Method for controlling output air pressure

Abstract

Disclosed in the present application is a method for controlling an output air pressure, which belongs to the technical field of medical instruments. A pipeline structure for controlling the output air pressure of the present application comprises a pipeline body and an air supply apparatus. The pipeline body comprises a plurality of pipeline assemblies. The plurality of pipeline assemblies are movably connected by means of preset connecting members. The air supply apparatus is configured for introducing gas into the pipeline body. One end of the pipeline body is connected to the air supply apparatus. The other end of the pipeline body is in communication with the atmosphere. Each of the pipeline assemblies comprises a pipeline element and a pipeline interface. The pipeline interface is configured to be connected to an actuator for outputting the air pressure for a robot part.

Description

Output air pressure control method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 11, 2023, with application number 202311693161.9 and invention name “Output Air Pressure Control Method”, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The present application relates to the field of medical device technology, and in particular to a method for controlling output air pressure. Background Art

[0003] Since medical robots are usually needed to assist in surgery, precise control of the movement of robotic components is extremely important for surgical accuracy.

[0004] Currently, there is a pipeline combination method based on the steady flow characteristics of an open gas path. All its components are generated and assembled by 3D printing. This pipeline combination method can input three different air pressures into the system. Since the output air pressure decreases along the direction of gas flow, it is impossible to drive the robot components separately with the three air pressures set at the beginning, reducing the control accuracy of the medical robot. Technical issues

[0005] The main purpose of this application is to provide a method for controlling output air pressure, aiming to solve the technical problem of low control accuracy of medical robots. Technical Solutions

[0006] To achieve the above-mentioned objectives, the present application provides a method for controlling output air pressure, which is applied to a pipeline structure for controlling output air pressure. The pipeline structure for controlling output air pressure includes a pipeline body and a gas supply device. The pipeline body includes multiple pipeline components, which are movably connected to each other via preset connectors. The gas supply device is used to introduce gas into the pipeline body. One end of the pipeline body is connected to the gas supply device, and the other end of the pipeline body is connected to the atmosphere.

[0007] By adjusting the degree of obstruction of the pipeline element to the gas flow, the gas pressure at the location of the pipeline element corresponding to the actuator is controlled, so as to achieve independent control of the output gas pressure of the actuator.

[0008] In one embodiment, the step of adjusting the degree of obstruction of the pipe element to the gas flow includes at least one of the following:

[0009] By adjusting the volume of the pipeline element, the degree of obstruction of the pipeline element to the gas flow is adjusted;

[0010] adjusting the degree of obstruction of the pipeline element to the gas flow by replacing the pipeline element with a target pipeline element, wherein the specification information of the target pipeline element is different from the specification information of the pipeline element;

[0011] By changing the arrangement of the plurality of pipe elements, the degree of obstruction of the pipe elements to the gas flow can be adjusted.

[0012] In one embodiment, the pipe element is a non-metallic soft pipe;

[0013] The step of adjusting the volume of the pipeline element comprises:

[0014] The volume of the pipeline element is adjusted by squeezing or stretching a preset portion of the pipeline element, wherein the preset portion includes at least one of an outer wall of the pipeline element and both ends of the pipeline element.

[0015] In one embodiment, the specification information includes at least one of material, length, inner diameter, and quantity.

[0016] In one embodiment, the arrangement includes at least one of series connection and parallel connection.

[0017] In one embodiment, a valve is provided between the actuator and the pipeline interface, and the valve is configured to close when the output air pressure of the actuator reaches a target air pressure, so as to independently control the output air pressure of the actuator.

[0018] In one embodiment, the method further comprises:

[0019] Receive air pressure adjustment instructions;

[0020] Determining, based on the air pressure adjustment instruction, a target actuator for adjusting the output air pressure in the pipeline structure for controlling the output air pressure;

[0021] Control the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the location of the target actuator.

[0022] In one embodiment, the target actuator includes a plurality of valves, and the step of controlling the opening and closing of valves corresponding to the target actuators and adjusting the air pressure at the locations of the target actuators includes:

[0023] Opening a valve corresponding to one of the multiple target actuators, and closing valves corresponding to the other target actuators;

[0024] Adjusting the air pressure at the location of one of the target actuators until the air pressure at the location of one of the target actuators reaches the target pressure, and closing the valve corresponding to the one of the target actuators;

[0025] Repeat the above steps until the air pressure at the locations of the multiple target actuators is adjusted to the target air pressure.

[0026] In one embodiment, the target actuator includes a plurality of valves, and the step of controlling the opening and closing of valves corresponding to the target actuators and adjusting the air pressure at the locations of the target actuators includes:

[0027] opening valves corresponding to the plurality of target actuators;

[0028] The air pressure at the locations of the multiple target actuators is adjusted until the air pressure at the locations of the multiple calculated target actuators is adjusted to the target air pressure, and the valves corresponding to the multiple target actuators are closed.

[0029] In one embodiment, the target actuator includes a plurality of valves, and the step of controlling the opening and closing of valves corresponding to the target actuators and adjusting the air pressure at the locations of the target actuators includes:

[0030] closing the valves corresponding to the plurality of target actuators;

[0031] Determining the air pressure at the pipeline interface corresponding to each target actuator based on the air supply speed of the air supply device and the specification information of the pipeline components in the pipeline structure for controlling the output air pressure;

[0032] When the air pressure at the pipeline interface reaches the target air pressure, the valve corresponding to the pipeline interface is opened. Beneficial effects

[0033] The pipeline structure for controlling the output air pressure described in the present application includes a pipeline body and an air supply device. The pipeline body includes multiple pipeline components, which are movably connected to each other through preset connectors. The air supply device is used to introduce gas into the pipeline body. One end of the pipeline body is connected to the air supply device, and the other end of the pipeline body is connected to the atmosphere. Each pipeline component includes a pipeline element and a pipeline interface, and the pipeline interface is used to connect to an actuator that outputs air pressure to a robot component. Although the output air pressure decreases along the direction of gas flow, the present application can control the air pressure at the location of the pipeline element corresponding to the actuator by adjusting the degree of obstruction of the gas flow by the pipeline element, thereby achieving the purpose of independently controlling the output air pressure of the actuator. Therefore, the present application can improve the control accuracy of the medical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a first schematic diagram of a pipeline structure for controlling output air pressure in a first embodiment of the present application;

[0035] FIG2 is a second schematic diagram of a pipeline structure for controlling output air pressure in a second embodiment of the present application;

[0036] FIG3 is a flow chart of a second embodiment of a method for controlling output air pressure according to the present invention;

[0037] FIG4 is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0038] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The steps of the output air pressure control method of the first embodiment of the present application include:

[0041] Step S10: By adjusting the degree of obstruction of the pipeline component to the gas flow, the gas pressure at the location of the pipeline component corresponding to the actuator is controlled to achieve independent control of the output gas pressure of the actuator.

[0042] It should be noted that the method for controlling the output air pressure of the present application is applied to a pipeline structure for controlling the output air pressure. Referring to FIG. 1 , FIG. 1 is a schematic diagram of the pipeline structure for controlling the output air pressure of the present application.

[0043] Specifically, the pipeline structure for controlling the output air pressure includes a pipeline body and an air supply device. The pipeline body includes multiple pipeline components, and the multiple pipeline components are movably connected through preset connecting parts. One end of the pipeline body is connected to the air supply device, and the other end of the pipeline body is connected to the atmosphere.

[0044] Among them, the gas supply device is used to introduce gas into the pipeline body, that is, to provide a stable gas source for the pipeline body. Specifically, the gas supply device can be a continuous gas supply or an instruction-based gas supply, etc.; the gas supply device can be an air pump or a pressure gas tank, etc., and a pressure regulating valve is provided between the gas supply device and the pipeline body. When the gas supply device continuously supplies gas to the pipeline body, the purpose of regulating the air pressure can be achieved by adjusting the pressure regulating valve.

[0045] Specifically, each of the pipeline components includes a pipeline element and a pipeline interface. The pipeline interface is used to connect to an actuator that outputs air pressure to the robot component. The actuator outputs air pressure to the robot component (for example, the robot's fingers, wrist, arm, etc.). The robot moves in a preset direction based on the drive of the air pressure to achieve the purpose of controlling the medical robot.

[0046] It can be understood that the flow path of the gas entering the pipeline body based on the gas supply device includes: entering each pipeline component and finally entering the atmosphere; and entering the pipeline elements and pipeline interfaces in each pipeline component, and entering the connected actuator through the pipeline interface.

[0047] Although the air pressure will gradually decay as the gas introduced into the pipeline body by the air supply device passes from the gas source into the various pipeline components and finally into the atmosphere, this embodiment can control the air pressure at the position where the pipeline element corresponds to the actuator by adjusting the degree of obstruction to the gas flow by the pipeline element, so as to achieve independent control of the output air pressure of the actuator.

[0048] Specifically, the specific implementation of adjusting the degree of obstruction of the pipeline element to the gas flow includes at least one of the following:

[0049] By adjusting the volume of the pipeline element, the degree of obstruction of the pipeline element to the gas flow is adjusted;

[0050] adjusting the degree of obstruction of the pipeline element to the gas flow by replacing the pipeline element with a target pipeline element, wherein the specification information of the target pipeline element is different from the specification information of the pipeline element;

[0051] By changing the arrangement of the plurality of pipe elements, the degree of obstruction of the pipe elements to the gas flow can be adjusted.

[0052] It should be noted that the pipe element is a non-metallic soft pipe. The shape and inner diameter of the soft pipe can be changed to change the volume of the soft pipe, thereby changing the air pressure generated by the gas passing through the soft pipe.

[0053] Since MRI surgery requires a small operating space and is incompatible with ferromagnetic metals, it is more difficult to control medical robots. Using non-metallic materials to make this soft pipe can be applied to more medical scenarios.

[0054] The non-metallic material may be silicone or PVC (polyvinyl chloride), etc., which is not limited here.

[0055] Specifically, the specific implementation of adjusting the volume of the pipeline element may be:

[0056] The volume of the pipeline element is adjusted by squeezing or stretching a preset portion of the pipeline element, wherein the preset portion includes at least one of an outer wall of the pipeline element and both ends of the pipeline element.

[0057] For example, by squeezing or stretching the outer wall of a soft pipe, the air pressure at the squeezing point can be increased or decreased accordingly; by squeezing or stretching the two ends of a pipe component, the air pressure at the squeezing point can be increased or decreased accordingly, thereby achieving the purpose of adjusting the output air pressure of the actuator.

[0058] The force of squeezing or stretching can be determined based on the hardness or softness of the material and the required air pressure variable, which is not limited here.

[0059] Furthermore, the degree of obstruction of the pipeline element to the gas flow may be adjusted by replacing the pipeline element with a target pipeline element, wherein the specification information of the target pipeline element is different from the specification information of the pipeline element.

[0060] Specifically, the specification information includes at least one of material, length, inner diameter, and quantity.

[0061] For example, if a portion of the metal pipe components of the pipe structure that controls the output gas pressure is replaced with non-metallic pipe components, the above-mentioned degree of obstruction of the gas flow by the pipe components can be adjusted by adjusting the volume of the pipe components.

[0062] Alternatively, if one of the pipe elements of the pipe structure that controls the output air pressure is replaced with a pipe element of shorter length, the attenuation of the airflow passing through the pipe element can be reduced, thereby increasing the air pressure at the position where the actuator corresponding to the pipe element is located. Alternatively, if one of the pipe elements of the pipe structure that controls the output air pressure is replaced with a pipe element of longer length, the attenuation of the airflow passing through the pipe element can be increased, thereby reducing the air pressure at the position where the actuator corresponding to the pipe element is located.

[0063] Alternatively, if one of the pipe elements of the pipe structure that controls the output air pressure is replaced with a pipe element with a larger inner diameter, the air pressure at the location where the air flows through the pipe element can be reduced; if one of the pipe elements of the pipe structure that controls the output air pressure is replaced with a pipe element with a smaller inner diameter, the air pressure at the location where the air flows through the pipe element can be increased.

[0064] Alternatively, replacing one of the pipeline elements of the pipeline structure that controls the output air pressure with two pipeline elements can increase the attenuation of the airflow passing through the pipeline element, thereby reducing the air pressure at the location of the actuator corresponding to the pipeline element.

[0065] Furthermore, the degree of obstruction of the pipeline elements to the gas flow is adjusted by changing the arrangement between the multiple pipeline elements, wherein the arrangement includes at least one of series connection (as shown in FIG1 ) and parallel connection.

[0066] It can be understood that by changing the arrangement of the plurality of pipeline elements, the flow path of the gas to the actuator can be changed, thereby changing the attenuation degree of the airflow and achieving the purpose of air pressure regulation.

[0067] For example, the arrangement mode (series connection) between the pipeline elements in FIG1 is adjusted to a combination of series connection and parallel connection as shown in FIG2 .

[0068] It should be noted that before using the pipeline structure for controlling the output air pressure, the specifications and arrangement of the pipeline components can be adjusted based on needs, and multiple actuators can be connected based on needs. Compared with the pipeline combination method based on the steady flow characteristics of the open air path in the related technology (all components are generated and assembled by 3D printing), the pipeline structure for controlling the output air pressure in this embodiment is more flexible and convenient, and can be applied to a variety of scenarios.

[0069] In this embodiment, the air pressure at the actuator's location is controlled by adjusting the degree of airflow obstruction imposed by the pipe element, thereby independently controlling the actuator's output air pressure. Furthermore, compared to related art 3D-printed pipe elements, which cannot change the pressure at each location throughout the structure by changing pipe parameters during operation, the pipe structure for controlling output air pressure in this embodiment lacks metal components. However, by varying the degree of airflow obstruction imposed by the pipe element, the pipe structure can influence the air pressure at each location throughout the structure, achieving air pressure regulation. This makes it suitable for specialized procedures such as magnetic resonance imaging. By using a pipe interface, the pipe structure for controlling output air pressure can branch off to connect to a closed actuator to provide driving pressure for the robotic component. The driving pressure is the air pressure at the pipe interface, and the interaction between the actuator and the outside world does not affect the air pressure distribution within the pipe itself. The pipe structure for controlling output air pressure can also achieve a single air pressure input and multiple air pressure outputs by adding pipe components and adding branches.

[0070] Furthermore, based on the first embodiment, a second embodiment of the present application is proposed. Referring to FIG. 3 , FIG. 3 is a flow chart of the second embodiment of the method for controlling the output air pressure of the present application.

[0071] In a second embodiment, the method for controlling the output air pressure includes the following steps:

[0072] A1: Receive air pressure adjustment instructions;

[0073] It should be noted that, as shown in FIG1 , a valve is provided between the actuator and the pipeline interface, and the valve is used to close when the output air pressure of the actuator reaches the target air pressure, so as to achieve independent control of the output air pressure.

[0074] It can be understood that the flow path of the gas entering the pipeline body based on the gas supply device includes: entering each pipeline component and finally entering the atmosphere; and entering the pipeline elements and pipeline interfaces in each pipeline component, and entering the connected actuator through the pipeline interface and the open valve.

[0075] That is to say, although the air pressure will gradually decay during the process of the gas introduced into the pipeline body by the air supply device, passing from the gas source to the various pipeline components and finally into the atmosphere, this embodiment can adjust the output air pressure of each actuator by controlling the opening and closing of the valve.

[0076] Specifically, a valve may be provided before the other end of the pipeline body is connected to the atmosphere to prevent the attenuation of the gas pressure during the process of gas passing from the gas source into each pipeline component and finally into the atmosphere, thereby better achieving the purpose of regulating the output pressure of each actuator.

[0077] For example, if the three pipe interfaces from left to right are respectively connected to actuators, then when adjusting the output air pressure of the third actuator, the output air pressure may not be quickly adjusted to the target air pressure due to the attenuation of the air pressure. Therefore, the valve set before the other end of the pipe body is connected to the atmosphere can be closed (or half-closed) to achieve the purpose of quickly adjusting the output air pressure. When the target air pressure is reached, the valve set before the other end of the pipe body is connected to the atmosphere is opened.

[0078] It should be noted that the executor of the method of this embodiment is a device for controlling the output air pressure, which is subordinate to the equipment for controlling the output air pressure. The equipment for controlling the output air pressure may be a medical robot or other medical equipment. The device for controlling the output air pressure adjusts the output air pressure of the robot component based on the pipeline structure for controlling the output air pressure proposed in the above-mentioned first embodiment.

[0079] It should be noted that during medical robot-assisted surgery, the medical device sends an air pressure adjustment instruction to the device for controlling the output air pressure based on a pre-set surgical procedure (the air pressure adjustment instruction may be included in the action execution instruction).

[0080] Specifically, the air pressure adjustment instruction may include a target actuator whose output air pressure is to be adjusted, and a target air pressure, where the target air pressure is a specified adjusted air pressure threshold. For example, the air pressure adjustment instruction may be to adjust the output air pressure of actuator 1 to a Pa, to adjust the output air pressure of actuator 2 to b Pa, etc., which is not limited here.

[0081] A2: Based on the air pressure adjustment instruction, determining a target actuator for adjusting the output air pressure in the pipeline structure for controlling the output air pressure;

[0082] It can be understood that in order to accurately adjust the output air pressure of the actuator in the pipeline structure that controls the output air pressure, before adjustment, it is necessary to determine the target actuator whose output air pressure is to be adjusted. Specifically, the target actuator whose output air pressure is to be adjusted may be one or more.

[0083] For example, if the 10 pipeline interfaces from left to right are connected to actuators (1-10) respectively, the target actuators may include actuators 1-3 and actuators 6-8.

[0084] A3: Control the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the location of the target actuator.

[0085] After determining the target actuator whose output air pressure is to be adjusted, the valve corresponding to the target actuator can be controlled, so that during the air supply process based on the air supply device, the air pressure at the location of the target actuator can be adjusted by controlling the opening and closing of the valve corresponding to the target actuator.

[0086] Specifically, if the target actuator includes multiple ones, the implementation methods of controlling the opening and closing of the valves corresponding to the target actuators may include the following three methods:

[0087] First, open the valve corresponding to one of the multiple target actuators and close the valves corresponding to the other target actuators; adjust the air pressure at the location of one of the target actuators until the air pressure at the location of one of the target actuators is adjusted to the target pressure, and close the valve corresponding to one of the target actuators; repeat the above steps until the air pressure at the locations of the multiple target actuators is adjusted to the target pressure.

[0088] It can be understood that in order to make the adjustment of the air pressure at the location of each target actuator more independent, when adjusting the air pressure at the location of one of the target actuators, the corresponding valves of other target actuators can be closed. When the air pressure at the location of one of the target actuators is adjusted to the target air pressure, the corresponding valve of one of the target actuators is closed; then, based on the above method, the output air pressure of one of the other target actuators is adjusted until the air pressure at the locations of the multiple target actuators is adjusted to the target air pressure.

[0089] For example, first adjust the output air pressure of actuator 1, that is, open the valve corresponding to actuator 1, and close the valves corresponding to actuators 2-3 and actuators 6-8. When the output air pressure of actuator 1 is adjusted to the target air pressure 1, close the valve corresponding to actuator 1. Then adjust the output air pressure of actuator 2, that is, open the valve corresponding to actuator 2, and close the valves corresponding to actuators 1, 3 and actuators 6-8. When the output air pressure of actuator 2 is adjusted to the target air pressure 2, close the valve corresponding to actuator 2. Repeat the above steps until the output air pressures of actuators 1-3 and actuators 6-8 are all adjusted to the corresponding target air pressures, thereby realizing independent adjustment of the output air pressures.

[0090] It should be noted that the target air pressure corresponding to each target actuator may be different.

[0091] Second, opening the valves corresponding to the multiple target actuators; adjusting the air pressure at the locations of the multiple target actuators until the air pressure at the locations of the multiple calculated target actuators is adjusted to the target air pressure, and closing the valves corresponding to the multiple target actuators.

[0092] In order to improve the efficiency of regulating the air pressure at the location of the target actuator, the valves corresponding to the multiple target actuators can also be opened at the same time; the air pressure at the location of the multiple target actuators is adjusted until the air pressure at the location of the multiple calculated target actuators is adjusted to the target air pressure, and the valves corresponding to the multiple target actuators are closed.

[0093] For example, the valves corresponding to the actuators 1 - 3 and 6 - 8 are opened simultaneously until the output pressures of the actuators 1 - 3 and 6 - 8 are adjusted to the target pressure, and then the valves corresponding to the actuators 1 - 3 and 6 - 8 are closed.

[0094] Third, close the valves corresponding to the multiple target actuators; determine the air pressure at the pipeline interface corresponding to each target actuator based on the air supply speed of the air supply device and the specification information of the pipeline components in the pipeline structure that controls the output air pressure; when the air pressure at the pipeline interface reaches the target air pressure, open the valve corresponding to the pipeline interface.

[0095] The second method mentioned above may not be able to quickly adjust the air pressure at the locations of the multiple calculated target actuators to the target pressure due to unstable air pressure. In order to be able to adjust the output air pressure more stably, you can also first close the valves corresponding to the multiple target actuators, and then calculate whether the air pressure at the pipeline interface corresponding to each target actuator (outside the valve) reaches the target pressure, or calculate the target time to reach the target pressure. When the air pressure at the pipeline interface reaches the target pressure or reaches the target time, open the corresponding valve, and the air pressure at the location of the corresponding target actuator can be quickly adjusted to the target pressure.

[0096] Specifically, the air pressure at the pipeline interface corresponding to each target actuator can be calculated based on the air supply speed of the air supply device and the specification information of the pipeline elements in the pipeline structure that controls the output air pressure, wherein the specification information includes the pipeline shape and the pipeline inner diameter, the pipeline shape and the pipeline inner diameter are used to calculate the gas volume that the pipeline can accommodate, and the air supply speed of the air supply device is used to calculate the gas flow rate. Based on the gas volume and the gas flow rate, the air pressure at the pipeline interface can be calculated.

[0097] The air supply speed may be controlled based on the pressure regulating valve.

[0098] Compared with the fixed air pressure output by the 3D-printed pipeline system in the related art, this embodiment can change the air pressure at the location of each pipeline interface by adjusting the shape or inner diameter of each soft pipeline; compared with the gradually attenuated air pressure output by the 3D-printed pipeline system in the related art with the direction of air flow, this embodiment can control the opening and closing of the valve between the pipeline interface and the actuator so that the downstream air pressure of the pipeline interface can be higher than the upstream air pressure, thereby achieving the effect of flexible control of the output air pressure, thereby improving the control accuracy of the medical robot.

[0099] In this embodiment, the pipeline structure for controlling the output air pressure includes a pipeline body and an air supply device. The pipeline body includes multiple pipeline components, which are connected by pre-set connectors. One end of the pipeline body is connected to the air supply device, and the other end of the pipeline body is connected to the atmosphere. The air supply device is used to introduce gas into the pipeline body. Each pipeline component includes a pipeline element and a pipeline interface, and the pipeline interface is used to connect to an actuator that outputs air pressure to the robot component. A valve is provided between the actuator and the pipeline interface. The valve is configured to close when the output air pressure of the actuator reaches a target pressure to achieve independent control of the output air pressure. It is understood that during the adjustment process, when the output air pressure of the actuator reaches the target pressure, the valve closes, thereby stabilizing the output air pressure of the actuator and achieving the purpose of controlling the output air pressure. Therefore, this application can improve the control accuracy of the medical robot. By controlling the valve opening and closing between the pipeline interface and the actuator, the output air pressure of multiple nodes can be made independent of each other, and the output air pressure of one or more actuators can be adjusted simultaneously.

[0100] Refer to Figure 4, which is a structural diagram of the equipment in the hardware operating environment involved in the embodiment of the present application.

[0101] As shown in Figure 4, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit such as a keyboard. The user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory, such as a disk storage device. The memory 1005 may also be a storage device independent of the processor 1001.

[0102] Those skilled in the art will understand that the structure shown in FIG4 does not constitute a limitation on the device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0103] As shown in FIG4 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a program for controlling the output air pressure.

[0104] In the device shown in FIG4 , the network interface 1004 is primarily used for data communication with an external network; the user interface 1003 is primarily used for receiving user input instructions; the device invokes the program for controlling the output air pressure stored in the memory 1005 via the processor 1001 and performs the following operations:

[0105] Receive air pressure adjustment instructions;

[0106] Determining, based on the air pressure adjustment instruction, a target actuator for adjusting the output air pressure in the pipeline structure for controlling the output air pressure;

[0107] Control the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the location of the target actuator.

[0108] Furthermore, the processor 1001 may call the program for controlling the output air pressure stored in the memory 1005 and perform the following operations:

[0109] Opening a valve corresponding to one of the multiple target actuators, and closing valves corresponding to the other target actuators;

[0110] Adjusting the air pressure at the location of one of the target actuators until the air pressure at the location of one of the target actuators reaches the target pressure, and closing the valve corresponding to the one of the target actuators;

[0111] Repeat the above steps until the air pressure at the locations of the multiple target actuators is adjusted to the target air pressure.

[0112] Furthermore, the processor 1001 may call the program for controlling the output air pressure stored in the memory 1005 and perform the following operations:

[0113] opening valves corresponding to the plurality of target actuators;

[0114] The air pressure at the locations of the multiple target actuators is adjusted until the air pressure at the locations of the multiple calculated target actuators is adjusted to the target air pressure, and the valves corresponding to the multiple target actuators are closed.

[0115] Furthermore, the processor 1001 may call the program for controlling the output air pressure stored in the memory 1005 and perform the following operations:

[0116] closing the valves corresponding to the plurality of target actuators;

[0117] Determining the air pressure at the pipeline interface corresponding to each target actuator based on the air supply speed of the air supply device and the specification information of the pipeline components in the pipeline structure for controlling the output air pressure;

[0118] When the air pressure at the pipeline interface reaches the target air pressure, the valve corresponding to the pipeline interface is opened.

[0119] Compared to the fixed output air pressure of the 3D-printed pipe system in the related art, this embodiment can change the air pressure at the location of each pipe interface by adjusting the shape or inner diameter of each soft pipe; compared to the gradually decreasing output air pressure of the 3D-printed pipe system in the related art with the direction of air flow, this embodiment can control the opening and closing of the valve between the pipe interface and the actuator to make the downstream air pressure of the pipe interface higher than the upstream air pressure, achieving the effect of flexible control of the output air pressure, thereby improving the control accuracy of the medical robot. It should be noted that, in this document, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or system. In the absence of further limitations, an element limited by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or system including such element.

[0120] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0122] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling the output air pressure, wherein, The method for controlling the output air pressure is applied to a pipeline structure for controlling the output air pressure. The pipeline structure for controlling the output air pressure includes a pipeline body and a gas supply device. The pipeline body includes a plurality of pipeline components, and the plurality of pipeline components are movably connected by preset connectors. The gas supply device is used to introduce gas into the pipeline body. One end of the pipeline body is connected to the gas supply device, and the other end of the pipeline body is communicated with the atmosphere; Each of the pipeline components includes a pipeline element and a pipeline interface. The pipeline interface is used to connect an actuator that outputs air pressure for a robot component; The method for controlling the output air pressure includes: By adjusting the degree of obstruction of the pipeline element to the gas flow, the air pressure at the position of the actuator corresponding to the pipeline element is controlled to independently control the output air pressure of the actuator.

2. The method for controlling the output air pressure according to claim 1, wherein, The step of adjusting the degree of obstruction of the pipeline element to the gas flow includes at least one of the following: By adjusting the volume of the pipeline element, the degree of obstruction of the pipeline element to the gas flow is adjusted; By replacing the pipeline element with a target pipeline element, the degree of obstruction of the pipeline element to the gas flow is adjusted, where the specification information of the target pipeline element is different from the specification information of the pipeline element; By changing the arrangement mode between the plurality of pipeline elements, the degree of obstruction of the pipeline element to the gas flow is adjusted.

3. The method for controlling the output air pressure according to claim 2, wherein, The pipeline element is a non-metallic flexible pipeline; The step of adjusting the volume of the pipeline element includes: By squeezing or stretching a preset part of the pipeline element, the volume of the pipeline element is adjusted, where the preset part includes at least one of the outer wall of the pipeline element and both ends of the pipeline element.

4. The method for controlling the output air pressure according to claim 2, wherein, The specification information includes at least one of material, length, inner diameter, and quantity.

5. The method for controlling the output air pressure according to claim 2, wherein, The arrangement mode includes at least one of series connection and parallel connection.

6. The method for controlling the output air pressure according to claim 1, wherein, A valve is provided between the actuator and the pipeline interface. The valve is used to close when the output air pressure of the actuator reaches the target air pressure to independently control the output air pressure of the actuator.

7. The method for controlling the output air pressure according to claim 6, wherein, The method further includes: Receiving a air pressure adjustment instruction; Based on the air pressure adjustment instruction, determining a target actuator whose output air pressure is to be adjusted in the pipeline structure for controlling the output air pressure; Controlling the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the position of the target actuator.

8. The method for controlling the output air pressure according to claim 7, wherein, There are a plurality of the target actuators. The step of controlling the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the position of the target actuator includes: Opening the valve corresponding to one of the plurality of target actuators and closing the valves corresponding to the other target actuators; Adjusting the air pressure at the position of the one target actuator until the air pressure at the position of the one target actuator is adjusted to the target air pressure, and closing the valve corresponding to the one target actuator; Repeating the above steps until the air pressures at the positions of the plurality of target actuators are adjusted to the target air pressure.

9. The method for controlling the output air pressure according to claim 7, wherein, There are a plurality of the target actuators. The step of controlling the opening and closing of the valve corresponding to the target actuator to adjust the air pressure at the position of the target actuator includes: Opening the valves corresponding to the plurality of target actuators; Adjust the air pressure at the positions where the multiple target actuators are located until the air pressure at the positions where the multiple calculated target actuators are located is adjusted to the target air pressure, and close the valves corresponding to the multiple target actuators.

10. The method for controlling the output air pressure according to claim 7, wherein, There are multiple target actuators, and the steps of controlling the opening and closing of the valves corresponding to the target actuators and adjusting the air pressure at the positions where the target actuators are located include: Close the valves corresponding to the multiple target actuators; Based on the air supply speed of the air supply device and the specification information of the pipeline components in the pipeline structure for controlling the output air pressure, determine the air pressure at the pipeline interfaces corresponding to each target actuator; When the air pressure at the pipeline interface reaches the target air pressure, open the valve corresponding to the pipeline interface.

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