Control method and apparatus for surgical instrument, medium, device, and medical system

Abstract

The present application relates to a control method and apparatus for a surgical instrument, a medium, a device, and a medical system. The control method for the surgical instrument of the present application comprises: driving an end effector of the surgical instrument to perform a closing motion from an initial position; monitoring a clamping force of the end effector in real time, and when the clamping force monitored in real time is greater than or equal to a first preset clamping force, recording a first driving parameter of a driver related to a tensioning degree of a cable; and determining a clamping force control parameter of the end effector according to the first driving parameter.

Description

Control method, device, medium, equipment and medical system for surgical instruments CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Chinese patent application No. 2023118652051, filed on December 29, 2023, entitled “Control methods, devices, media, equipment and medical systems for surgical instruments,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of surgical instruments, and in particular to a control method, device, medium, equipment and medical system for surgical instruments. Background Art

[0003] During surgery, medical staff need to use surgical instruments to clamp objects such as needles, threads, and clips. Therefore, the clamping movement of the end effector of the surgical instrument is very important for surgery. Some known surgical instruments use a rope drive method, that is, a steel wire rope is connected to the end effector and driven by a drive motor. Driven by the drive motor, the steel wire rope can drive the end effector to perform a clamping action. However, the steel wire rope will become loose after multiple high-temperature sterilizations. After the steel wire rope becomes loose, the accuracy of the rope drive decreases, and the clamping movement of the end effector is affected, resulting in the inability of the surgical instrument to exert the desired clamping force.

[0004] Taking the rotary drive motor as an example, ideally, rotating the drive motor through a certain angle produces the desired clamping force on the surgical instrument. However, when the wire rope is loosened, the end effector's clamping force may not reach the desired value even if the drive motor rotates through the same angle. Summary of the Invention

[0005] The present application provides a control method, device, storage medium, electronic device and medical system for a surgical instrument to compensate for the transmission loss caused by cable tension and improve the control accuracy of the end effector.

[0006] The present application provides a control method for a surgical instrument, wherein the surgical instrument includes an end effector capable of opening and closing movements, and a cable for driving the end effector to open and close, wherein the cable is driven by a driver to realize the opening and closing of the end effector. The control method for the surgical instrument includes: driving the end effector of the surgical instrument to perform a closing movement from an initial position; monitoring the clamping force of the end effector in real time, and when the clamping force monitored in real time is greater than or equal to a first preset clamping force, recording a first driving parameter of the driver related to the tension of the cable; and determining a clamping force control parameter of the end effector based on the first driving parameter.

[0007] The present application provides a control method for a surgical instrument, wherein the surgical instrument includes an end effector that can perform opening and closing movements, and a cable that drives the end effector to open and close, wherein the cable is driven by a driver to realize the opening and closing of the end effector. The control method for the surgical instrument includes: driving the end effector of the surgical instrument to perform a closing movement from an initial position; acquiring in real time a first driving parameter of the driver that drives the end effector to close, and when the driving parameter acquired in real time is greater than or equal to a first preset value, recording a second driving parameter of the driver; and determining the control parameter of the surgical instrument based on the second driving parameter.

[0008] The present application provides a control device for a surgical instrument, wherein the surgical instrument includes an end effector capable of opening and closing movements, and a cable for driving the end effector to open and close, wherein the cable is driven by a driver to realize the opening and closing of the end effector, and the control device for the surgical instrument includes: a driving module for driving the end effector of the surgical instrument to perform a closing movement from an initial position; a monitoring and recording module for monitoring the clamping force of the end effector in real time, and when the clamping force monitored in real time is greater than or equal to a first preset clamping force, recording a first driving parameter of the driver related to the tension of the cable; and a parameter determination module for determining a clamping force control parameter of the end effector based on the first driving parameter.

[0009] The present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the control method of the surgical instrument described in any one of the aforementioned embodiments.

[0010] The present application provides an electronic device comprising a memory and a processor, wherein the memory and a computer program stored in the memory and capable of running on the processor are implemented when the processor executes the computer program.

[0011] The present application provides a medical system comprising a surgical instrument and the electronic device described in the aforementioned embodiment, wherein the electronic device is used to control the surgical instrument.

[0012] According to the control method of the surgical instrument of the present application, by detecting the clamping force when the end effector is closed, a first driving parameter related to the cable tension is obtained. Based on the first driving parameter, the clamping force control parameter of the end effector is adjusted to compensate for the transmission loss caused by the cable tension and improve the control accuracy of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only 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.

[0014] FIG1 is a schematic diagram of a medical system provided in one embodiment of the present application;

[0015] FIG2 is a simplified schematic diagram of a surgical instrument provided in one embodiment of the present application;

[0016] FIG3 is a flow chart of a method for controlling a surgical instrument according to an embodiment of the present application;

[0017] FIG4 is a flow chart of a method for controlling a surgical instrument according to an embodiment of the present application;

[0018] FIG5 is a flow chart of a method for controlling a surgical instrument according to another embodiment of the present application;

[0019] FIG6 is a module diagram of a control device for a surgical instrument provided in one embodiment of the present application;

[0020] FIG7 is a flow chart of a method for controlling a surgical instrument according to another embodiment of the present application;

[0021] FIG8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of devices consistent with certain aspects of the present application, as detailed in the appended claims.

[0023] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. Unless otherwise defined, technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in this specification and claims does not indicate any order, quantity, or importance, but is simply used to distinguish different components. Similarly, words such as "a" or "an" do not indicate a quantitative limitation, but rather indicate the presence of at least one. If only "a" is referred to, this will be separately stated. "Multiple" or "several" means two or more. Unless otherwise indicated, words such as "front," "rear," "lower," and / or "upper" are for convenience only and are not limited to a single location or spatial orientation. Words such as "include" or "comprising" mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0024] As shown in FIG1 , the medical system 100 of the present application is a robot that can be remotely controlled to perform surgery, and includes three components: a doctor's console 110 , an adjacent robotic arm system 120 , and an imaging system 130 .

[0025] The doctor's console 110 has a display unit for displaying the surgical instrument environment and a doctor's operation control mechanism. An observation window is provided on the display unit for the doctor to observe. The actions of the operation control mechanism correspond to the actions of the surgical instrument. In addition, the doctor's console 110 also has other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction. The adjacent robotic arm system 120 includes several robotic arms. The robotic arm has several connecting arms. Two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. An instrument driver is installed on the end of the robotic arm. The surgical instrument is detachably mounted on the instrument driver. The imaging system 130 has a display screen, an endoscope controller, system electronic equipment, an image processor, etc.

[0026] Referring to Figure 2 , the surgical instrument of the present application includes an end effector 1 capable of opening and closing motion and a cable 2 for driving the end effector 1. The surgical instrument is driven by a driver 3 disposed on a robotic arm of a para-patient robotic arm system 120. Driver 3 may also be referred to as an instrument driver.

[0027] Specifically, the surgical instrument also includes an instrument disc 4, which is used to engage with the driver 3. Optionally, a sterile adapter (not shown) is further provided between the instrument disc 4 and the driver 3. One end of the cable 2 is wound around the instrument disc 4, and the other end is connected to the end effector 1 to drive the opening and closing movement of the end effector 1. Optionally, a pulley 5 is further provided between the cable 2 and the end effector 1, and the other end of the cable 2 is wound around the pulley 5, and the end effector 1 is fixedly mounted on the pulley 5. The driver 3 rotates the instrument disc 4 to retract and release the cable 2 wound around the instrument disc 4 and the pulley 5, thereby driving the rotation of the pulley 5, and then driving the end effector 1 to perform opening and closing movements.

[0028] During surgery, the end effector 1 of the surgical instrument penetrates tissues such as the chest and abdominal wall, replacing the doctor's hands to perform the surgery. One clamp of the end effector 1 is movable, and the other clamp can be fixed or movable.

[0029] Surgical instruments need to be frequently disinfected and sterilized, and multiple high-temperature sterilizations will make the cable 2 more likely to loosen, resulting in a decrease in the control accuracy of the end effector 1. As shown in Figure 2, taking the rotary drive motor as the driver 3 as an example, assuming that the driver 3 rotates 15° when the surgical instrument is just shipped, the end effector 1 changes from an open state to a closed state and applies a clamping force of 10N. After the cable 2 becomes loose, the driver 3 also rotates 15° from an open state to a closed state, but can only apply a clamping force of 9N. In order to avoid the reduction in clamping force caused by cable loosening, some known surgical instruments are tightened by the production personnel during production. Even if the cable 2 is loose later, the end effector 1 can maintain a certain clamping force, but this will lead to a decrease in the control accuracy of the clamping force during the operation.

[0030] The present application provides a control method for a surgical instrument, in which a control parameter is adjusted according to the tension of the cable 2 to ensure that the end effector 1 can still apply a desired clamping force when the cable is loose.

[0031] As shown in FIG3 , a control method for a surgical instrument according to an embodiment of the present application includes:

[0032] Step S100: driving the end effector 1 of the surgical instrument to perform a closing movement from an initial position.

[0033] In some embodiments, for ease of operation, the initial position is the zero position of the surgical instrument. Of course, the initial position can be any position other than the zero position of the surgical instrument. The closing motion of the end effector 1 can be performed at a constant speed, that is, the driver 3 drives the end effector 1 to close at a constant speed starting from the zero position. Because motion damping changes at non-constant speeds, closing at a constant speed can eliminate the influence of acceleration, thereby improving the control accuracy of the surgical instrument control method and the detection accuracy described later.

[0034] Step S101 : monitoring the clamping force of the end effector 1 in real time, and recording a first driving parameter of the driver 3 related to the tension of the cable 2 when the clamping force monitored in real time is greater than or equal to a first preset clamping force.

[0035] At different levels of cable 2 tension, the first drive parameter required by the driver 3 to drive the end effector 1 to a clamping force greater than or equal to the first preset clamping force also varies. Thus, the first drive parameter can be used to characterize the tension of the cable 2. In one embodiment, as the tension of the cable 2 decreases, the first drive parameter required to drive the end effector 1 to a clamping force equal to the first preset clamping force increases. By detecting the first drive parameter, the clamping force of the end effector 1 can be adjusted based on the detected first drive parameter.

[0036] In one embodiment, driver 3 is a rotary drive motor. The drive motor rotates to retract and extend the drive cable 2. The first drive parameter is the rotation angle of the drive motor. As previously described, assume that when the surgical instrument is first shipped, driver 3 rotates 15°, and the end effector 1 transitions from an open state to a closed state, applying a clamping force of 10N. After cable 2 relaxes, driver 3 rotates 15° from an open state to a closed state, but can only apply a clamping force of 9N. To achieve the same clamping force of 10N, driver 3 needs to rotate 20°.

[0037] On the other hand, when the driver 3 drives the end effector 1 to perform a clamping action, the magnitude of the clamping force can be directly detected by adding a force sensor to the end of the end effector 1. Alternatively, the magnitude of the clamping force can also be monitored indirectly, for example, by monitoring the operating parameters of the driver 3, such as the driving current and rotational speed, to monitor whether the end effector 1 has achieved the desired clamping force.

[0038] Optionally, determining whether the clamping force monitored in real time is greater than or equal to a first preset clamping force includes:

[0039] Acquire in real time a second driving parameter of the driver 3 that drives the end effector 1 to close; and

[0040] Whether the clamping force is greater than or equal to a first preset value is determined according to the second driving parameter. When the second driving parameter is greater than or equal to the first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

[0041] In other words, by associating the clamping force with the second driving parameter of the driver 3 and detecting the second driving parameter of the driver 3, the clamping force is indirectly measured without adding additional detection structures and steps to the end effector 1, and the degree of automation and convenience are effectively improved.

[0042] In an embodiment where the driver 3 is a drive motor, the second drive parameter can be the drive current or speed of the drive motor. An increase in the drive current of the drive motor results in an increase in the torque provided by the drive motor, and an increase in the clamping force applied by the end effector 1. That is, as the second drive parameter increases, the clamping force applied by the end effector increases. Under the same input voltage, the speed and current are positively correlated, meaning the higher the speed, the greater the current. As drive parameters of the drive motor, the drive current and speed are easy to detect and have high detection accuracy, effectively improving the accuracy of clamping force detection.

[0043] In one embodiment, after a preset time has passed, if the second drive parameter is still less than the first preset value, it is determined that the surgical instrument is damaged. Below, an embodiment in which the second drive parameter is the drive current of the drive motor is used as an example for explanation. If the cable 2 is broken, or is in a very loose state, or other adverse conditions occur, the drive motor cannot drive the end effector 1 to close. In this case, the torque of the drive motor will maintain a low-torque working state after a short period of increase, and the drive current will not increase. Therefore, it is possible to determine whether the surgical instrument is damaged by judging the size of the second drive parameter within a certain period of time, so as to avoid the drive motor rotating for a long time while the control method does not take effect. In the case where it is determined that the surgical instrument is damaged, medical staff can be reminded to repair the surgical instrument by, for example, an alarm sound, a pop-up display, a light display, etc.

[0044] Please refer to FIG4 , in a specific embodiment, the second driving parameter is the driving current i, the first preset value is i th The first driving parameter is the motor rotation angle θ f The first preset value i th When the surgical instrument leaves the factory, the driving current of the end effector 1 when applying the first preset clamping force, and the driving current i of the driving motor th The corresponding rotation angle of the driving motor is the first initial angle θ m0 When the driving current i reaches the first preset value i th When , it indicates that the clamping force of the end effector 1 reaches the first preset clamping force. At this time, the first driving parameter θ is recorded.th . The subsequent th Steps such as judging the status of surgical instruments or updating parameters are performed.

[0045] Specifically, when the second driving parameter i is greater than or equal to the first preset value i th When the end effector 1 stops closing, the drive motor stops rotating. Then the rotation angle of the drive motor when the end effector 1 stops closing, that is, the rotation angle from the initial position to the stop of rotation, is recorded as the first drive parameter θ th It is easy to understand that when the second driving parameter i is equal to the first preset value i th When the end effector 1 is closed, the end effector 1 can apply the first preset clamping force. If the drive motor continues to rotate, the end effector 1 will apply a clamping force greater than the first preset clamping force. By stopping the closing of the end effector 1, the surgical instrument can record the first drive parameter θ when the end effector 1 just applies the first preset clamping force. th By setting it this way, the subsequent control of the first initial control parameter θ can be improved. m , the second initial control parameter θ f The calibration accuracy is improved, thereby improving the control accuracy of the clamping force applied to the end effector 1 and improving the operating accuracy of the surgical instrument.

[0046] In other embodiments, the second driving parameter may also be the rotational speed of the driving motor, which is not limited in this application.

[0047] Step S102: determining a clamping force control parameter of the end effector 1 according to the first driving parameter.

[0048] Since the first driving parameter can characterize the tension of the cable 2, the first driving parameter related to the tension of the cable is obtained by detecting the clamping force when the end effector is closed. Based on the first driving parameter, the clamping force control parameter of the end effector 1 is adjusted to compensate for the transmission loss caused by the tension of the cable 2, thereby helping the end effector 1 to apply the desired clamping force and improve the control accuracy and clamping strength of the end effector 1.

[0049] Determining the clamping force control parameter of the end effector 1 according to the first driving parameter includes: setting the first initial control parameter θ m Updated to the first driving parameter θ th Please refer to FIG4 again, the first preset clamping force corresponds to a first initial control parameter θ m , that is, when the surgical instrument leaves the factory, the driving motor rotates with the first initial control parameter θ m After that, the end effector 1 can apply the first preset clamping force. mUpdated to the first driving parameter θ th After executing step S101, the first driving parameter θ is obtained. th Stored in the controller as the first initial control parameter θ m The next clamping force control is performed. However, when the method is executed next time, the first initial control parameter θ is still used. m Carry out clamping force calibration.

[0050] As mentioned above, due to the change in the tension of the cable 2, the driving motor rotates at the first driving parameter θ th The driving current actually reaches the first preset value i th , and the end effector 1 is able to apply the first preset clamping force. Therefore, the first initial control parameter θ m Updated to the first driving parameter θ th , when the end effector 1 is controlled to exert a first preset clamping force, the driving motor rotates the updated first initial control parameter θ m , thereby compensating for the error caused by the relaxation of the cable 2. In this way, the surgical instrument can avoid the situation in which the clamping force of the end effector 1 decreases or even the clamping fails due to the decrease in the tension of the cable 2 during use.

[0051] In one embodiment, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter θ f , that is, when the surgical instrument leaves the factory, the driving motor rotates the second initial control parameter θ f Then, the end effector 1 applies a second preset clamping force.

[0052] In one embodiment, the first preset clamping force is slightly greater than zero, such as 1N, 2N, etc., which corresponds to the state where the end effector 1 is just closed and only exerts a slight clamping force. The second preset clamping force corresponds to the state where the end effector 1 is fully closed and can exert a maximum clamping force.

[0053] In this embodiment, the second initial control parameter θ is also f Update to the second initial angle θ f0 With the first driving parameter θ th The sum minus the first initial angle θ m0 The first driving parameter θ is obtained. th and the first initial angle θ m0 The difference is the rotation angle that the drive motor needs to compensate for in order to achieve the same second preset clamping force. f0 Adding the difference to the value of θ, we can obtain the second initial control parameter θ that the drive motor needs to rotate when the end effector 1 pre-applies the second preset clamping force. f .

[0054] By setting a second preset clamping force greater than the first preset clamping force and calculating the second initial control parameter θ f The end effector 1 can apply two different levels of clamping force, which is convenient for applying different clamping forces for different situations during the operation.

[0055] In one embodiment, before determining the control parameter of the surgical instrument according to the first driving parameter, the method may further include: determining the control parameter of the surgical instrument according to the first driving parameter θ th Subtract the first initial angle θ m0 Is the obtained value greater than or equal to the second preset value Δθ max , to determine whether the surgical instrument is damaged. th Subtract the first initial angle θ m0 The obtained value is greater than or equal to the second preset value Δθ max When the patient is found to be injured, it is judged that the surgical instrument is damaged.

[0056] The first driving parameter θ th and the first initial angle θ m0 The difference actually represents the compensation angle required by the drive motor to compensate for the slack of the cable 2. When the cable 2 is in a normal working state, the compensation angle will not be greater than the second preset value Δθ max When the cable 2 is very loose or even broken, the compensation angle will be greater than the second preset value Δθ max Therefore, through this step, the status of the cable 2 can be determined. If the cable 2 is abnormal, the medical staff is prompted to replace or repair the surgical instrument.

[0057] The end effector 1 is affected by friction during its movement. When the friction is small, the friction has little effect on the motion control of the end effector 1. However, when the friction is large, the drive motor needs to increase the drive parameters accordingly to close the end effector 1 to the desired position. In order to more accurately calibrate the first initial control parameter θ m and the second initial control parameter θ f 5 , in some embodiments, before step S100 , the following steps are further included to take the friction of the end effector 1 into consideration:

[0058] measuring a first reference parameter representing an opening and closing friction force of the end effector 1;

[0059] Obtaining a second reference parameter of the end effector 1 when achieving a first preset clamping force without considering the opening and closing friction;

[0060] The sum of the first reference parameter and the second reference parameter is set to a first preset value.

[0061] By measuring the first reference parameter, the control error caused by friction is eliminated during the measurement and adjustment process, which is beneficial to improving the control accuracy of the end effector 1 and the adjustment accuracy of the clamping force. Since the friction of the end effector 1 changes with use, the friction force can be tested before each use of the surgical instrument, and then the first initial control parameter θ can be calibrated based on the friction force test results. m , the second initial control parameter θ f , thereby effectively improving the accuracy of parameter calibration.

[0062] 5 , in some embodiments, the second driving parameter and the first preset value are both represented by current, and the first reference parameter and the second reference parameter are also correspondingly represented by current. Then, the friction detection step includes:

[0063] Measure the first driving current i of the driving motor representing the opening and closing friction of the end effector 1 f ;

[0064] Obtain the second driving current i of the driving motor when the end effector 1 reaches the first preset clamping force without considering the opening and closing friction f ;

[0065] The first driving current i f With the second driving current i th The sum is set as a first preset value.

[0066] Then, the second driving parameter i is compared with the first preset value. When the second driving parameter i is greater than or equal to the first preset value, the first driving parameter θ of the driving motor is recorded. th As the driving current increases, the torque output by the driving motor increases accordingly. By measuring the first driving current i f , the surgical instrument can obtain the torque required to overcome the friction. Therefore, the measured first driving current i f It can be used to represent the opening and closing friction force of the end effector 1. Compared with the technical solution of directly detecting the friction force through the force sensor, the first driving current i f and the second driving current i th The detection difficulty is low and the detection accuracy is high, which is conducive to improving the calibration accuracy of subsequent steps.

[0067] In some other implementations, the second driving parameter and the first preset value are both characterized by rotational speed, and the first reference parameter and the second reference parameter are also correspondingly characterized by rotational speed. Then, the friction detection step includes:

[0068] measuring a first rotational speed of the drive motor representing an opening and closing friction force of the end effector 1;

[0069] Obtaining a second rotational speed of the driving motor of the end effector 1 for achieving a first preset clamping force without considering an opening and closing friction force;

[0070] The sum of the first rotational speed and the second rotational speed is set as a first preset value.

[0071] Surgical instruments are typically connected to a stable power supply with a constant input voltage. When the input voltage remains constant, the speed and current are directly proportional: the higher the speed, the greater the current. As mentioned above, an increase in current means an increase in the output torque of the drive motor. Therefore, by detecting the first speed, the surgical instrument can obtain the torque required to overcome friction. Compared to technical solutions that directly detect friction using force sensors, detecting the first and second speeds is easier and more accurate, which helps improve the calibration accuracy of subsequent steps.

[0072] Furthermore, the step of detecting the opening and closing friction force of the end effector 1 includes:

[0073] Driving the end effector 1 to open from a zero position to a first angle;

[0074] driving the end effector 1 to close from the first angle to the zero position; and

[0075] The first driving current is determined according to the driving current of the driving motor when the end effector 1 is opened from the zero position to the first angle and then closed to the zero position, or the first speed is determined according to the speed of the driving motor.

[0076] The first drive current is the average current of the drive motor during the process of the end effector 1 opening from the zero position to the first angle and then closing to the zero position. Alternatively, the first speed is the average speed of the drive motor during the process of the end effector 1 opening from the zero position to the first angle and then closing to the zero position. In other words, this embodiment obtains the current value or speed value of the drive motor in real time during the opening and closing process of the end effector 1, and averages multiple current values ​​or multiple speed values ​​to obtain relatively accurate friction force detection.

[0077] Based on the above embodiments, as shown in FIG6 , the present application further provides a control device for a surgical instrument, comprising:

[0078] A driving module 300 drives the end effector 1 of the surgical instrument to perform a closing movement from an initial position;

[0079] a monitoring and recording module 301 for monitoring the clamping force of the end effector 1 in real time, and recording a first driving parameter of the driver 3 related to the tension of the cable 2 when the clamping force monitored in real time is greater than or equal to a first preset clamping force; and

[0080] The parameter determination module 302 determines the clamping force control parameter of the end effector 1 according to the first driving parameter.

[0081] Optionally, the monitoring and recording module 301 is further configured to obtain, in real time, a second driving parameter of the driver 3 that drives the end effector 1 to close. Whether the clamping force is greater than or equal to a first preset clamping force is determined based on the second driving parameter. When the second driving parameter is greater than or equal to the first preset value, the clamping force is determined to be greater than or equal to the first preset clamping force.

[0082] Optionally, the first preset clamping force corresponds to a first initial control parameter. The parameter determination module 302 is further configured to update the first initial control parameter to a first driving parameter.

[0083] Optionally, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter. The parameter determination module 302 is further configured to update the second initial control parameter to a value obtained by subtracting the first initial control parameter from the sum of the second initial control parameter and the first drive parameter.

[0084] Optionally, the monitoring and recording module 301 is further configured to determine whether the surgical instrument is damaged based on whether a value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to a second preset value. When the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to the second preset value, the surgical instrument is determined to be damaged.

[0085] Optionally, the monitoring and recording module 301 is further configured to stop the closing of the end effector 1 when the second driving parameter is greater than or equal to a first preset value, and record the rotation angle of the driving motor when the end effector 1 stops closing.

[0086] Optionally, the driving module 300 is also used to measure a first reference parameter representing the opening and closing friction of the end effector 1; obtain a second reference parameter for the end effector 1 to reach a first preset clamping force without considering the opening and closing friction; and set the sum of the first reference parameter and the second reference parameter to a first preset value.

[0087] Optionally, the drive module 300 is further configured to measure a first drive current of the drive motor representing the opening and closing friction force of the end effector 1. A second drive current of the drive motor is obtained when the end effector 1 reaches a first preset clamping force without considering the opening and closing friction force. The sum of the first drive current and the second drive current is set as a first preset value. Alternatively, the drive module 300 is further configured to measure a first rotational speed of the drive motor representing the opening and closing friction force of the end effector 1. A second rotational speed of the drive motor is obtained when the end effector 1 reaches a first preset clamping force without considering the opening and closing friction force. The sum of the first rotational speed and the second rotational speed is set as a first preset value.

[0088] Optionally, the driving module 300 is also used to measure the opening and closing friction of the end effector 1, including driving the end effector 1 back to the zero position; driving the end effector 1 to open from the zero position to a first angle; driving the end effector 1 to close from the first angle to the zero position; and determining the first driving current or first speed based on the driving current or speed of the driving motor during the process of the end effector 1 opening from the zero position to the first angle and then closing to the zero position.

[0089] As described above, drive parameters such as the speed or drive current of the drive motor can be used to characterize the gripping force of the end effector 1. Specifically, the drive motor must provide a certain torque to ensure that the end effector 1 provides a certain gripping force. As the torque of the drive current increases, the drive current or speed also increases accordingly.

[0090] Based on this, as shown in FIG7 , the present application further provides a method for controlling a surgical instrument, comprising:

[0091] Step S200: driving the end effector 1 of the surgical instrument to perform a closing movement from an initial position.

[0092] In some embodiments, the initial position is the surgical instrument's zero position. The closing motion of the end effector 1 is performed at a constant speed, i.e., the driver 3 drives the end effector 1 to close at a constant speed starting from the zero position. Because motion damping changes at non-constant speeds, closing at a constant speed eliminates the effects of acceleration, thereby improving the control and detection accuracy of the surgical instrument control method.

[0093] Step S201 : acquiring in real time a first driving parameter of the driver 3 that drives the end effector 1 to close, and recording a second driving parameter of the driver 3 when the first driving parameter acquired in real time is greater than or equal to a first preset value.

[0094] When the first driving parameter is equal to the first preset value, it means that the end effector 1 is closed to the desired position, and at this time the second driving parameter of the driver 3 is recorded.

[0095] In one embodiment, the driver 3 is a rotary drive motor. The first drive parameter is the drive current of the rotary drive motor. The second drive parameter is the rotation angle of the drive motor. The drive current represents the torque output by the drive motor, which indirectly represents the clamping force applied by the end effector 1. When the cable 2 is loose, in order for the end effector 1 to apply the desired clamping force, the drive motor needs to rotate at a larger angle to enable the drive motor to output the desired torque. In other words, when the cable 2 is loose, the second drive parameter increases. Therefore, the first drive parameter and the second drive parameter can represent the degree of looseness of the cable 2.

[0096] In one embodiment, the first driving parameter may be the rotational speed of the driving motor, or the second driving parameter may be the torque of the driving motor, etc., which is not limited in this application.

[0097] The first drive parameter is related to the clamping force of the end effector 1, and the second drive parameter and the tension of the cable 2 jointly determine the clamping force. That is, the smaller the first drive parameter is, the smaller the clamping force of the end effector 1 is. When the first drive parameter reaches the first preset value, the end effector 1 applies a calibrated clamping force. When the cable 2 is relaxed, the second drive parameter increases. As mentioned above, assuming that the driver 3 rotates 15° when the surgical instrument is just shipped, the end effector 1 changes from an open state to a closed state and applies a clamping force of 10N. After the cable 2 is relaxed, the driver 3 also rotates 15° from an open state to a closed state, but can only apply a clamping force of 9N. In order to obtain the same clamping force of 10N, the driver 3 needs to rotate 20°.

[0098] Step S202: Determine the control parameters of the surgical instrument according to the second driving parameters.

[0099] The first driving parameter is related to the clamping force of the end effector 1. In one embodiment, when the first driving parameter is equal to the first preset value, the end effector 1 applies a first preset clamping force. Referring again to FIG. 4 , the first preset clamping force corresponds to a first initial control parameter θ m , that is, when the surgical instrument leaves the factory, the driving motor rotates with the first initial control parameter θ m After that, the end effector 1 can apply the first preset clamping force. m Updated to the first driving parameter θ th After executing step S201, the first driving parameter θ is obtained. th Stored in the controller as the first initial control parameter θ m The next clamping force control is performed, but when the method is executed next time, the first initial control parameter θ is used. m Perform calibration.

[0100] In this way, by adjusting the driving parameters of the driving motor after detecting the tension state of the cable 2, the end effector 1 can apply the first preset clamping force as expected by the medical staff, thereby improving the control accuracy of the surgical instrument.

[0101] In one embodiment, the surgical instrument is further configured to apply a second preset clamping force. The second preset clamping force is greater than the first preset clamping force. The second preset clamping force corresponds to a second initial control parameter θ f , that is, when the surgical instrument leaves the factory, the driving motor rotates the second initial control parameter θ f Then, the end effector 1 applies a second preset clamping force.

[0102] In one embodiment, the first preset clamping force is slightly greater than zero, such as 1N, 2N, etc., which corresponds to the state where the end effector 1 is just closed and only exerts a slight clamping force. The second preset clamping force corresponds to the state where the end effector 1 is fully closed and can exert a maximum clamping force.

[0103] In this embodiment, the control method also sets the second initial control parameter θ f Update to the second initial angle θ f0 The sum of the second driving parameter minus the first initial angle θ m0 The second driving parameter and the first initial angle θ are obtained. m0 The difference is the rotation angle that the drive motor needs to compensate for in order to achieve the same second preset clamping force. f0 Adding the difference to the value of θ, we can obtain the second initial control parameter θ that the drive motor needs to rotate when the end effector 1 pre-applies the second preset clamping force. f .

[0104] By setting a second preset clamping force greater than the first preset clamping force and calculating the second initial control parameter θ f , the surgical instrument can obtain the rotation angle range required by the drive motor. The surgical instrument only needs to control the drive motor to rotate within this angle range to enable the end effector 1 to apply the desired clamping force.

[0105] Based on the above embodiments, the control device of the surgical instrument shown in FIG6 may also be configured as follows:

[0106] The driving module 300 drives the end effector 1 of the surgical instrument to perform a closing movement from an initial position.

[0107] The monitoring and recording module 301 acquires in real time a first driving parameter of the driver 3 that drives the end effector 1 to close, and records a second driving parameter of the driver 3 when the first driving parameter acquired in real time is greater than or equal to a first preset value.

[0108] The parameter determination module 302 determines the control parameters of the surgical instrument according to the second driving parameters.

[0109] Optionally, the first driving parameter is related to the clamping force of the end effector 1 , and the second driving parameter and the tension of the cable 2 jointly determine the clamping force.

[0110] Optionally, the driver 3 is a driving motor, and the first driving parameter is a driving current or a rotational speed of the driving motor.

[0111] Optionally, the second driving parameter is the rotation angle of the driving motor.

[0112] Based on the control method of the surgical instrument of the present application, the embodiment of the present application also provides a structural diagram of an electronic device as shown in Figure 8. As shown in Figure 8, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the control method of the surgical instrument of the present application.

[0113] In some embodiments, the surgical instrument includes an RFID (Radio Frequency Identification) tag. The RFID tag records the first initial control parameters of the surgical instrument when it leaves the factory. After the drive motor rotates by the first initial control parameters, the end effector 1 can apply a first preset clamping force. Optionally, the RFID tag also records the second initial control parameters of the surgical instrument when it leaves the factory. After the drive motor rotates by the second initial control parameters, the end effector 1 applies a second preset clamping force.

[0114] The para-patient robotic arm is equipped with a radio frequency identification (RFID) module (including antenna and other structures). The RFID module can be used to interrogate the RFID tags on surgical instruments, for example, to read the data stored in the installed surgical instruments. The control host in the para-patient robotic arm system controls the operation, reads the data from the instruments through the RFID tags, performs the above-mentioned calibration, processes the data, and uses the processed data to perform the surgery. However, the original data in the instrument's RFID tag is not changed and is used for calibration every time. m ,θ f and Δθ max These data are stored in the control host of the patient-side robotic arm system. f0 ,θ m0 These initial data are stored in the RFID tag.

[0115] By comparing the obtained first drive parameters with the first initial control parameters stored in the RFID tag, the tension state of cable 2 can be determined, and the control parameters of the surgical instrument can be updated based on the tension state of cable 2. The updated parameters are stored in the host computer of the para-patient robotic arm system 120, allowing the driver 3 of the para-patient robotic arm system 120 to control the opening and closing movements of the end effector 1 using the updated control parameters.

[0116] Of course, in addition to software implementation, this application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0117] Many current improvements to process flows can be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logic function is determined by user programming. Designers can "integrate" a digital system onto a PLD through their own programming, eliminating the need for chip manufacturers to design and manufacture dedicated integrated circuit chips. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0118] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0119] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0120] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0121] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0122] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0123] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0125] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0126] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0127] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0131] The medical system 100 of the present application also includes an electronic device according to the embodiment shown in FIG8 . The electronic device implements the control method of the surgical instrument of the present application to control the surgical instrument. Therefore, the medical system of the present application adjusts the clamping force control parameters of the end effector 1 of the surgical instrument according to the first drive parameter, thereby compensating for transmission losses caused by the tension of the cable 2, thereby enabling the end effector 1 to apply the desired clamping force, thereby improving the control accuracy and clamping strength of the end effector 1.

[0132] The various embodiments of the present application can be combined with each other unless there is any contradiction.

[0133] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art may make various modifications, additions, or substitute similar methods for the described specific embodiments without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

[0134] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A control method for a surgical instrument, wherein, The surgical instrument includes an end effector capable of opening and closing movements and a cable for driving the opening and closing of the end effector. The cable is driven by a driver to achieve the opening and closing of the end effector. The control method of the surgical instrument includes: Driving the end effector of the surgical instrument to perform a closing movement from an initial position; Real-time monitoring of the clamping force of the end effector. When the real-time monitored clamping force is greater than or equal to a first preset clamping force, record a first driving parameter of the driver related to the tension degree of the cable; and Determine the clamping force control parameter of the end effector according to the first driving parameter.

2. The control method of the surgical instrument according to claim 1, wherein, As the tension degree of the cable decreases, the first driving parameter required for driving the end effector to move to a clamping force equal to the first preset clamping force increases.

3. The control method of the surgical instrument according to claim 1 or 2, wherein, The driver is a driving motor. The cable is wound around the driving motor. The driving motor rotates to drive the cable. The first driving parameter is the rotation angle of the driving motor.

4. The control method of the surgical instrument according to any one of claims 1 to 3, wherein, When the real-time monitored clamping force is greater than or equal to the first preset clamping force, recording the first driving parameter of the driver related to the tension degree of the cable includes: Real-time obtaining a second driving parameter of the driver for driving the end effector to close, and determining whether the clamping force is greater than or equal to the first preset clamping force according to the second driving parameter, wherein when the second driving parameter is greater than or equal to a first preset value, it is determined that the clamping force is greater than or equal to the first preset clamping force.

5. The control method of the surgical instrument according to claim 4, wherein, The driver is a driving motor or the driving motor. The second driving parameter is the driving current or rotation speed of the driving motor.

6. The control method of the surgical instrument according to any one of claims 1 to 5, wherein, The first preset clamping force corresponds to a first initial control parameter; Determining the clamping force control parameter of the end effector according to the first driving parameter includes: updating the first initial control parameter to the first driving parameter.

7. The control method of the surgical instrument according to claim 6, wherein, The surgical instrument is further configured to apply a second preset clamping force, the second preset clamping force is greater than the first preset clamping force, the second preset clamping force corresponds to a second initial control parameter, and update the second initial control parameter to the value obtained by adding the second initial control parameter and the first driving parameter and then subtracting the first initial control parameter.

8. The control method of the surgical instrument according to claim 7, wherein, Before determining the control parameter of the surgical instrument according to the first driving parameter, it further includes: Judging whether the surgical instrument is damaged according to whether the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to a second preset value, wherein when the value obtained by subtracting the first initial control parameter from the first driving parameter is greater than or equal to the second preset value, it is determined that the surgical instrument is damaged.

9. The control method of the surgical instrument according to claim 5, wherein, When the real-time monitored clamping force is greater than or equal to the first preset clamping force, recording the first driving parameter of the driver related to the tension degree of the cable includes: When the second driving parameter is greater than or equal to the first preset value, stop the closing of the end effector, and record the rotation angle of the driving motor when the end effector stops closing.

10. The control method of the surgical instrument according to claim 4, wherein, Before driving the end effector of the surgical instrument to perform a closing movement from an initial position, it further includes: Measuring a first reference parameter representing the opening and closing friction force of the end effector; Obtaining a second reference parameter for the end effector to reach the first preset clamping force without considering the opening and closing friction force; and Setting the sum of the first reference parameter and the second reference parameter as the first preset value.

11. The control method of the surgical instrument according to claim 4, wherein, Before driving the end effector of the surgical instrument to perform a closing movement from an initial position, it further includes: Measuring a first driving current of the driving motor representing the opening and closing friction force of the end effector; Obtaining a second driving current of the driving motor for the end effector to reach the first preset clamping force without considering the opening and closing friction force; Setting the sum of the first driving current and the second driving current as the first preset value; or Measuring a first rotational speed of the driving motor representing the opening and closing friction force of the end effector; Obtaining a second rotational speed of the driving motor for the end effector to reach the first preset clamping force without considering the opening and closing friction force; and Setting the sum of the first rotational speed and the second rotational speed as the first preset value.

12. The control method of the surgical instrument according to claim 11, wherein, Measuring the opening and closing friction force of the end effector includes: Driving the end effector back to the zero position; Driving the end effector to open from the zero position to a first angle; Driving the end effector to close from the first angle to the zero position; and Determining the first driving current or the first rotational speed according to the driving current or rotational speed of the driving motor during the process of the end effector opening from the zero position to the first angle and then closing to the zero position.

13. The control method of the surgical instrument according to claim 12, wherein, The first driving current or the first rotational speed is the average current or average rotational speed of the driving motor during the process of the end effector opening from the zero position to the first angle and then closing to the zero position.

14. The control method of the surgical instrument according to claim 4, wherein When after a preset time, the second driving parameter is less than the first preset value, it is determined that the surgical instrument is damaged.

15. A control method for a surgical instrument, wherein, The surgical instrument includes an end effector capable of performing opening and closing movements and a cable for driving the opening and closing of the end effector, and the cable is driven by a driver to realize the opening and closing of the end effector. The control method of the surgical instrument includes: Driving the end effector of the surgical instrument to perform a closing movement from an initial position; Real-time obtaining a first driving parameter of the driver for driving the end effector to close, and when the real-time obtained first driving parameter is greater than or equal to a first preset value, recording a second driving parameter of the driver; and Determining the control parameter of the surgical instrument according to the second driving parameter.

16. The control method of the surgical instrument according to claim 15, wherein, The first driving parameter is related to the clamping force of the end effector, and the second driving parameter and the tension degree of the cable jointly determine the clamping force.

17. The control method of the surgical instrument according to claim 15 or 16, wherein, The driver is a driving motor, and the first driving parameter is the driving current or rotational speed of the driving motor.

18. The control method of the surgical instrument according to any one of claims 15 to 17, wherein, The second driving parameter is the rotational angle of the driving motor.

19. A control device for a surgical instrument, wherein, The surgical instrument includes an end effector capable of performing opening and closing movements and a cable for driving the opening and closing of the end effector. The cable is driven by a driver to achieve the opening and closing of the end effector. The control device of the surgical instrument includes: a driving module for driving the end effector of the surgical instrument to perform a closing movement from an initial position; a monitoring and recording module for monitoring the clamping force of the end effector in real time. When the monitored clamping force is greater than or equal to a first preset clamping force, recording a first driving parameter of the driver related to the tension degree of the cable; and a parameter determination module for determining a clamping force control parameter of the end effector according to the first driving parameter.

20. A computer-readable storage medium, wherein, The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the surgical instrument according to any one of claims 1-18 above.

21. An electronic device, comprising a memory and a processor, where the memory stores a computer program that can run on the processor, wherein, When the processor executes the computer program, it implements the control method of the surgical instrument according to any one of claims 1-18 above.

22. A medical system, wherein, It includes a surgical instrument and the electronic device according to claim 21; the electronic device is used to control the surgical instrument.

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