Method and apparatus for acceleration compensation-based pressure calibration, device, and storage medium

Abstract

Provided are a method and apparatus for acceleration compensation-based pressure calibration, a device, and a storage medium. The method for acceleration compensation-based pressure calibration is used for an interventional robot at least comprising a first driving unit connected to a first interventional consumable. The method comprises: acquiring a first pressure detection value and an acceleration of the first driving unit; calculating an acceleration force value of the first driving unit according to the acceleration; and updating the first pressure detection value according to the acceleration force value. According to the present application, the pressure detection value of the first driving unit can be calibrated, thereby improving the detection accuracy.

Description

Pressure calibration method, apparatus, equipment and storage medium based on acceleration compensation

[0001] This application claims priority to Chinese Patent Application No. 202411935337.1, filed on December 24, 2024, entitled "Pressure Calibration Method, Apparatus, Device and Storage Medium Based on Acceleration Compensation", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vascular interventional surgery technology, and in particular to a pressure calibration method, device, computer equipment, and storage medium based on acceleration compensation. Background Technology

[0003] As shown in Figure 1, the structure of the current panvascular interventional robot includes a slide 1, a catheter 2, a guidewire 3, a distal drive unit 4, and at least one proximal drive unit (such as a first drive unit 10). The distal end refers to the end closer to the patient, and the proximal end refers to the end farther from the patient. The distal drive unit 4 includes a distal delivery motor 4a, and the first drive unit 10 includes a first delivery motor 11. A first pressure sensor 12 is installed on the connecting shaft between the first drive unit 10 and the slide 1.

[0004] When using a panvascular interventional robot, when starting and stopping the delivery of interventional consumables (such as catheters, guidewires, etc.), the first delivery motor 11, such as a lead screw motor, will have an inertial acceleration when it starts and stops. This acceleration will generate a force on the first pressure sensor 12, which will affect the detection of the straightening force of the interventional consumables, leading to false detection of the straightening force.

[0005] Specifically, taking the use of a panvascular interventional robot to deliver catheters as an example, during high-speed catheter delivery, as the catheter goes from bent to straight, the first drive unit 10 goes from rest to start, during which an acceleration is generated. This acceleration will generate a negative pressure value on the first pressure sensor 12, which will cause the value of the first pressure sensor 12 to be below the start threshold of the first drive unit 10, thus causing the first drive unit 10 to stop. At this time, an acceleration in the opposite direction will be generated, which will generate a positive pressure value on the first pressure sensor 12, thus causing the first drive unit 10 to start again. This cycle repeats, resulting in frequent start and stop of the first drive unit 10. Similarly, during the delivery process, when the catheter goes from straight to bent, the first drive unit 10 will also exhibit the same phenomenon from running to stopping. Summary of the Invention

[0006] The purpose of this application is to propose a pressure calibration method, apparatus, computer equipment, and storage medium based on acceleration compensation to solve the problem of false detection in the pressure detection of existing drive units.

[0007] To address the aforementioned technical problems, this application provides a pressure calibration method based on acceleration compensation for use in an interventional robot. The interventional robot includes at least a first drive unit connected to a first interventional consumable. The method includes:

[0008] Obtain the first pressure detection value and acceleration of the first drive unit;

[0009] The acceleration force value of the first drive unit is calculated based on the acceleration.

[0010] The first pressure detection value is updated based on the acceleration force value.

[0011] Furthermore, the interventional robot also includes a second drive unit not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes:

[0012] The second drive unit and the first drive unit work synchronously to obtain the second pressure detection value of the second drive unit when it is in an unloaded state;

[0013] The acceleration is calculated based on the second pressure detection value and used to finally obtain the true pressure value of the first drive unit.

[0014] Further, the step of synchronizing the operation of the second drive unit and the first drive unit includes:

[0015] The operating parameters of the first drive unit are obtained, and the second drive unit is configured according to the operating parameters so that the second drive unit and the first drive unit work synchronously, which helps to correct any potential deviations in a timely manner.

[0016] Further, the step of calculating the acceleration based on the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration based on the second pressure detection value and the second mass.

[0017] Further, the step of calculating the acceleration force value of the first driving unit based on the acceleration includes:

[0018] The first mass of the first drive unit is obtained, and the acceleration force value is calculated based on the acceleration and the first mass to achieve pressure detection correction.

[0019] Further, the step of updating the first pressure detection value based on the acceleration force value includes:

[0020] The first pressure detection value is obtained by subtracting the acceleration force value from the first pressure detection value, in order to calibrate the first pressure detection value.

[0021] Further, in the step of obtaining the first pressure detection value and acceleration of the first drive unit, the method for obtaining the acceleration includes:

[0022] The acceleration is calculated based on the encoder or the accelerometer to obtain the true pressure value, thereby improving detection accuracy.

[0023] To address the aforementioned technical problems, this application also provides a pressure calibration device based on acceleration compensation for performing the above-described method, comprising:

[0024] The acquisition unit is used to acquire the first pressure detection value and the acceleration of the first driving unit;

[0025] A calculation unit is used to calculate the acceleration force value of the first driving unit based on the acceleration.

[0026] A correction unit is used to update the first pressure detection value based on the acceleration force value.

[0027] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution:

[0028] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the pressure calibration method based on acceleration compensation described above.

[0029] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below:

[0030] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the pressure calibration method based on acceleration compensation described above.

[0031] Compared with the prior art, this application has the following main advantages:

[0032] This application obtains the acceleration force value of the first drive unit by acquiring the acceleration of the first drive unit, and updates the pressure detection value of the first drive unit by the acceleration force value, thereby correcting the pressure detection value and improving the detection accuracy. Attached Figure Description

[0033] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 is a partial structural schematic diagram of an existing panvascular interventional robot;

[0035] Figure 2 is a flowchart of an embodiment of the pressure calibration method based on acceleration compensation according to this application;

[0036] Figure 3 is a partial structural schematic diagram of a panvascular interventional robot used to implement a pressure calibration method based on acceleration compensation in an embodiment of this application.

[0037] Figure 4 is a schematic diagram of the structure of a pressure calibration device based on acceleration compensation according to an embodiment of this application;

[0038] Figure 5 is a structural schematic diagram of an embodiment of a computer device according to this application. Detailed Implementation

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0042] Referring to Figure 2, a flowchart of an embodiment of the pressure calibration method based on acceleration compensation according to this application is shown. The pressure calibration method based on acceleration compensation includes the following steps S11 to S13:

[0043] Step S11: Obtain the first pressure detection value and acceleration of the first drive unit;

[0044] Step S12: Calculate the acceleration force value of the first drive unit based on the acceleration.

[0045] Step S13: Update the first pressure detection value according to the acceleration force value.

[0046] In this embodiment, referring to the pan-vascular interventional robot shown in Figure 3, the pan-vascular interventional robot includes a slide 1, a catheter 2, a guidewire 3, a distal drive unit 4, and a proximal drive unit. The proximal drive unit includes a first drive unit 10, a second drive unit 20, and a third drive unit 30. The distal drive unit 4, the first drive unit 10, the second drive unit 20, and the third drive unit 30 are all mounted on the slide 1. The distal drive unit 4 is generally fixed, while the first drive unit 10, the second drive unit 20, and the third drive unit 30 are all movable. The distal drive unit 4 includes a distal delivery motor 4a. The first drive unit 10 includes a first delivery motor 11, the second drive unit 20 includes a second delivery motor 21, and the third drive unit 30 includes a third delivery motor 31. The connecting shafts between the first drive unit 10, the second drive unit 20, and the third drive unit 30 and the slide 1 are respectively equipped with a first pressure sensor 12, a second pressure sensor 22, and a third pressure sensor 32. The distal drive unit 4 is not equipped with any pressure sensors.

[0047] Depending on the type of surgery, different numbers of interventional consumables can be installed in the four drive units. These consumables can be catheter 2 (first interventional consumable), guidewire 3 (second interventional consumable), etc. In subsequent specific embodiments, for surgical types that deliver one catheter and one guidewire, the method of this embodiment will be described using a single catheter as an example, in conjunction with the structure of the panvascular interventional robot in Figure 3. The direction of the measured pressure is shown by the solid arrow in Figure 3. One end of catheter 2 is installed in the distal drive unit 4, and the other end is installed in the first drive unit 10. The distal drive unit 4 is controlled by the master end (not shown) to drive the movement of catheter 2. The first delivery motor 11 of the first drive unit 10 is used to cooperate with the distal drive unit 4 to drive the movement of catheter 2. One end of guidewire 3 is installed in the third drive unit 30, and the guidewire 3 is driven by the third delivery motor 31.

[0048] In step S11, when the remote delivery motor 4a of the remote drive unit 4 drives the first interventional consumable to move, the first interventional consumable will be straightened from a bent state, which will apply a pulling force to the first drive unit 10. Although the first drive unit 10 does not move immediately under inertia at the beginning, due to the transmissibility and interaction of forces, the pulling force will be transmitted to the first pressure sensor 12 through the first drive unit 10. The first pressure sensor 12 can detect whether there is a force acting on the first drive unit 10, thereby obtaining the first pressure detection value; or when the remote delivery motor 4a of the remote drive unit 4 stops working, the first interventional consumable changes from a straightened state to a bent state, and the pulling force applied to the first drive unit 10 will gradually decrease. The first drive unit 10 continues to move under the pulling force and inertia. At this time, there is still a force transmitted to the first pressure sensor 12, and the first pressure detection value is obtained through the first pressure sensor 12 in the same way.

[0049] Based on this, regardless of whether the first drive unit 10 is in an acceleration or deceleration state, by acquiring the acceleration of the first drive unit 10, calculating the acceleration force value of the first drive unit 10 based on the acceleration, and updating the first pressure detection value based on the acceleration force value, the pressure detection can be corrected. That is, by using acceleration compensation, the true pressure value of the first drive unit 10 acting on the first pressure sensor 12 can be obtained, which can avoid false pressure detection and improve detection accuracy.

[0050] In a further application scenario, the actual pressure value is used to determine whether to start or stop the first drive unit 10. For example, during the process of the first drive unit 10 moving from a stationary state, if the actual pressure is greater than a preset threshold, the master terminal controls the first drive unit 10 to start, so that the first drive unit 10 works in conjunction with the remote drive unit 4 to drive the first interventional consumable. During the process of the first drive unit 10 moving from a stationary state, if the actual pressure is less than the preset threshold, the master terminal controls the first drive unit 10 to stop, so that the first drive unit 10 stops driving the first interventional consumable. This can improve the control accuracy of the master terminal over the first drive unit 10.

[0051] In one embodiment, the first interventional consumable is not connected to the second drive unit 20. In step S11, when obtaining the acceleration, the method further includes: making the second drive unit 20 and the first drive unit 10 work synchronously, obtaining the second pressure detection value of the second drive unit 20 in an unloaded state; and calculating the acceleration based on the second pressure detection value.

[0052] In this embodiment, for the first drive unit 10, the first pressure detection value F of the first pressure sensor 12 is... s Satisfy the following formula:

[0053] Where F cn (n = 1, 2, ...) represents the pulling force (or straightening force) exerted on the first drive unit 10 by all the interventional consumables installed on the remote drive unit 4, F em (m=1,2,…) represents forces other than the tensile force of the interventional consumables; in F em In (m=1,2,…), one of the forces F e1 =F a (F a (The acceleration force generated by acceleration when the first drive unit 10 accelerates or decelerates).

[0054] In one embodiment, the step of calculating the acceleration force value of the first drive unit based on the acceleration includes: obtaining a first mass of the first drive unit, and calculating the acceleration force value based on the acceleration and the first mass. That is, the acceleration force value Fa satisfies the following formula: F a =ma

[0055] Where m (first mass) is the mass of the first drive unit 10 and all its components, and a is the acceleration of the first drive unit 10.

[0056] It should be noted that the above formula also applies to the second drive unit 20 and the third drive unit 30.

[0057] In the one-tube-one surgical procedure, the second drive unit 20 is unloaded, meaning no interventional consumables are connected to it. Therefore, there is almost no pulling force generated by the interventional consumables. For the second drive unit 20, F cn If the summation of (n = 1, 2, ...) is 0, then the second pressure detection value F of the second pressure sensor 22 on the second drive unit 20 is 0. s3 The following formula should be satisfied:

[0058] The actual tension value F on the second drive unit 20 a3 It can be calculated using the following formula:

[0059] For the second drive unit 20, apart from the force generated by the acceleration that keeps it synchronized with the first drive unit 10, other forces (such as friction, etc., are very small and can be ignored) F em The summation of (m = 2, 3, ...) tends to 0, therefore F a3 The simplified formula is as follows: Fa3 =F s3

[0060] In one embodiment, the step of calculating the acceleration based on the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration based on the second pressure detection value and the second mass. That is, the acceleration a3 of the second drive unit 20 can ultimately be calculated.

[0061] m3 (second mass) is the mass of the second drive unit 20 and all its components.

[0062] In the combined pipe and wire mode, the first drive unit 10 and the second drive unit 20 work synchronously, so their accelerations are the same, that is: a = a3

[0063] Therefore, the acceleration force F of the first drive unit 10 a Satisfies the following formula: F a =ma3

[0064] Through the acceleration force F a The first pressure detection value F can be obtained. s Perform corrections.

[0065] In this embodiment, the acceleration of the second drive unit 20 is obtained by measuring the second pressure detection value of the second drive unit 20, which has the same acceleration as the first drive unit 10. Then, the acceleration force value caused by the acceleration of the first drive unit 10 is calculated by the acceleration of the second drive unit 20, and finally the true pressure value is obtained. The detection can be achieved by using the existing components of the pan-vascular intervention robot. The detection process is simple and fast and will not increase the additional hardware cost.

[0066] In some embodiments, if F em Since the summation result of (m = 2, 3, ...) may not approach 0, the method further includes, before the step of calculating the acceleration based on the second pressure detection value, obtaining a preset correction parameter of the second drive unit and adjusting the second pressure detection value according to the preset correction parameter. In this embodiment, considering the influence of various factors such as the installation position of the pressure sensor, the rigidity of the mechanical structure, the flexibility of the conduit, and the interaction of other mechanical components, the compensation amount obtained directly based on the acceleration obtained from the second pressure detection value will have errors. By introducing the preset correction parameter, a more accurate second pressure detection value can be obtained, thereby obtaining a more accurate acceleration, reducing the detection error of the actual pressure, and improving the detection accuracy.

[0067] The preset calibration parameters in this embodiment can be empirical values ​​or obtained through experimental methods. Specifically, in one embodiment, the step of obtaining the preset calibration parameters through experimental methods includes: applying a known acceleration to the second drive unit 20, recording the second pressure detection value acting on the second drive unit, calculating the acceleration force value based on the known acceleration, and obtaining a set of second pressure detection values ​​and acceleration force values; repeating the previous step to obtain multiple sets of second pressure detection values ​​and acceleration force values; and obtaining the preset calibration parameters based on the multiple sets of second pressure detection values ​​and acceleration force values ​​through regression analysis.

[0068] The purpose of this embodiment is to obtain preset calibration parameters. Specifically, the preset calibration parameters can be obtained by dynamic calibration. For example, a test acceleration sensor, a test pressure sensor, and a force output device are provided. A known acceleration a2 is applied to the second delivery motor 21 through the force output device, and the sensor reading F is recorded. sensor Then calculate the inertial force F. inertia = m × a2.

[0069] By repeating the process i times, we obtain i sets of data (F). sensor F inertia Based on this, regression analysis is used to obtain the first or second adjustment coefficient k:

[0070] Where F real,i This refers to the actual pressure value. By using the above method, an accurate preset calibration parameter can be obtained, thereby more accurately correcting the detected pressure through acceleration compensation and improving detection accuracy.

[0071] In one embodiment, the step of synchronizing the operation of the second drive unit and the first drive unit includes: acquiring the operating parameters of the first drive unit 10, and configuring the second drive unit 20 according to the operating parameters, so that the second drive unit 20 and the first drive unit 10 operate synchronously. This embodiment, by accurately acquiring the operating parameters of the first drive unit 10 and configuring the second drive unit 20 accordingly, ensures that the actions of the two drive units are highly consistent, thereby allowing the acceleration of the first drive unit 10 to be acquired using the second drive unit 20. Furthermore, acquiring the operating parameters of the first drive unit 10 and configuring the second drive unit 20 in real time enables rapid response and real-time adjustment, ensuring synchronization throughout the entire operation process, helping to correct any potential deviations promptly, and further improving the reliability and accuracy of pressure detection.

[0072] In one embodiment, the step of updating the first pressure detection value based on the acceleration force value includes: subtracting the acceleration force value from the first pressure detection value to obtain the updated first pressure detection value.

[0073] In one embodiment, in the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method includes: calculating the acceleration based on an encoder, or calculating the acceleration based on an accelerometer. This embodiment obtains the first acceleration by adding an editor or accelerometer; although this increases hardware, it can still effectively obtain the true pressure value and improve detection accuracy.

[0074] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0075] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0076] Referring further to Figure 4, as an implementation of the method shown in Figure 1, this application provides an embodiment of a pressure calibration device based on acceleration compensation. This device embodiment corresponds to the method embodiment shown in Figure 1, and the device can be specifically applied to various electronic devices.

[0077] As shown in Figure 4, the pressure calibration device 40 based on acceleration compensation described in this embodiment includes: a data acquisition unit 41, a calculation unit 42, and a calibration unit 43. Wherein:

[0078] The acquisition unit 41 is used to acquire the first pressure detection value and the acceleration of the first drive unit; the calculation unit 42 is used to calculate the acceleration force value of the first drive unit based on the acceleration; and the correction unit 43 is used to update the first pressure detection value based on the acceleration force value.

[0079] In one embodiment, the interventional robot further includes a second drive unit not connected to the first interventional consumable. When the acquisition unit 41 acquires the acceleration of the first drive unit, it is specifically used to: synchronize the second drive unit and the first drive unit to acquire a second pressure detection value of the second drive unit in an unloaded state; and calculate the acceleration based on the second pressure detection value.

[0080] In one embodiment, when the acquisition unit 41 enables the second driving unit and the first driving unit to work synchronously, it is specifically used to: acquire the operating parameters of the first driving unit, and configure the second driving unit according to the operating parameters so that the second driving unit and the first driving unit work synchronously.

[0081] In one embodiment, when the acquisition unit 41 calculates the acceleration based on the second pressure detection value, it is specifically used to: acquire the second mass of the second drive unit, and calculate the acceleration based on the second pressure detection value and the second mass.

[0082] In one embodiment, when the calculation unit 42 calculates the acceleration force value of the first driving unit based on the acceleration, it is specifically used to: obtain the first mass of the first driving unit, and calculate the acceleration force value based on the acceleration and the first mass.

[0083] In one embodiment, when the correction unit 43 updates the first pressure detection value based on the acceleration force value, it is specifically used to: subtract the acceleration force value from the first pressure detection value to obtain the updated first pressure detection value.

[0084] When the acquisition unit 41 acquires the acceleration of the first driving unit, it is specifically used to: calculate the acceleration based on the encoder, or calculate the acceleration based on the accelerometer.

[0085] The technical effects of the above-described device embodiments can be found in the relevant content of the above-described method embodiments, and will not be elaborated here.

[0086] This embodiment, by setting up a device module corresponding to the pressure calibration method based on acceleration compensation, can obtain the acceleration force value of the first drive unit 10 by acquiring the acceleration of the first drive unit 10, update the pressure detection value of the first drive unit 10 by the acceleration force value, realize the correction of the pressure detection value, and improve the detection accuracy.

[0087] To address the aforementioned technical problems, this application also provides a computer device. Please refer to Figure 5 for details; Figure 5 is a basic structural block diagram of the computer device according to this embodiment.

[0088] The computer device 5 includes a memory 51, a processor 52, and a network interface 53 that are interconnected via a system bus. It should be noted that only the computer device 5 with components 51-53 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0089] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0090] The memory 51 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 51 may be an internal storage unit of the computer device 5, such as the hard disk or memory of the computer device 5. In other embodiments, the memory 51 may also be an external storage device of the computer device 5, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 5. Of course, the memory 51 may include both the internal storage unit and its external storage device of the computer device 5. In this embodiment, the memory 51 is typically used to store the operating system and various application software installed on the computer device 5, such as program code for a pressure calibration method based on acceleration compensation. In addition, the memory 51 can also be used to temporarily store various types of data that have been output or will be output.

[0091] In some embodiments, the processor 52 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 52 is typically used to control the overall operation of the computer device 5. In this embodiment, the processor 52 is used to run program code stored in the memory 51 or process data, for example, to run the program code for the acceleration-compensated pressure calibration method.

[0092] The network interface 53 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 5 and other electronic devices.

[0093] This embodiment, by setting up computer equipment corresponding to the pressure calibration method based on acceleration compensation, can effectively and accurately adjust the position of the camera equipment, making the display position of interventional instruments in interventional surgical images easier to observe.

[0094] This application also provides another embodiment, namely, providing a computer-readable storage medium storing an acceleration-compensated pressure calibration program, which can be executed by at least one processor to perform the steps of the acceleration-compensated pressure calibration method as described above.

[0095] This embodiment enables the correction of pressure detection values ​​and improves detection accuracy by setting a computer-readable storage medium corresponding to the pressure calibration method based on acceleration compensation.

[0096] Computer-readable storage media can be either non-volatile or volatile.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0098] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A pressure calibration method based on acceleration compensation for an interventional robot, the interventional robot comprising at least a first drive unit connected to a first interventional consumable, wherein, The method includes: Obtain the first pressure detection value and acceleration of the first drive unit; The acceleration force value of the first drive unit is calculated based on the acceleration. The first pressure detection value is updated based on the acceleration force value.

2. The pressure calibration method based on acceleration compensation according to claim 1, wherein, The interventional robot further includes a second drive unit not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes: The second drive unit and the first drive unit work synchronously to obtain the second pressure detection value of the second drive unit when it is in an unloaded state; The acceleration is calculated based on the second pressure detection value and used to finally obtain the true pressure value of the first drive unit.

3. The pressure calibration method based on acceleration compensation according to claim 2, wherein, The steps for synchronizing the operation of the second drive unit and the first drive unit include: The operating parameters of the first drive unit are obtained, and the second drive unit is configured according to the operating parameters so that the second drive unit and the first drive unit work synchronously, which helps to correct any potential deviations in a timely manner.

4. The pressure calibration method based on acceleration compensation according to claim 2, wherein, The step of calculating the acceleration based on the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration based on the second pressure detection value and the second mass.

5. The pressure calibration method based on acceleration compensation according to claim 1, wherein, The step of calculating the acceleration force value of the first drive unit based on the acceleration includes: The first mass of the first drive unit is obtained, and the acceleration force value is calculated based on the acceleration and the first mass to achieve pressure detection correction.

6. The pressure calibration method based on acceleration compensation according to claim 1, wherein, The step of updating the first pressure detection value based on the acceleration force value includes: The first pressure detection value is obtained by subtracting the acceleration force value from the first pressure detection value, in order to calibrate the first pressure detection value.

7. The pressure calibration method based on acceleration compensation according to claim 1, wherein, In the step of obtaining the first pressure detection value and acceleration of the first drive unit, the method for obtaining the acceleration includes: The acceleration is calculated based on the encoder or the accelerometer to obtain the true pressure value, thereby improving detection accuracy.

8. A pressure calibration device based on acceleration compensation, used to perform the method according to any one of claims 1 to 7, wherein, include: The acquisition unit is used to acquire the first pressure detection value and the acceleration of the first driving unit; A calculation unit is used to calculate the acceleration force value of the first driving unit based on the acceleration. A correction unit is used to update the first pressure detection value based on the acceleration force value.

9. A computer device, wherein, The system includes a memory and a processor. The memory stores computer-readable instructions, and the processor, when executing the computer-readable instructions, implements an acceleration-compensated pressure calibration method for an interventional robot. The interventional robot includes at least a first drive unit connected to a first interventional consumable. The method includes: Obtain the first pressure detection value and acceleration of the first drive unit; The acceleration force value of the first drive unit is calculated based on the acceleration. The first pressure detection value is updated based on the acceleration force value.

10. The computer device according to claim 9, wherein, The interventional robot further includes a second drive unit not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes: The second drive unit and the first drive unit work synchronously to obtain the second pressure detection value of the second drive unit when it is in an unloaded state; The acceleration is calculated based on the second pressure detection value and used to finally obtain the true pressure value of the first drive unit.

11. The computer device according to claim 10, wherein, The steps for synchronizing the operation of the second drive unit and the first drive unit include: The operating parameters of the first drive unit are obtained, and the second drive unit is configured according to the operating parameters so that the second drive unit and the first drive unit work synchronously, which helps to correct any potential deviations in a timely manner.

12. The computer device according to claim 10, wherein, The step of calculating the acceleration based on the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration based on the second pressure detection value and the second mass.

13. The computer device based on acceleration compensation according to claim 9, wherein, The step of calculating the acceleration force value of the first drive unit based on the acceleration includes: The first mass of the first drive unit is obtained, and the acceleration force value is calculated based on the acceleration and the first mass to achieve pressure detection correction.

14. The computer device based on acceleration compensation according to claim 9, wherein, The step of updating the first pressure detection value based on the acceleration force value includes: The first pressure detection value is obtained by subtracting the acceleration force value from the first pressure detection value, in order to calibrate the first pressure detection value.

15. The computer device based on acceleration compensation according to claim 9, wherein, In the step of obtaining the first pressure detection value and acceleration of the first drive unit, the method for obtaining the acceleration includes: The acceleration is calculated based on the encoder or the accelerometer to obtain the true pressure value, thereby improving detection accuracy.

16. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement an acceleration-compensated pressure calibration method. This method is used in an interventional robot, which includes at least a first drive unit connected to a first interventional consumable. The method includes: Obtain the first pressure detection value and acceleration of the first drive unit; The acceleration force value of the first drive unit is calculated based on the acceleration. The first pressure detection value is updated based on the acceleration force value.

17. The computer-readable storage medium of claim 16, wherein, The interventional robot further includes a second drive unit not connected to the first interventional consumable. In the step of obtaining the first pressure detection value and acceleration of the first drive unit, when obtaining the acceleration, the method further includes: The second drive unit and the first drive unit work synchronously to obtain the second pressure detection value of the second drive unit when it is in an unloaded state; The acceleration is calculated based on the second pressure detection value and used to finally obtain the true pressure value of the first drive unit.

18. The computer-readable storage medium according to claim 17, wherein, The steps for synchronizing the operation of the second drive unit and the first drive unit include: The operating parameters of the first drive unit are obtained, and the second drive unit is configured according to the operating parameters so that the second drive unit and the first drive unit work synchronously, which helps to correct any potential deviations in a timely manner.

19. The computer-readable storage medium according to claim 17, wherein, The step of calculating the acceleration based on the second pressure detection value includes: obtaining the second mass of the second drive unit, and calculating the acceleration based on the second pressure detection value and the second mass.

20. The computer-readable storage medium of claim 16, wherein, The step of calculating the acceleration force value of the first drive unit based on the acceleration includes: The first mass of the first drive unit is obtained, and the acceleration force value is calculated based on the acceleration and the first mass to achieve pressure detection correction.

21. The computer-readable storage medium according to claim 16, wherein, The step of updating the first pressure detection value based on the acceleration force value includes: The first pressure detection value is obtained by subtracting the acceleration force value from the first pressure detection value, in order to calibrate the first pressure detection value.

22. The computer-readable storage medium according to claim 16, wherein, In the step of obtaining the first pressure detection value and acceleration of the first drive unit, the method for obtaining the acceleration includes: The acceleration is calculated based on the encoder or the accelerometer to obtain the true pressure value, thereby improving detection accuracy.

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