tactile feedback system suitable for narrow cavity surgery scenarios, comprising:

[0042] A first acquisition module is configured to, when a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and when a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, acquire, based on a signal acquisition device in the tactile sensing and generating array, a first signal acquired by a detection coil in the tactile gripper, the other end of the tactile gripper extending into an area where the time-varying electromagnetic field is generated inside the cavity, the cavity including a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile drive sequence signal is input to each electromagnetic coil, the cavity is configured to generate the time-varying electromagnetic field;

[0043] A second acquisition module, configured to extract a positioning signal from the first signal;

[0044] a third acquisition module, configured to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0045] A tactile positioning module is used to determine the position and posture of the tactile grip according to the distance.

[0046] The present application also provides an electronic device, comprising a processor and a memory storing a computer program, wherein when the processor executes the program, the tactile feedback method applicable to a narrow cavity surgery scenario as described above is implemented.

[0047] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios as described above is implemented.

[0048] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-described tactile feedback methods applicable to narrow cavity surgery scenarios.

[0049] The present application provides a tactile feedback method, device, and system suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time tactile sensation of surgical instruments in narrow cavities, and can realize tactile positioning of surgical instrument operations in narrow cavities. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] FIG1 is a flow chart of a tactile feedback method applicable to narrow cavity surgery scenarios provided by the present application;

[0052] FIG2 is a schematic diagram of the structure of a tactile feedback device suitable for narrow cavity surgery provided by the present application;

[0053] FIG3 is one of the operational schematic diagrams of the tactile sensing and generating array provided by the present application;

[0054] FIG4 is a second schematic diagram of the operation of the tactile sensing and generating array provided by the present application;

[0055] FIG5 is a diagram showing the relationship between the combined tactile device provided by the present application and an actual flexible surgical robot and an instrument end;

[0056] FIG6 is a schematic diagram of a surgeon or user holding a tactile grip provided by the present application;

[0057] FIG7 is a schematic diagram of tactile feedback force on the fingertips of a surgeon holding a tactile grip provided by the present application;

[0058] FIG8 is a schematic diagram of tactile feedback force on the surgeon's wrist provided by the present application;

[0059] FIG9 is a structural design logic diagram provided by this application;

[0060] FIG10 is a schematic diagram of the overall structure of the tactile sensing and generating array provided by the present application;

[0061] FIG11 is a schematic diagram of the cavity portion of the tactile sensing and generating array provided by the present application;

[0062] FIG12 is a cross-sectional schematic diagram of a pen-shaped stylus provided in the present application;

[0063] FIG13 is a schematic diagram of a frame structure of a tactile driving sequence signal provided by the present application;

[0064] FIG14 is a schematic diagram of the algorithm design logic provided by this application;

[0065] FIG15 is a schematic diagram of the envelope of the tactile-driven high-frequency electromagnetic positioning algorithm provided by the present application;

[0066] FIG16 is a schematic diagram of the circuit design logic corresponding to the tactile feedback device provided by the present application for narrow cavity surgery scenarios;

[0067] FIG17 is a schematic diagram of the structure of the electronic circuit portion of the tactile feedback array cavity provided by the present application;

[0068] FIG18 is a schematic structural diagram of the electronic circuit portion of the pen-shaped stylus provided in the present application;

[0069] FIG19 is a cross-sectional view of the structural design of the electromagnetic coil provided in this application;

[0070] FIG20 is a schematic diagram of the test method provided in this application;

[0071] FIG21 is a schematic structural diagram of a tactile feedback system suitable for narrow cavity surgery provided by the present application;

[0072] FIG22 is a schematic diagram of the physical structure of the electronic device provided in this application. DETAILED DESCRIPTION

[0073] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0074] This application provides a tactile feedback method suitable for narrow cavity surgery scenarios. (1) A tactile sensing and actuation array suitable for surgical scenarios is designed. Electromagnetic coils are arranged in a symmetrical and redundant manner to form a tactile cavity, which is used to simulate real-time tactile sensations in the cavity. This method can achieve tactile positioning and tactile generation for surgical instrument manipulation within a narrow cavity. The array design and arrangement follow the redundancy scheme set forth in this patent, and the use of tactile coils adapted to the working range of the human hand can produce the most efficient tactile generation space.

[0075] (2) The tactile sensing and generation array (or magneto-tactile array) and the multi-degree-of-freedom platform work together to provide surgeons with wrist muscle tactile feedback. The surgeon operates the pen-shaped stylus to adapt to the instruments used in actual surgical operations. At the same time, the multi-degree-of-freedom platform provides surgeons with muscle tactile feedback of surgical instruments, such as the outer sheath of a soft robot or other moving parts of the robot, in the form of a lift or wristband. Specific application scenarios include, for example, the pen-shaped stylus providing subtle tactile sensations of shearing, twisting, and collision of surgical instruments, while the multi-degree-of-freedom platform provides overall tactile sensations such as friction, blockage, and resistance during entry into natural cavities or interventional procedures.

[0076] (3) In the driving part, a fractional-order proportional differential controller PID is used to complete the closed-loop excitation of the time-varying electromagnetic field, making up for the deficiency of the traditional superposition principle in mutual inductance calculation. In the positioning part, a multi-layer envelope extraction electromagnetic high-frequency positioning algorithm using Hilbert transform is proposed, which can make full use of the frequency band resources to achieve accurate positioning. The specific implementation is as follows:

[0077] FIG1 is a flow chart of a tactile feedback method for narrow cavity surgery provided by the present application. As shown in FIG1 , the method includes:

[0078] Step 110: When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array. The other end of the tactile gripper is extended into an area where the time-varying electromagnetic field is generated inside the cavity. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0079] Step 120: extracting a positioning signal from the first signal;

[0080] Step 130 , determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0081] Step 140: Determine the position and posture of the tactile grip according to the distance.

[0082] It should be noted that the execution subject of the above method may be a computer device.

[0083] Optionally, this application uses the basic principle of magnetic driving and positioning of magnets placed in an electromagnetic field. The difficulty lies in the accuracy of using magnetism for tactile feedback and the positioning of moving magnets in a time-varying electromagnetic field. In order to solve the above two basic problems, the following solutions are proposed in principle.

[0084] First, the overall model of the tactile sensing and generation array is constructed, and the magnetic field generation follows the Biot-Savart law and Gauss law, where is the magnetic induction intensity, is the displacement current vector, r ′ is the displacement vector, is a unit vector, and μ0 represents the vacuum permeability constant.

[0085] Where V represents the integration of the current vector within a certain volume, and the magnetic induction intensity within the volume space is obtained. A vector representing the magnetic field strength, represents the magnetic vector potential.

[0086] For static magnetic field, it follows the linear superposition principle of magnetic field, that is, the magnetic field induction intensity at a point in space is Can be considered as multiple magnetic field strengths Vector overlay.

[0087] For time-varying electromagnetic fields, the linear superposition principle no longer applies. The alternating magnetic field will stimulate a new magnetic field, causing the magnetic force to change. To a certain degree of approximation, a proportional-integral-differential controller (PID) can be used to converge the calculated result between the target magnetic induction intensity and the input excitation current to a preset value, as shown in the following formula.

[0088] Among them, H(s) represents the PID system function, Y(s) represents the PID system output, X(s) represents the PID system input, K p Represents the proportional control parameter, K I Represents the integral control parameter, K D Represents the differential control parameter, s represents the Laplace domain variable, and λ and μ represent the number of layers of integral and differential operations.

[0089] The force on a magnet in a magnetic field can be expressed as follows. Since there are no magnetic monopoles, it is more accurate to use magnetic torque to express the force on an electromagnet that is approximately a magnetic dipole in a magnetic field, where τ is the magnetic torque, is the magnetic dipole moment, is the magnetic field strength.

[0090] Forward magnetic field calculation can yield an analytical solution to the magnetic field, but its computational complexity and required update frequency dictate that in this haptic feedback application, forward calculation is only suitable for calibrating key electromagnetic field modes and verifying feedback. Inverse calculation, using system identification of the magneto-tactile array model, can rapidly monitor the magnetic field state. By inferring the current state of the magnetic field, including both excitation and positioning, through multiple sets of real-time correspondences between input and output variables, the system can calculate the current state of the magnetic field.

[0091] The basic principles used in this application also include the method of mixed frequency envelope extraction, digital-to-analog converter DAC and analog-to-digital converter ADC, and the generation of sinusoidal pulse width modulation (SPWM) signals. The mixed frequency envelope extraction adopts the form of Hilbert transform, which can quickly calculate the envelope (i.e. amplitude), phase and instantaneous frequency, where Z(t) is a complex signal, envo(t) is the envelope of the extracted signal, is the phase and instantaneous frequency of the signal.

[0092] Among them, Z r represents the real component, Z i represents the imaginary component, and j represents the imaginary unit.

[0093] The implementation of the DAC depends on the quantization of the input sequence bytes on the hardware resistor network, as shown below, where I o is the output current, K is the resistor network proportional factor, I REF is the reference current value, B i and N represent the number of bytes and bits respectively.

[0094] The implementation of ADC is equivalent to the inverse process of DAC, and the final analog quantity quantization result is obtained by synthesizing the multi-point voltage values ​​of the sampling resistor network.

[0095] The generation of SPWM signal follows the following formula, where V o is the output voltage, V ref is the reference voltage, sinωt is the modulated sine wave, V dc is the DC reference voltage, q i is the linear modulation scale factor.

[0096] Optionally, Figure 2 is a schematic diagram of the structure of a tactile feedback device suitable for narrow cavity surgery scenarios provided by the present application. Referring to Figure 2, the tactile sensing and generation array includes a tactile grip, a cavity, and a signal acquisition device, such as a signal acquisition box. The user, such as a surgeon, holds the tactile grip and places one end (such as the front end) of the tactile grip in the effective working area inside the cavity (i.e., the area where the time-varying electromagnetic field generated inside the cavity is located) to complete fine operations with tactile feedback constraints. The tactile grip contains a detection coil, a Hall sensor array, an inertial measurement unit, a tactile sensor, and various buttons (used to implement the defined surgical operation functions). The cavity is an array composed of multiple electromagnetic coils arranged in a symmetrical and redundant manner, surrounding the workspace in a hemispherical shape, and completing the input to each electromagnet through a tactile drive sequence, and finally obtaining a time-varying electromagnetic field. A signal processing board is placed inside the signal acquisition box to complete high-speed acquisition of various analog signals and digital signals. The outer shell of the signal acquisition box is made of shielding material to keep the signal pure in the operating environment. The operation diagram of the tactile sensing and generating array is specifically shown in FIG3 and FIG4.

[0097] As shown in Figure 2, the fingertip tactile sensation is provided by cavity ①. At the same time, the user can complete muscle tactile feedback by wearing a first component such as a ring or wristband located on the end effector of the multi-degree-of-freedom platform ②, and through a second component such as a force sensor or tactile sensor deployed in the multi-degree-of-freedom platform ②.

[0098] FIG5 is a diagram showing the relationship between the combined tactile device provided by the present application and the actual flexible surgical robot and the end of the instrument. Referring to the left side of FIG5 , the two-stage flexible surgical robot is composed of an outer sheath ① that serves as a guide and a second-stage curved part ② that is more flexible. The surgical instrument ③ can be specifically a biopsy forceps, an electric knife, and a cell brush, etc. The two-stage flexible surgical robot is extended to perform surgical operations on diseased tissues in narrow cavities (such as narrow natural cavities in the human body). The force sensed by the flexible surgical robot shown in FIG5 can be divided into two parts: the first part A is the interactive force sensed by the surgical instrument with the diseased tissue when completing various operations, which is manifested as the subtle tactile sensations of shearing, twisting, and collision of the surgical instrument; the second part B is the overall tactile sensation of friction, blockage, and resistance sensed by the outer sheath when moving in the narrow cavity.

[0099] Figure 6 is a schematic diagram of a surgeon or user holding a haptic grip provided by the present application. Referring to Figure 6 , the surgeon or user holds the haptic grip, where ① in Figure 6 represents the haptic grip, and F, T, M, and R correspond to the index finger, thumb, middle finger, and ring finger, respectively. The upper left, upper right, lower left, and lower right images in Figure 6 represent schematic diagrams of the surgeon's grip from the side, top, front, and rear views, respectively.

[0100] Figure 7 is a schematic diagram of the tactile feedback force on the fingertips of a surgeon holding the tactile grip provided by the present application. Referring to Figure 7 , it is a schematic diagram of the tactile feedback force on the fingertips when the surgeon is holding the grip, wherein ① in Figure 7 represents the front end of the tactile grip, ② represents the rear end of the tactile grip, and Fh1 / 2 / 3 represent the forces on the index finger, thumb, and base of the thumb, respectively. At the same time, the generation of the tactile feedback force of this part comes from part ① in Figure 2.

[0101] Figure 8 is a schematic diagram of the tactile feedback force on the surgeon's wrist provided by this application. As shown in Figure 8, Fh4 / 5 respectively represent the muscle tactile feedback force generated after wearing the first component of the end effector part ② in Figure 2.

[0102] FIG9 is a structural design logic diagram provided by the present application, in which a user (surgeon) holds one end (rear end) of a tactile grip (such as a pen-shaped touch stick) to simulate the state of a doctor holding a surgical instrument. The pen-shaped touch stick can be specifically used to provide the user with an ergonomic grip with tactile feedback and positioning functions, and by extending the other end (front end) of the pen-shaped touch stick into the area where the time-varying electromagnetic field is located inside the cavity of the tactile sensing and generating array, the complex force conditions in the narrow cavity of the patient's body are simulated. FIG10 is a schematic diagram of the overall structure of the tactile sensing and generating array provided by the present application, as shown in FIG10, wherein ① represents the tactile grip stick held by the doctor, which can be used to simulate a surgical instrument, and its front end needs to work in the cavity ② to obtain the tactile grip stick positioning and tactile feedback effect, and ③ is a signal acquisition device, the shell of which is made of magnetic shielding material.

[0103] FIG11 is a schematic diagram of the cavity portion of the tactile sensing and generating array provided by the present application. As shown in FIG11 , the electromagnetic coils (or solenoids) in the tactile sensing and generating array are arranged in a symmetrical redundant manner, which can achieve rapid response to multi-directional tactile sensations with high efficiency. In theory, three orthogonal electromagnetic coils can generate any magnetic field within the enclosed workspace, but the excitation current required at the edge is too large and it is difficult to obtain a balanced solution. Therefore, a redundant array is a suitable design, and the number of redundancies is determined by the specific cavity size and can be flexibly changed to adapt to specific surgical procedures.

[0104] Figure 12 is a cross-sectional schematic diagram of the pen-shaped touch rod provided by the present application. As shown in Figure 12, on the pen-shaped touch rod, ① represents the detection coil and the Hall sensor array; ② is where the ADC signal sampling circuit is placed; ③ is the stable part closest to the user's handheld position, where the inertial measurement unit and the tactile sensor are placed to complete the measurement of the user's operating status and the direct results of the tactile feedback.

[0105] The tactile feedback method provided by this application, which is suitable for narrow cavity surgery scenarios, mainly completes three functions in algorithm implementation. The first part is the generation of tactile drive sequence signals. Its frame structure is shown in Figure 13. In addition to the sequence frame header and sequence check, it also includes magnetic field excitation (the power modulation value of the i-th electromagnetic coil in the tactile sensing and generation array) and positioning byte (the frequency f and amplitude A of the positioning signal of the i-th electromagnetic coil in the tactile sensing and generation array). The second part is sensor data fusion. The detection coil of the tactile grip part, the Hall sensor array, the inertial measurement unit and the tactile sensor complete the signal acquisition of the user's handheld part, and at the same time obtain the current and voltage signals in the cavity for feedback monitoring. The third part is the identification of the tactile sensing and generation array model parameters. Since the efficiency of forward calculation of the magnetic field is low and the real-time performance is poor, the purpose of real-time magnetic field construction can be quickly achieved by fully observing the model. The main method is to observe the dependent variable, such as the magnetic field vector of a single point, combined with the current drive parameter, to obtain the basic shape of the current excitation state of the magnetic field, thereby confirming the actual position of the tactile grip and the force it should be subjected to.

[0106] Figure 14 is a logical diagram of the algorithm design provided in this application. As shown in Figure 14, the algorithm is divided into three parts: the tactile sensing and generation array part, the sensor data acquisition part, and the tactile sensing and generation array model parameter identification part. First, in the tactile sensing and generation array algorithm, the digital tactile drive sequence signal is converted into two parts through a DAC. One part is used to high-frequency modulate the envelope voltage to complete the transmission of the positioning signal, and the other part is used to SPWM modulate the power current to complete the generation of the tactile signal. The tactile signal is collected by the sensing part, which mainly includes a detection coil, a Hall sensor, a motion sensor, a force sensor, a current sensor, and a voltage sensor. The detection coil is used to receive the positioning signal, the Hall sensor is used to measure the strength of the magnetic field to correct the calculation results, the current sensor and voltage sensor are placed in the driver board to measure the fluctuation of the output signal, and the motion sensor and force sensor are located in the tactile gripper to measure the motion characteristics and force characteristics. The tactile sensing and generation array model parameter identification mainly completes the determination of the calibration matrix for the current-to-magnetic field and force quality control calculations.

[0107] Tactile feedback and positioning of the tactile grip are achieved through voltage and current modulation. By controlling the frequency and amplitude characteristics of the output SPWM wave, a fractional-order PID controller is used to achieve closed-loop control of the signal, achieving different magnetic field excitation effects. A high-frequency positioning signal envelope is superimposed on the overall signal, and extraction and decoupling operations are performed on the tactile grip. Ultimately, real-time positioning data for the tactile grip is obtained, achieving contactless, high-precision positioning.

[0108] In the case of mutual induction of motion and time-varying signals of the tactile grip, that is, when a doctor holds one end of the tactile grip in the tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a multi-layer envelope extraction algorithm is used to simultaneously extract the tactile drive signal, positioning signal, and upper-layer tactile task signal, as shown below:

[0109] Based on the signal acquisition device in the tactile sensing and generating array, the first signal collected by the detection coil in the tactile grip is obtained The signal collected by the detection coil on the tactile grip It can be regarded as the vector sum of the excitation voltage. The input signal is with I Tool (t) (the current value generated by the detection coil when it is excited) is used to obtain the resistance R of the electromagnetic coil. sample .in,

[0110] A positioning signal is extracted from the first signal.

[0111] Furthermore, in one embodiment, extracting the positioning signal from the first signal may specifically include:

[0112] Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands;

[0113] The tactile signal is filtered out using a bandpass filter to obtain the positioning signal.

[0114] Optionally, the signal By performing Fourier transform, we can obtain tactile feedback signals in different frequency bands. and positioning signals Specifically:

[0115] in, Representatives Perform Fourier transform, f haptic is the frequency of the tactile feedback signal, f location is the frequency of the positioning signal.

[0116] Construct a bandpass filter H BPF (f) The tactile signal can be filtered out to extract the positioning signal Specifically:

[0117] Wherein, the center frequency f of the bandpass filter is centerBPF It can be calculated by the following formula:

[0118] Among them, R is the set constant, f H ,f L Respectively by f location The maximum and minimum values ​​are determined.

[0119] Optionally, construct the Hilbert transform To obtain the envelope Envo(I Tool ), i.e., amplitude, which can be used to determine the amplitude information of the tactile driving signal, representing the intensity of the tactile feedback.

[0120] Construct a Hilbert transform to obtain the phase of the first signal and instantaneous frequency (i.e. frequency) f(I Tool ), which can be used to determine the frequency of the tactile driving signal and represents the frequency domain characteristics of the tactile sense.

[0121] Furthermore, in one embodiment, the amplitude, phase, and frequency of the time-domain positioning signal corresponding to the positioning signal are acquired by:

[0122] Perform the Hilbert transform on the positioning signal to obtain the amplitude, phase and frequency of a time-domain positioning signal corresponding to the positioning signal.

[0123] Optionally, construct a Hilbert transform to obtain the positioning signal Corresponding time domain positioning signal Amplitude Specifically:

[0124] Where d is the distance between the transmitting coil (i.e., electromagnetic coil) and the receiving coil (i.e., detection coil).

[0125] Similarly, for the time domain positioning signal Constructing Hilbert transform, the phase of the time domain positioning signal can be obtained and instantaneous frequency (i.e., frequency), represents the frequency domain characteristics of positioning. The moving speed can be further obtained through Doppler. Specifically:

[0126] Among them, v r With v t It represents the moving speed of the receiving end and the moving speed of the transmitting end, where the transmitting end is fixed and can be regarded as having a speed of zero, and c is the speed of light.

[0127] Based on the amplitude of the obtained time domain positioning signal, the distance d between the detection coil and each electromagnetic coil in the tactile sensing and generating array is determined. i , based on the phase and frequency of the time domain positioning signal, determine the different frequencies f i Represents the movement speed of the tactile grip.

[0128] Based on this distance, the pose of the tactile grip can be determined.

[0129] Input the amplitude E of the time domain positioning signal and the frequency set L of the time domain positioning signal to plan the tactile positioning task Task(E,L), where E={d i} is regarded as the set of distances between the detection coil and each electromagnetic coil in the tactile sensing and generating array, L = {f i} Treated as different frequencies f i A collection of movement speeds for the represented tactile grip.

[0130] It should be noted that the phase information collected in this algorithm is regarded as a constant in the frequency variable.

[0131] The distance can be determined specifically based on the amplitude of the time domain positioning signal obtained when the tactile grip is at the reference point, the calibration matrix, and the amplitude of the time domain positioning signal extracted when the doctor holds the tactile grip to perform surgery on the diseased tissue in the narrow cavity.

[0132] The calibration matrix can correspond the amplitude of the extracted time domain positioning signal to the distance from the tactile grip to each coil in the tactile sensing and generation array by setting a reference point (the center point of all electromagnetic coils can be set as the reference point) and geometric parameters, thereby calculating the error between the positioning achieved by the collected signal and the reference positioning point using the Gauss-Newton method, and using the pseudo-inverse of the mapping matrix to form the calibration matrix.

[0133] The present application provides a tactile feedback method suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time touch of surgical instruments in narrow cavities, and can realize tactile positioning of surgical instrument operations in narrow cavities.

[0134] Furthermore, in one embodiment, determining the position and posture of the tactile grip according to the distance may specifically include:

[0135] determining a first position and posture of the tactile grip according to a posture angle of the tactile grip and a phase and a frequency of the time-domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip;

[0136] Correcting the first position and the posture based on a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined based on the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined based on the distance, and the second magnetic field strength is measured based on a Hall sensor in the tactile gripper;

[0137] The position and posture of the tactile grip are determined according to the corrected first position and posture.

[0138] Optionally, the signal S_Hall collected by the Hall sensor in the tactile grip can be used to verify the accuracy of the tactile grip's positioning, and the error between the calculated and measured values ​​can be obtained in the magnetic field calculation. The inertial measurement unit obtains the movement speed and angle information of the tactile grip, such as azimuth, to expand the positioning data.

[0139] Acquisition coil detection signal The Hilbert transform method is used to achieve preliminary positioning and obtain the second position of the tactile grip.

[0140] The angle signal Data collected by the inertial measurement unit is collected by the signal acquisition device IMU , and according to the angle signal, determine the posture angle of the tactile grip.

[0141] The first position and posture of the tactile grip are determined according to the posture angle of the tactile grip and the phase and frequency of the time domain positioning signal.

[0142] The first position and posture are corrected based on the comparison result of the calculated first magnetic field strength of the time-varying electromagnetic field and the measured second magnetic field strength of the time-varying electromagnetic field. The first magnetic field strength can be specifically determined based on the second position of the tactile grip and the driving current of the tactile grip. The second position can be specifically determined based on the distance between the detection coil in the tactile grip and the electromagnetic coil in the tactile sensing and generating array. The second magnetic field strength can be specifically measured based on the Hall sensor in the tactile grip.

[0143] The position and posture of the tactile grip are determined according to the corrected first position and posture.

[0144] According to the above process, the required data is fused as shown in FIG15 and fed back to each algorithm step as input.

[0145] Figure 15 shows the overall tactile drive and temporal localization signals. Temporal localization signal S1 is modulated on tactile drive signal S2. ① represents the amplitude of the temporal localization signal, ② represents the amplitude of the tactile feedback signal, and ③, the shaded area, represents the overall tactile feedback intensity within that range.

[0146] The tactile feedback method provided in this application is suitable for narrow cavity surgery scenarios. Based on the inertial measurement unit and Hall sensor in the tactile grip, the acquired position of the tactile grip can be further corrected, thereby improving the accuracy of the tactile grip positioning.

[0147] Furthermore, in one embodiment, after determining the position and posture of the tactile grip according to the corrected first position and posture, the method may further specifically include:

[0148] determining a current matrix according to the driving current of the tactile grip and the number of the electromagnetic coils;

[0149] determining a position matrix according to the corrected first position and the number of the electromagnetic coils;

[0150] determining a posture matrix according to the corrected posture and the number of the electromagnetic coils;

[0151] Determining a first matrix according to the current matrix, the position matrix, and the posture matrix;

[0152] calibrating a driving current of the tactile grip and the first matrix according to force feedback data of the tactile grip collected by a force sensor in the tactile grip and force feedback data expected to be achieved by the tactile grip, and obtaining the calibrated driving current and first matrix;

[0153] Calibrate the calibrated driving current and the first matrix according to the target tactile signal collected by the tactile sensor in the tactile grip and the expected measured tactile signal to obtain a second matrix;

[0154] The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix. The target driving current is used as the tactile feedback signal of the tactile grip.

[0155] Optionally, the driving current I of each electromagnetic coil in the tactile sensing and generating array is determined according to the arrangement of the permanent magnets in the force-bearing end of the tactile grip (the end held by the doctor). i , the set of driving currents of all electromagnetic coils ∑ i I i It is called the driving current set.

[0156] The corrected posture obtained above is used as the basic input parameter in tactile feedback, and the position matrix A is determined P , posture matrix B O , and the current matrix C τ , where the position matrix A P The posture matrix B can be determined specifically based on the corrected first position and the number of electromagnetic coils. O The current matrix C can be determined specifically according to the corrected posture and the number of electromagnetic coils. τ It can be determined specifically according to the driving current of the tactile grip and the number of the electromagnetic coils.

[0157] Before building the combined tactile device, a force sensor such as a six-axis force sensor is used to calibrate the three matrices and the driving current set, where F measure is the force feedback data collected by the six-axis force sensor, F set The force feedback data that you want to achieve.

[0158] Among them, A=A P ·B O ·C τ is the first matrix, according to Fmeasure , F set The difference between A and I is continuously calibrated until ΔF takes a minimum value, and the driving current (ie, the calibrated driving current I1) and the first matrix A1 (ie, the calibrated first matrix) when ΔF takes a minimum value are obtained.

[0159] In tactile feedback applications, the tactile signals collected by the tactile sensor are collected in real time for parameter calibration, where H measure is the tactile signal collected by the tactile sensor, H set is the tactile signal expected to be measured.

[0160] According to H measure , H set The difference between A1 and I1 is continuously calibrated until ΔH takes a minimum value, and the driving current (ie, the target driving current I2) when ΔH takes a minimum value and the second matrix A2 are obtained.

[0161] The target tactile signal and the expected measured tactile signal are used as input variables of the negative feedback controller, and the target drive current is determined based on the inverse matrix of the second matrix. The target drive current is used as the tactile feedback signal of the tactile grip, and the tactile feedback signal is fed back to stabilize the effect. The controller can select PID or other negative feedback controllers without type restrictions. I2 = A2 -1 Controller(H measure -H set ).

[0162] The tactile feedback method provided in this application is suitable for narrow cavity surgery scenarios. A tactile sensing and actuation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate real-time tactile sensation in the cavity, and can realize tactile positioning and tactile sensation generation for surgical tool operations in narrow cavities.

[0163] Figure 2 is a structural schematic diagram of the tactile feedback device provided in the present application for narrow cavity surgery scenarios. As shown in Figure 2, it includes: the tactile sensing and generating array in any of the above-mentioned tactile feedback methods for narrow cavity surgery scenarios.

[0164] Furthermore, in one embodiment, the method may further specifically include:

[0165] The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation perceived by the wrist when the outer sheath connected to the surgical instrument moves in the narrow cavity, when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

[0166] Optionally, the degree-of-freedom platform generally adopts a multi-degree-of-freedom platform, which can specifically include a first component and a second component deployed on the end effector of the multi-degree-of-freedom platform. The first component is used to place the doctor's wrist, which can be specifically a wristband or a ring. The second component can be specifically used to measure the tactile sensation perceived by the wrist when the outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on the diseased tissue in the narrow cavity. The second component can be specifically a force sensor or a tactile sensor.

[0167] It should be noted that the sophistication of tactile feedback devices lies in achieving a more precise conversion between current drive and force effect. This application specifies two methods for driving tactile signals: one using an integrated H-bridge circuit and the other using a MOSFET H-bridge circuit. To improve the output accuracy of pulse width modulation (PWM), real-time current sensing and closed-loop control are used to directly control the underlying hardware.

[0168] In addition, other types of signal generator circuits, analog filter circuits and various ADC / DAC signal processing parts are all completed by the circuit entity.

[0169] Figure 16 is a circuit design logic diagram corresponding to the tactile feedback device provided by the present application for narrow cavity surgery scenarios. Referring to Figure 16, the circuit result is driven by the code-carrying end microcontroller, which drives the field effect tube circuit, drives the tactile coil to generate a changing magnetic field, and at the same time generates a changing magnetic force for the detection coil placed in the magnetic field to form an overall tactile feedback for the tactile grip. At the same time, the tactile grip is equipped with Hall elements (such as Hall sensors), inertial measurement units, etc. to collect real-time magnetic field values ​​and user operations, and finally transmit all data back to the microcontroller to complete the collection of overall algorithm data.

[0170] As shown in Figure 17, taking four electromagnetic coils as an example, the MOSFET field-effect tube driver is started by external power supply and logic power supply, and the direction signal and SPWM signal are configured to control the current size and direction of a single electromagnetic coil.

[0171] As shown in FIG18 , in the pen-shaped touch stick (tactile grip, user operation stick, simulated surgical instrument) part, its electronic circuit includes the four parts shown in the figure.

[0172] Figure 19 is a cross-sectional view of the structural design of the electromagnetic coil provided in this application. As shown in Figure 19, ① is the positioning screw hole, ② is the iron core, ③ is the wound multi-turn copper wire, and R1, R2, and R3 represent the internal thread, the outside of the iron core, and the outermost radius of the wound copper wire, respectively.

[0173] Two solutions were proposed to address the high temperatures generated by solenoid operation: one was to optimize the power supply and tactile effect to meet design requirements for practical operation; the other was to use a superconducting cooling device to achieve a wider range of tactile effects within a limited space. The outer white portion in Figure 19 represents the cavity for the flow of coolant, with ④ and ⑤ representing the coolant inlet and outlet, respectively.

[0174] The packaging and testing of the overall design of this application follows the points shown in Figure 20 below. The purpose of the packaging test is to provide calibration and inspection of the device before formal use.

[0175] The tactile feedback device provided in this application, which is suitable for narrow cavity surgery, has the following advantages:

[0176] (1) Authenticity of tactile feedback. Guided by tactile application scenarios, combined with the front-end sensors of actual instruments used in natural cavities or interventional surgeries, tactile feedback in real operation scenarios is achieved, giving surgeons an intuitive feeling.

[0177] (2) Accuracy of tactile feedback. This system is superior to traditional open-loop tactile feedback mechanisms. It uses data fed back by sensor signals for correction and a fractional-order PID controller to complete a closed-loop control system.

[0178] (3) Applicability of tactile feedback. The tactile feedback device is not subject to external mechanical constraints and is superior to the traditional mechanical linkage structure. The core part of the electromagnetic array cavity can simultaneously complete tactile feedback and positioning.

[0179] (4) Safety of tactile feedback. By designing magnetic shielding and a controllable magnetic field, the entire tactile feedback device is made safer. In addition, the array device does not exhibit any magnetism to the outside world when not in operation. Therefore, it can be easily carried without causing a lasting impact on the complex environment in the operating room.

[0180] The tactile feedback device provided in this application is suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and the electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time tactile sensation of surgical instruments in narrow cavities, and can realize tactile positioning and tactile generation of surgical instrument operations in narrow cavities.

[0181] The tactile feedback system for narrow cavity surgery scenarios provided in the present application is described below. The tactile feedback system for narrow cavity surgery scenarios described below and the tactile feedback method for narrow cavity surgery scenarios described above can refer to each other.

[0182] FIG21 is a schematic diagram of the structure of a tactile feedback system suitable for narrow cavity surgery provided by the present application, as shown in FIG21 , including:

[0183] A first acquisition module 2110 is configured to, when a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and when a time-varying electromagnetic field is generated within a cavity in the tactile sensing and generating array, acquire, based on a signal acquisition device in the tactile sensing and generating array, a first signal acquired by a detection coil in the tactile gripper, the other end of the tactile gripper extending into an area within the cavity where the time-varying electromagnetic field is generated, the cavity including a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is configured to generate the time-varying electromagnetic field;

[0184] A second acquisition module 2111 is configured to extract a positioning signal from the first signal;

[0185] A third acquisition module 2112 is configured to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0186] The tactile positioning module 2113 is configured to determine the position of the tactile grip according to the distance.

[0187] The tactile feedback system provided in this application, which is suitable for narrow cavity surgery scenarios, fully considers the differences in the braking forces applied to each wheel of the train during the braking process. When a wheel slips, the problem is discovered through the abnormal difference between the speed and the current speed reference value, and the braking force of the slipping wheel is automatically adjusted back to the optimal state through feedback adjustment, so that it obtains the best adhesion and effectively prevents the occurrence of sliding during the braking process of the train.

[0188] FIG22 is a schematic diagram of the physical structure of an electronic device provided by the present application. As shown in FIG22 , the electronic device may include: a processor 2210, a communication interface 2211, a memory 2212, and a bus 2213. The processor 2210, the communication interface 2211, and the memory 2212 communicate with each other via the bus 2213. The processor 2210 may call the logic instructions in the memory 2212 to execute the following method:

[0189] When a doctor holds one end of a tactile grip in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile grip is obtained based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile grip is extended into an area where the time-varying electromagnetic field is generated inside the cavity. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0190] extracting a positioning signal from the first signal;

[0191] determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0192] The position and posture of the tactile grip are determined according to the distance.

[0193] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer power screen (which can be a personal computer, server, or network power screen, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0194] Furthermore, the present application discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the tactile feedback method applicable to narrow cavity surgery scenarios provided by the above-mentioned method embodiments, for example, including:

[0195] When a doctor holds one end of a tactile grip in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile grip is obtained based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile grip is extended into an area where the time-varying electromagnetic field is generated inside the cavity. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0196] extracting a positioning signal from the first signal;

[0197] determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0198] The position and posture of the tactile grip are determined according to the distance.

[0199] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios provided in the above embodiments is implemented, for example, including:

[0200] When a doctor holds one end of a tactile grip in a tactile sensing and generating array to control a surgical instrument and perform surgery on diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, a first signal collected by a detection coil in the tactile grip is obtained based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile grip is extended into an area where the time-varying electromagnetic field is generated inside the cavity. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field.

[0201] extracting a positioning signal from the first signal;

[0202] determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

[0203] The position and posture of the tactile grip are determined according to the distance.

[0204] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0205] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A tactile feedback method suitable for narrow cavity surgery scenarios, comprising: When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile driving sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field; extracting a positioning signal from the first signal; Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; The position and posture of the tactile grip is determined according to the distance.

2. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 1, wherein: Determining the position and posture of the tactile grip according to the distance includes: Determining a first position and posture of the tactile grip according to a posture angle of the tactile grip, a phase and a frequency of the time domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip; Correcting the first position and the posture according to a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined according to the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined according to the distance, and the second magnetic field strength is measured according to a Hall sensor in the tactile gripper; The position and posture of the tactile grip is determined according to the corrected first position and posture.

3. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 2, wherein: After determining the position and posture of the tactile grip according to the corrected first position and posture, the method further includes: Determining a current matrix according to the driving current of the tactile gripper and the number of the electromagnetic coils; Determining a position matrix according to the corrected first position and the number of the electromagnetic coils; Determining a posture matrix according to the corrected posture and the number of the electromagnetic coils; Determine a first matrix according to the current matrix, the position matrix and the posture matrix; According to the force feedback data of the tactile grip collected by the force sensor in the tactile grip and the force feedback data expected to be achieved by the tactile grip, calibrate the driving current of the tactile grip and the first matrix, and obtain the calibrated driving current and the first matrix; According to the target tactile signal collected by the tactile sensor in the tactile grip and the tactile signal expected to be measured, calibrating the calibrated driving current and the first matrix to obtain a second matrix; The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix, and the target driving current is used as a tactile feedback signal of the tactile grip.

4. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 1, wherein: The extracting the positioning signal from the first signal comprises: Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands; The tactile signal is filtered out based on a bandpass filter to obtain the positioning signal.

5. The tactile feedback method applicable to narrow cavity surgery scenarios according to claim 2, wherein: The method for acquiring the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal includes: Perform the Hilbert transform on the time domain positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal.

6. A tactile feedback device suitable for narrow cavity surgery, wherein: include, The tactile sensing and generating array in the tactile feedback method suitable for narrow cavity surgery scenarios as described in any one of claims 1-5.

7. The tactile feedback device for narrow cavity surgery according to claim 6, wherein: Also includes: The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation felt by the wrist when an outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

8. A tactile feedback system suitable for narrow cavity surgery, wherein: include: The first acquisition module is used to control the surgical instrument when the doctor holds one end of the tactile gripper in the tactile sensing and generating array to perform surgery on the diseased tissue in the narrow cavity, and when a time-varying electromagnetic field is generated inside the cavity in the tactile sensing and generating array, based on the signal acquisition device in the tactile sensing and generating array, acquire the first signal collected by the detection coil in the tactile gripper, and the other end of the tactile gripper is extended into the cavity. The time-varying electromagnetic field generated inside the body is located in the area, the cavity includes a plurality of electromagnetic coils arranged in a symmetrical redundant manner, and when it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field; A second acquisition module, used to extract a positioning signal from the first signal; A third acquisition module is used to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; The tactile positioning module is used to determine the position and posture of the tactile grip according to the distance.

9. An electronic device, comprising a processor and a memory storing a computer program, wherein when the processor executes the computer program, the tactile feedback method applicable to narrow cavity surgery scenarios as claimed in any one of claims 1 to 5 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of claims 1 to 5 is implemented.

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