Instrument control method and system applied to assisting robot, terminal and storage medium

Abstract

The present application relates to the field of instrument control, and relates to an instrument control method and system applied to an assisting robot, a terminal and a storage medium. The method comprises: acquiring a fundus drug injection time, the fundus drug injection time comprising a drug injection start time and a whole drug injection process duration; acquiring an actual movement time of a first mechanical arm and a fundus image, the first mechanical arm being connected to a light guide pen, and the light guide pen being used for irradiating an eyeball; determining a remaining drug injection time on the basis of the fundus drug injection time and the actual movement time of the first mechanical arm; adjusting a preset movement process of a second mechanical arm on the basis of the fundus image and the remaining drug injection time, the second mechanical arm being connected to an injection needle, the injection needle being used for injecting a fundus drug, and the movement process of the second mechanical arm comprising an adjusted movement path and adjusted movement speed of the second mechanical arm; and on the basis of the adjusted movement process of the second mechanical arm, controlling the second mechanical arm to move. The present application ensures the effect of precise drug injection of a drug injection assisting robot.

Description

Device control method, system, terminal and storage medium for assistive robot Technical Field

[0001] The present application relates to the field of device control, and in particular to a device control method, system, terminal and storage medium for assisting robots. Background Art

[0002] At present, with the development of science and technology, medical technology is also advancing rapidly. For retinal vascular diseases, most clinical methods use fundus injection of gene drugs to treat symptoms such as retinal blood vessel diseases or blockages. During the fundus vascular injection operation, the doctor needs to hold a light guide pen in one hand and an injection needle in the other hand to operate. However, due to the trembling of the doctor's hands, the lack of perception of operating force and lack of surgical skills will lead to a lower success rate of the operation. Therefore, an injection-assisted robot can be used to replace the doctor to complete the fundus vascular injection of drugs. Then, when using the injection-assisted robot, it is very important to ensure that the injection-assisted robot is precisely controlled to complete the drug injection.

[0003] Summary of the Invention

[0004] The present application provides an instrument control method, system, terminal and storage medium applied to an auxiliary robot, which has the characteristic of ensuring accurate drug injection by the injection-assisting robot.

[0005] The first purpose of this application is to provide an instrument control method for an assistive robot.

[0006] The above-mentioned application objective 1 of this application is achieved through the following technical solutions:

[0007] A device control method for an assistive robot, comprising:

[0008] Obtaining the fundus drug injection time; the fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process;

[0009] Acquire the actual movement time of the first robotic arm and the fundus image; the first robotic arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball;

[0010] Determining the remaining time for drug injection according to the fundus drug injection time and the actual movement time of the first robotic arm;

[0011] Adjusting a preset movement process of the second robotic arm according to the fundus image and the remaining time of drug injection; the second robotic arm is connected to an injection needle, and the injection needle is used to inject the fundus drug; the movement process of the second robotic arm includes an adjusted movement path and an adjusted movement rate of the second robotic arm;

[0012] The movement of the second robotic arm is controlled according to the adjusted movement process of the second robotic arm.

[0013] By adopting the above technical solution, the control of the fundus drug injection time is used to adjust and control the movement path and movement time of the first robotic arm and the second robotic arm in real time; thereby ensuring that before the start time of drug injection, the injection needle connected to the second robotic arm moves to the predetermined position to complete the fundus drug injection of the patient, thereby ensuring the efficiency and success rate of fundus drug surgery.

[0014] In a preferred example, the present application may be further configured such that obtaining the fundus drug injection time includes:

[0015] Obtain the doctor's surgical operation time;

[0016] Determine the start time of drug injection according to the doctor's surgical operation time;

[0017] Obtaining the predetermined injection time of fundus drug injection, wherein the predetermined injection time is the duration of the entire drug injection process;

[0018] The fundus drug injection time is determined according to the drug injection start time and the established injection time.

[0019] By adopting the above technical solution, the doctor's surgical operation process is monitored in time to ensure that when the doctor's operation reaches a specified node, the first robotic arm and the second robotic arm cooperate to complete the acquisition of the patient's fundus image and move the injection needle to the specified position to assist the doctor in completing the fundus drug injection.

[0020] In a preferred example, the present application may be further configured such that obtaining the actual movement time of the first robotic arm includes: determining the actual movement time of the first robotic arm according to a preset movement path and movement speed of the first robotic arm.

[0021] By adopting the above technical solution, the actual moving time of the first robotic arm can be determined according to the path and speed of the first robotic arm; the moving path of the first robotic arm is a section path and the first robotic arm does not need to adjust its speed.

[0022] In a preferred example, the present application may be further configured such that determining the remaining time for drug injection based on the fundus drug injection time and the actual movement time of the first robotic arm includes:

[0023] Obtaining an adjustment time according to the fundus image; the adjustment time represents an adjustment time of the light guide pen;

[0024] The remaining time for drug injection is determined according to the actual movement time, adjustment time and fundus drug injection time of the first robotic arm.

[0025] By adopting the above technical solution, the light guide pen is adjusted according to the clarity of the fundus image to ensure that the acquired fundus image is clear enough; the adjustment time of the light guide pen is included in the calculation process of the remaining time, which ensures the accuracy and rationality of the calculation of the remaining time.

[0026] In a preferred example, the present application may be further configured such that the process of adjusting the preset movement of the second robotic arm according to the fundus image and the remaining time of drug injection includes:

[0027] determining an end point position of the second robotic arm according to the fundus image;

[0028] Get the starting position of the second robotic arm;

[0029] Determining an actual moving path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm;

[0030] Determining the actual movement time of the second robotic arm according to the remaining time of the drug injection;

[0031] The preset movement process of the second robotic arm is adjusted according to the actual movement path and the actual movement time of the second robotic arm.

[0032] By adopting the above technical solution, the end position of the second robotic arm is determined using the fundus image, and the movement time of the second robotic arm is limited by the remaining time. By limiting the dual conditions of position and time, the movement process of the second robotic arm is adjusted in real time.

[0033] In a preferred example, the present application may be further configured such that determining the actual movement path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm includes:

[0034] Determine a first sub-path according to the starting position of the second robotic arm and preset first spatial position information;

[0035] Determine a second subpath according to the end position of the second robotic arm and the first subpath;

[0036] An actual moving path of the second robotic arm is determined according to the first sub-path and the second sub-path.

[0037] By adopting the above technical solution, the actual moving path of the second robotic arm is specifically adjusted. Since the second robotic arm is connected to an injection needle, it is necessary to ensure that the injection needle does not collide during movement, and it is necessary to ensure that the injection needle moves to a predetermined position within a predetermined time. Therefore, a multi-segment path combination movement mode is adopted for the second robotic arm to ensure the working efficiency of the second robotic arm, thereby ensuring the efficiency and success rate of the operation.

[0038] In a preferred example, the present application can be further configured as follows: after controlling the movement of the second robotic arm according to the adjusted movement process of the second robotic arm, obtaining time information, and determining the end time according to the time information and the duration of the entire drug injection process; after the current time meets the end time, controlling the second robotic arm to move away from the eyeball along a preset retreat path.

[0039] By adopting the above technical solution, after completing the fundus drug injection into the patient, the second robotic arm is controlled to quickly move away from the patient's eyeball to avoid affecting subsequent surgical operations, thereby ensuring the success rate of the operation.

[0040] The second purpose of this application is to provide an instrument control system for assisting robots.

[0041] The second object of the present application is achieved through the following technical solutions:

[0042] An instrument control system for an assistive robot, comprising:

[0043] A calling module is used to obtain the fundus drug injection time; the fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process;

[0044] An acquisition module is used to acquire the actual movement time of the first robotic arm and the fundus image; the first robotic arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball;

[0045] A determination module, configured to determine the remaining time of drug injection according to the fundus drug injection time and the actual movement time of the first robotic arm;

[0046] an adjustment module configured to adjust a preset movement process of the second robotic arm according to the fundus image and the remaining time for drug injection; the second robotic arm is connected to an injection needle, the injection needle being used to inject the fundus drug; the movement process of the second robotic arm includes an adjusted movement path and an adjusted movement rate of the second robotic arm;

[0047] A control module is used to control the movement of the second robotic arm according to the adjusted movement process of the second robotic arm.

[0048] The third purpose of this application is to provide a terminal.

[0049] The third object of the present application is achieved through the following technical solutions:

[0050] A terminal includes a memory and a processor, wherein the memory stores computer program instructions of the above-mentioned instrument control method applied to an assistive robot, which can be loaded and executed by the processor.

[0051] The fourth object of this application is to provide a computer medium capable of storing corresponding programs.

[0052] The fourth object of the present application is achieved through the following technical solutions:

[0053] A computer-readable storage medium stores a computer program capable of being loaded by a processor and executing any one of the above-mentioned instrument control methods applied to an assistive robot.

[0054] In summary, this application includes at least one of the following beneficial technical effects:

[0055] By determining the time of fundus drug injection, real-time control and adjustment of the movement path and movement speed of the first and second robotic arms are achieved; since the first robotic arm moves first and the second robotic arm moves later, it is necessary to determine the remaining time for the second robotic arm to complete the movement after the first robotic arm moves, to ensure that the second robotic arm moves to the predetermined position before the start time of drug injection, to ensure the injection of fundus drugs to the patient, to ensure that it will not affect the patient's fundus surgical treatment process, to play an auxiliary role for the doctor, and also to ensure the efficiency and success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 is a flow chart of an apparatus control method applied to an assistive robot in an embodiment of the present application.

[0057] FIG2 is a schematic structural diagram of an instrument control system applied to an assistive robot in an embodiment of the present application.

[0058] Explanation of the accompanying symbols: 1. Retrieval module; 2. Acquisition module; 3. Determination module; 4. Adjustment module; 5. Control module. DETAILED DESCRIPTION

[0059] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but as long as they are within the scope of the claims of the present application, they are protected by the patent law.

[0060] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0062] At present, for fundus surgery, most surgical processes require the cooperation of doctors and auxiliary robots to treat patients, and the auxiliary robot mentioned in the embodiment of the present application is a fundus drug injection auxiliary robot; the robot comprises two robotic arms, namely a first robotic arm and a second robotic arm; wherein the first robotic arm is connected to a light guide pen, which is used to illuminate the fundus of the eyeball to provide a clearer fundus image; the second robotic arm is connected to an injection needle, which is used to inject fundus drugs into the patient; therefore, the present application aims to integrate the control of the first robotic arm and the second robotic arm to assist the doctor in the operation, ensure the efficiency and smoothness of the operation, and improve the success rate of the operation; the present application provides an instrument control method applied to an auxiliary robot, and the main process of the method is described as follows.

[0063] As shown in Figure 1:

[0064] Step S101: Acquire fundus drug injection time; the fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process.

[0065] Specifically, the doctor's surgical operation time is obtained; the drug injection start time is determined based on the doctor's surgical operation time; the established injection time of the fundus drug injection is obtained, and the established injection time is the duration of the entire drug injection process; the fundus drug injection time is determined based on the drug injection start time and the established injection time.

[0066] By obtaining the time monitoring information and process monitoring information of the doctor's surgical operation, it is possible to know which step the doctor has performed during the surgical operation; according to the preset fundus surgery process, it is possible to know at which node the doctor will start drug injection; then by obtaining the doctor's surgical operation time, the drug injection start time can be known; in this way, it can be ensured that after the doctor completes the surgical operation, the first robotic arm and the second robotic arm immediately start to cooperate with each other to complete the fundus drug injection work, thereby ensuring the smoothness and efficiency of the operation, avoiding gaps in the patient's operation, and improving the patient's surgical success rate.

[0067] It is understandable that during clinical medical fundus surgery, there are certain requirements for the time of fundus drug injection. If this step is delayed for a long time, it will affect the patient's treatment. Therefore, it is necessary to control the operation time of fundus drug injection to ensure the safety of the patient's fundus surgery.

[0068] Step S102: Acquire the actual movement time of the first robotic arm and the fundus image; the first robotic arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball.

[0069] Among them, obtaining the actual moving time of the first robotic arm includes determining the actual moving time of the first robotic arm according to the preset moving path and moving speed of the first robotic arm; it can be understood that the actual moving time of the first robotic arm can be determined after the moving path and moving speed of the first robotic arm are determined; since the first robotic arm is connected to the light guide pen, the function of the light guide pen is to increase the brightness of the fundus, thereby ensuring that the acquired fundus image is clear enough; then during the movement process, the first robotic arm only needs to move to a predetermined position along a set path.

[0070] It is understood that in the embodiment of the present application, under the premise that the movement path of the first robotic arm is known, the actual movement time of the first robotic arm can be adjusted by adjusting the movement speed of the first robotic arm. As for the preset movement path of the first robotic arm, during actual operation, there may be situations that affect the movement of the first robotic arm and require adjustment of the preset movement path. Therefore, the preset movement path can be adaptively adjusted according to the actual medical situation. Specifically, an actual image of the area where the first robotic arm is located is obtained; obstacle information is determined based on the actual impact of the area where the first robotic arm is located; and the preset movement path of the first robotic arm is adjusted based on the obstacle information. It is understandable that here, the actual image of the area where the movement path of the first robotic arm is located is used to determine whether there is an obstacle on the movement path. If so, the movement path is adjusted so that the first robotic arm avoids the obstacle. In actual medical procedures, the obstacle may be other medical equipment or other situations. In this embodiment, there is no specific limitation on the obstacle. As long as it affects the movement of the first robotic arm, it is determined to be an obstacle. In this way, the preset movement path of the first robotic arm is adjusted, the smooth movement of the first robotic arm is ensured, the working efficiency of the first robotic arm is ensured, and the working efficiency of the fundus drug injection is ensured.

[0071] Step S103: determining the remaining time for drug injection according to the fundus drug injection time and the actual movement time of the first robotic arm.

[0072] In an embodiment of the present application, the adjustment time is first obtained based on the fundus image; the adjustment time represents the adjustment time of the light guide pen; and the remaining time of the drug injection is determined based on the actual movement time of the first robotic arm, the adjustment time and the fundus drug injection time.

[0073] The adjustment time here can be understood as the adjustment time of the light guide pen. After the first robotic arm moves to the predetermined position according to the predetermined path, the light guide pen is turned on to start irradiating the patient's eyeball, and the fundus image of the patient's eyeball is obtained at this time; then the fundus image is analyzed to determine whether the clarity of the fundus image is sufficient. If it is not clear enough, the light guide pen needs to be adjusted so that the light guide pen can accurately irradiate the patient's fundus. Then this period of time is the adjustment time; when the acquired fundus image is clear enough, the adjustment time ends; by determining the adjustment time, the remaining time of the drug injection is determined. In this way, the accuracy of the remaining time of the drug injection is improved.

[0074] Step S104: Adjust the preset movement process of the second robotic arm according to the fundus image and the remaining time of drug injection; the second robotic arm is connected to an injection needle, which is used to inject fundus drugs; the movement process of the second robotic arm includes the adjusted movement path and adjusted movement rate of the second robotic arm.

[0075] Specifically, the end position of the second robotic arm is determined based on the fundus image; the starting position of the second robotic arm is obtained; the actual movement path of the second robotic arm is determined based on the end position of the second robotic arm and the starting position of the second robotic arm; the actual movement time of the second robotic arm is determined based on the remaining time of the drug injection; and the preset movement process of the second robotic arm is adjusted based on the actual movement path of the second robotic arm and the actual movement time of the second robotic arm.

[0076] It can be understood that after determining the fundus image, the injection position of the injection needle, that is, the end position of the second robotic arm, can be determined based on the fundus image; the second robotic arm is connected to the injection needle, and its purpose is to move the injection needle to a specified position so that the doctor can control the injection needle and use the injection needle to inject the fundus drug into the patient; after determining the end position of the second robotic arm, the starting position of the second robotic arm is obtained, that is, the movement path of the second robotic arm can be determined by the starting position and the end position; then the movable time of the second robotic arm can be determined based on the remaining time of the drug injection; that is, before starting to inject the drug, it is necessary To move the injection needle to the specified position, the active time of the second robotic arm needs to be less than the remaining time of the drug injection; finally, the preset movement process of the second robotic arm is adjusted according to the actual movement path and actual movement time of the second robotic arm; it should be noted that this refers to the preset movement process of the second robotic arm. Before the operation begins, the eyeball position has been preliminarily planned according to the patient's surgical position, thereby determining a preset end position of the second robotic arm. Then, the preset position of the second robotic arm is adjusted according to the actual eyeball position, and the entire movement path is adjusted accordingly.

[0077] It can be understood that in the above processing process, determining the actual moving path of the second robotic arm based on the end position of the second robotic arm and the starting position of the second robotic arm includes: determining the first sub-path based on the starting position of the second robotic arm and the preset first spatial position information; determining the second sub-path based on the end position of the second robotic arm and the first sub-path; and determining the actual moving path of the second robotic arm based on the first sub-path and the second sub-path.

[0078] In the above process, the preset first spatial position information is pre-set for the second robotic arm to perform linear motion and reach the boundary point of the patient's fundus drug injection-free area at the fastest speed; the boundary point here is the point closest to the patient's eyeball in the fundus drug injection-free area; the fundus drug injection-free area here means that within this area, the movement path and movement speed of the second robotic arm will not affect the fundus drug injection process, that is, the first sub-path from the starting position of the second robotic arm to the preset first spatial position is the straight path of the second robotic arm, and its purpose is to reach the above-mentioned boundary point at the fastest speed and highest efficiency; by determining the first sub-path, the time consumed by the movement of the second robotic arm for fundus drug injection is effectively reduced.

[0079] Step S105: controlling the movement of the second robotic arm according to the adjusted movement process of the second robotic arm.

[0080] Specifically, after controlling the movement of the second robotic arm according to the adjusted movement process of the second robotic arm, time information is obtained, and the end time is determined based on the time information and the duration of the entire drug injection process; after the current time meets the end time, the second robotic arm is controlled to move away from the eyeball along a preset retreat path; it can be understood that after completing the drug injection into the patient's eyeball, the second robotic arm needs to be controlled away from the eyeball to ensure that the second robotic arm will not affect the subsequent surgical process.

[0081] By adopting the above technical solution, the integrated operation of the first robotic arm and the second robotic arm is realized, ensuring that under the normal surgical process of the doctor, the first robotic arm and the second robotic arm are controlled to complete the drug injection work in the first time, ensuring the normal progress of the operation, ensuring the smoothness of the operation, improving the surgical efficiency of fundus surgery, and improving the success rate of fundus surgery.

[0082] In this embodiment, the control method for the two robotic arms of the auxiliary robot is sequential control. After the first robotic arm reaches the specified position, the second robotic arm is controlled to move. The advantage of using this method is that the movements of the two robotic arms will not interfere with each other, thereby ensuring the smooth progress of fundus drug injection. However, in some special cases, the sequential control method will take a long time. For eye surgery and fundus drug injection, time is a very important influencing factor. A long time is likely to affect the patient's eye treatment. Therefore, in order to avoid this situation, in addition to the above-mentioned sequential control, this embodiment also provides a synchronous control method.

[0083] Specifically, the first robotic arm needs to move to a designated position to conveniently control the light guide pen to illuminate the eyeball. The second robotic arm needs to move to the top of the eyeball and perform the injection after obtaining the image of the eyeball. In this embodiment, it is mentioned that there is no affected area for fundus drug injection, so the movement process of the second robotic arm can be divided into two parts, that is, the second robotic arm first moves to the boundary of the area, and then moves from the boundary of the area to the injection position. The synchronous control method provided in this embodiment is to allow the second robotic arm to move synchronously with the first robotic arm when it moves, and after the first robotic arm moves to obtain the fundus image, the second robotic arm also moves from the boundary of the area to the injection position. In this way, the preparation time for fundus drug injection is reduced, the efficiency of fundus drug injection is improved, and the possibility of medical accidents for patients is reduced.

[0084] The present application also provides an instrument control system for an assistive robot, as shown in Figure 2, an instrument control system for an assistive robot includes a retrieval module 1 for obtaining the fundus drug injection time; the fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process; an acquisition module 2 for obtaining the actual movement time of the first robotic arm and the fundus image; the first robotic arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball; a determination module 3 is used to determine the remaining time of the drug injection based on the fundus drug injection time and the actual movement time of the first robotic arm; an adjustment module 4 is used to adjust the preset movement process of the second robotic arm according to the fundus image and the remaining time of the drug injection; the second robotic arm is connected to an injection needle, and the injection needle is used to inject fundus drugs; the movement process of the second robotic arm includes the adjusted movement path and adjusted movement rate of the second robotic arm; a control module 5 is used to control the movement of the second robotic arm according to the adjusted movement process of the second robotic arm.

[0085] In order to better execute the program of the above method, the present application also provides a terminal, which includes a memory and a processor.

[0086] The memory can be used to store instructions, programs, codes, code sets, or instruction sets. The memory can include a program storage area and a data storage area. The program storage area can store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the aforementioned device control method for an assistive robot. The data storage area can store data related to the aforementioned device control method for an assistive robot.

[0087] The processor may include one or more processing cores. The processor executes the various functions of the present application and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory, calling data stored in the memory. The processor may be at least one of a special application integrated circuit, a digital signal processor, a digital signal processing device, a programmable logic device, a field programmable gate array, a central processing unit, a controller, a microcontroller, and a microprocessor. It is understood that for different devices, the electronic device used to implement the above-mentioned processor functions can also be other, and the embodiments of the present application are not specifically limited.

[0088] The present application also provides a computer-readable storage medium, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code. The computer-readable storage medium stores a computer program capable of being loaded by a processor and executing the aforementioned device control method for an assistive robot.

[0089] The above description is merely an illustration of the preferred embodiments of the present application and the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the aforementioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A device control method for an assistive robot, characterized in that: include: Obtaining the fundus drug injection time; the fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process; Acquire the actual movement time of the first mechanical arm and the fundus image; the first mechanical arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball; Determining the remaining time for drug injection according to the fundus drug injection time and the actual movement time of the first robotic arm; The preset movement process of the second mechanical arm is adjusted according to the fundus image and the remaining time of drug injection; the second mechanical arm is connected to an injection needle, and the injection needle is used to inject fundus drugs; the movement process of the second mechanical arm includes the adjusted movement path and the adjusted movement rate of the second mechanical arm; Controlling the movement of the second mechanical arm according to the adjusted movement process of the second mechanical arm; in, The time of obtaining fundus drug injection includes: Get the doctor's surgery operation time; Determine the start time of drug injection according to the doctor's surgical operation time; Obtaining the scheduled injection time of fundus drug injection, wherein the scheduled injection time is the duration of the entire drug injection process; Determining the fundus drug injection time according to the drug injection start time and the established injection time; The obtaining of the actual moving time of the first mechanical arm comprises: determining the actual moving time of the first mechanical arm according to a preset moving path and moving speed of the first mechanical arm; Determining the remaining time of drug injection according to the fundus drug injection time and the actual movement time of the first mechanical arm comprises: Obtaining adjustment time according to the fundus image; the adjustment time represents the adjustment time of the light guide pen; Determine the remaining time for drug injection according to the actual movement time, adjustment time and fundus drug injection time of the first robotic arm; The process of adjusting the preset movement of the second mechanical arm according to the fundus image and the remaining time of drug injection includes: Determine the end point position of the second mechanical arm according to the fundus image; Get the starting position of the second robotic arm; Determine the actual moving path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm; Determining the actual movement time of the second robotic arm according to the remaining time of the drug injection; Adjusting the preset movement process of the second robotic arm according to the actual movement path of the second robotic arm and the actual movement time of the second robotic arm; Determining the actual moving path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm comprises: Determine a first sub-path according to the starting position of the second robotic arm and preset first spatial position information; Determine a second sub-path according to the end position of the second robotic arm and the first sub-path; Determine an actual moving path of the second robotic arm according to the first sub-path and the second sub-path; After controlling the movement of the second robotic arm according to the adjusted movement process of the second robotic arm, obtain time information, and determine the end time according to the time information and the duration of the entire drug injection process; after the current time meets the end time, control the second robotic arm to move away from the eyeball along a preset retreat path.

2. An instrument control system for an assistive robot, characterized in that: include: A calling module (1) is used to obtain the injection time of the fundus drug; The fundus drug injection time includes the drug injection start time and the duration of the entire drug injection process; An acquisition module (2) is used to acquire the actual movement time of the first mechanical arm and the fundus image; the first mechanical arm is connected to a light guide pen, and the light guide pen is used to illuminate the eyeball; A determination module (3) is used to determine the remaining time of drug injection according to the fundus drug injection time and the actual movement time of the first mechanical arm; An adjustment module (4) is used to adjust a preset movement process of the second mechanical arm according to the fundus image and the remaining time of drug injection; the second mechanical arm is connected to an injection needle, and the injection needle is used to inject fundus drugs; the movement process of the second mechanical arm includes an adjusted movement path and an adjusted movement rate of the second mechanical arm; A control module (5), used for controlling the movement of the second mechanical arm according to the adjusted movement process of the second mechanical arm; in, The time of obtaining fundus drug injection includes: Get the doctor's surgery operation time; Determine the start time of drug injection according to the doctor's surgical operation time; Obtaining the scheduled injection time of fundus drug injection, wherein the scheduled injection time is the duration of the entire drug injection process; Determining the fundus drug injection time according to the drug injection start time and the established injection time; The obtaining of the actual moving time of the first mechanical arm comprises: determining the actual moving time of the first mechanical arm according to a preset moving path and moving speed of the first mechanical arm; Determining the remaining time of drug injection according to the fundus drug injection time and the actual movement time of the first mechanical arm comprises: Obtaining adjustment time according to the fundus image; the adjustment time represents the adjustment time of the light guide pen; Determine the remaining time for drug injection according to the actual movement time, adjustment time and fundus drug injection time of the first robotic arm; The process of adjusting the preset movement of the second mechanical arm according to the fundus image and the remaining time of drug injection includes: Determine the end point position of the second mechanical arm according to the fundus image; Get the starting position of the second robotic arm; Determine the actual moving path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm; Determining the actual movement time of the second robotic arm according to the remaining time of the drug injection; Adjusting the preset movement process of the second robotic arm according to the actual movement path of the second robotic arm and the actual movement time of the second robotic arm; Determining the actual moving path of the second robotic arm according to the end position of the second robotic arm and the starting position of the second robotic arm comprises: Determine a first sub-path according to the starting position of the second robotic arm and preset first spatial position information; Determine a second sub-path according to the end position of the second robotic arm and the first sub-path; Determine an actual moving path of the second robotic arm according to the first sub-path and the second sub-path; After controlling the movement of the second robotic arm according to the adjusted movement process of the second robotic arm, obtain time information, and determine the end time according to the time information and the duration of the entire drug injection process; after the current time meets the end time, control the second robotic arm to move away from the eyeball along a preset retreat path.

3. A terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer program instructions that can be loaded by the processor and execute the method according to claim 1.

4. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to claim 1.

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