WO2023025008A1 - Information processing method and system for surgical instrument, surgical instrument and storage medium - Google Patents

Abstract

An information processing method and system for a surgical instrument (400), the surgical instrument (400) and a storage medium. The method comprises: acquiring a wear data sequence which is generated during the process of a surgical robot (200) using the surgical instrument (400) and which is used to characterize stress conditions of a consumable in the surgical instrument (400); converting the wear data sequence into lifespan consumption information of the consumable; and using the lifespan consumption information to update lifespan information of the corresponding surgical instrument (400).

Description

Information processing method and system for surgical instrument, surgical instrument and storage medium

Cross References to Related Applications

This disclosure claims the priority of the Chinese patent application with application number 202110991248.9 and titled "Information Processing Method, System, Surgical Instrument and Storage Media for Surgical Instruments" submitted to the China Patent Office on August 26, 2021. The patent application The entire contents of are incorporated by reference in this disclosure.

technical field

The present disclosure relates to the technical field of medical devices, in particular to an information processing method and system for a surgical device, a surgical device and a storage medium.

Background technique

At present, in the case of traditional surgery facing various limitations, surgical robots have been developed to replace traditional surgery. The design concept of the surgical robot is to use a minimally invasive method to accurately perform complex surgical operations. Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present the internal organs to the operator more clearly. In the area where the hand cannot reach, the robot hand can complete 360-degree rotation, movement, swing, clamping, and avoid shaking. The emergence of surgical robots is in line with the development trend of precision surgery. Surgical robots have become a powerful tool to help doctors complete operations.

The number of times a surgical instrument is used is one of the factors that affect the life of the instrument. The same is true for surgical robots.

Contents of the invention

According to various embodiments of the present disclosure, an information processing method and system of a surgical instrument, a surgical instrument, and a storage medium are provided.

According to some embodiments, the first aspect of the present disclosure provides an information processing method for a surgical instrument, including: acquiring wear data used to characterize the stress on the consumables in the surgical instrument generated during the use of the surgical instrument by the surgical robot Sequence; convert the consumption data sequence into the life consumption information of consumables; use the life consumption information to update the life information of the corresponding surgical instrument.

According to some embodiments, the step of converting the wear data sequence into the life consumption information of consumables includes: according to each wear data in the wear data sequence obtained according to the sampling interval and its corresponding first weight, calculating For the life consumption information of the corresponding consumables; or according to the duration of each consumption data in the consumption data sequence and the corresponding second weight, calculate the life consumption information of the corresponding consumables during the use of the surgical instrument.

According to some embodiments, the first weight or the second weight is obtained based on at least one of the following weights: the weight corresponding to the loss data of a single consumable; Each weight.

According to some embodiments, the information processing method of the surgical instrument further includes: prompting to update the corresponding surgical instrument according to a comparison result between the updated life information and the life threshold of the corresponding consumable.

According to some embodiments, prompting to update the corresponding surgical instrument includes: displaying life information, or prohibiting the use of the surgical instrument.

According to some embodiments, when the comparison result of the updated life information and the life threshold of the corresponding consumable indicates that the corresponding consumable has reached the corresponding life threshold, at least one of before, during and before using the surgical instrument by the surgical robot Prompt the timing and prompt to update the corresponding surgical instruments.

According to some embodiments, the information processing method of the surgical instrument further includes: performing data filtering processing on the consumption data sequence of consumables, so as to remove abnormal data.

According to some embodiments, the loss data comes from at least one of the following: torque data of the driver of the consumable, the driving speed and/or angle of the driver, the output power of the driver, the force state of the corresponding consumable determined based on the driving command of the driver, And the force-sensing data induced by the consumables.

According to some embodiments, the consumables include: a driving wire, or a plurality of driving wires having a force acting relationship.

According to some embodiments, the information processing method of the surgical instrument further includes: reading the instrument label of the surgical instrument, so as to update the corresponding life information according to the instrument label; or detecting the assembly position information of the surgical instrument and the surgical robot, so as to update the information according to the assembly position information Corresponding lifetime information.

According to some embodiments, the correspondence between each loss data and the first weight is pre-stored or determined based on a pre-configured mapping function; and/or the correspondence between each loss data and the second weight is pre-stored or based on a pre-configured mapping determined by the function.

According to some embodiments, the second aspect of the present disclosure provides a surgical instrument, including at least one consumable and a storage medium; wherein, the storage medium stores an instrument label and a computer program, and when the computer program is run, it executes any one of the The steps of the methods described in the examples are disclosed.

According to some embodiments, a third aspect of the present disclosure provides a surgical robot system, including a surgical instrument and a surgical robot, the surgical instrument includes at least one consumable and a storage medium, wherein at least an instrument label is stored in the storage medium; the surgical robot and A surgical instrument is coupled for controlling the movement of the surgical instrument and performing the steps of the method as described in any one of the disclosed embodiments.

According to some embodiments, the surgical robot includes a plurality of mechanical arms and a controller for mounting surgical instruments, and the controller is connected to the mounted surgical instruments with signals; the controller is used to read the instrument labels and Its corresponding lifetime information.

According to some embodiments, a consumable in a surgical instrument includes a drive wire, or a plurality of drive wires in a force acting relationship.

According to some embodiments, a first force sensor is provided on a consumable, and/or a second force sensor is provided between a plurality of consumables having a force relationship in the surgical instrument; wherein, the first force sensor and/or the second force sensor Used to provide wear data sequences to surgical robots.

According to some embodiments, the fourth aspect of the present disclosure provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method described in the embodiments of the present disclosure are implemented.

Embodiments of the present disclosure may/at least have the following advantages:

In the information processing method, system, surgical instrument, and storage medium of the surgical instrument provided by the embodiments of the present disclosure, by acquiring the consumption data generated during the use of the surgical instrument by the surgical robot and used to characterize the force of the consumables in the surgical instrument Sequence, the sequence can have one piece of data, or it can contain multiple pieces of data sorted in chronological order, that is, each loss data in the sequence can be correspondingly set with its generation time; because the time sequence of loss data affects the operation The real life information of instruments generates the life consumption information of consumables according to the consumption data sequence, and uses the life consumption information to update the life information of corresponding surgical instruments, which can more accurately manage the service life of surgical instruments and improve the utilization of consumables. Reduce unnecessary waste.

The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present disclosure will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a flowchart of an information processing method of a surgical instrument provided in an embodiment;

Fig. 2 is a flowchart of an information processing method of a surgical instrument provided in another embodiment;

Fig. 3 is a schematic diagram of a usage scenario of a surgical robot system provided in an embodiment;

Fig. 4 is a schematic diagram of a surgical robot, a fixed display device and surgical instruments provided in an embodiment;

Fig. 5 is a schematic diagram of a display device provided in an embodiment;

Fig. 6 is a schematic diagram of a surgical instrument provided in an embodiment;

Fig. 7 is a schematic diagram of a mechanical arm provided in an embodiment;

Fig. 8 is a schematic diagram of a first tension sensor provided in an embodiment;

Fig. 9 is a schematic diagram of a second tension sensor provided in an embodiment;

Fig. 10 is a schematic diagram of prompt information in a graphical user interface provided in an embodiment;

Fig. 11 is a schematic diagram of prompt information in a graphical user interface provided in another embodiment;

Fig. 12 is a flowchart of an information processing method of a surgical instrument provided in another embodiment;

Fig. 13 is a schematic diagram of remote data monitoring provided in an embodiment;

FIG. 14 is a flowchart of specific steps of step S15 provided in an embodiment;

Fig. 15 is a flowchart of specific steps of step S15 provided in another embodiment;

Fig. 16 is a flow chart of specific steps of step S15 provided in yet another embodiment.

Detailed ways

In order to facilitate understanding of the present disclosure, the present disclosure will be described more fully below with reference to the related drawings. The preferred embodiments of the present disclosure are shown in the drawings. However, the present disclosure can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present disclosure will be thorough and complete.

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 disclosure belongs. The terms used herein in the description of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the case of using "comprising", "having", and "comprising" described herein, another element may also be added unless an explicit qualifying term such as "only", "consisting of" etc. is used . Unless mentioned to the contrary, the terms of a singular form may include a plural form and shall not be construed as one in number.

It should be understood that although the terms "first", "second", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

In this disclosure, unless otherwise clearly specified and limited, terms such as "connected" and "connected" should be interpreted in a broad sense, for example, they can be directly connected or indirectly connected through an intermediary, and can be internally connected between two elements. connectivity or interaction between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present disclosure according to specific situations.

Please note that the surgical robot involved in the present disclosure includes a terminal device including a processor, and the processor applies control information to the driving motor to control and operate the surgical instrument.

The use of robots for surgical operations has become increasingly popular. For example, Da Vinci (Da Vinci) surgical robots have been used in major hospitals around the world, because they can make patients less injured, less bleeding, and faster recovery, greatly shortening the postoperative hospital stay of patients , And the postoperative survival rate and recovery rate can also be significantly improved, bringing good news to patients. Therefore, surgical robots are favored by consumers, and now surgical robots, as a high-end medical device, have been widely used in various clinical operations.

Surgical robot is a kind of electronic equipment for surgery with full-automatic, semi-automatic or supervisory mode, generally including console and mechanical arm, the console can be controlled by computer system, surgical operation monitor, robot control monitor, operating handle and input and output devices and so on. For example, during an operation, the surgeon can sit in front of the console away from the operating table, rest his head on the field of view frame, receive complete images from different cameras with both eyes, and jointly synthesize a three-dimensional stereoscopic view of the surgical field. The doctor controls the joystick with both hands, and the hand movement is transmitted to the tip of the robotic arm to complete the operation, thereby increasing the accuracy and stability of the operation.

Traditional technology determines the service life of surgical instruments based on the number of times they are used. However, the actual use time of different surgical instruments varies greatly under different surgical procedures, and the consumption of consumables in surgical instruments varies greatly under different stress states. Therefore, under different use conditions, the degree of wear of the device varies greatly, and the number of times the device is used cannot accurately represent the real service life of the consumable. The inventors of the present disclosure creatively found that the actual use time of different surgical instruments under different surgical procedures is very different, and the loss of the transmission wire is very different under different stress states. Therefore, the present disclosure aims to propose an information processing method and system for surgical instruments, a surgical instrument, and a storage medium. Based on the force of the consumables in the surgical instrument, the life of the surgical instrument can be managed more accurately, so as to improve the efficiency of the consumables. utilization and reduce unnecessary waste.

In some embodiments, the surgical robot can be set to include a doctor’s console and a surgical trolley. The doctor’s console is provided with a main operator, and the surgical trolley has several mechanical arms. On the arm, the master operator forms a master-slave control relationship with the robotic arm and surgical instruments. The operator (such as a surgeon) realizes minimally invasive surgical treatment on patients on the hospital bed through the remote operation of the doctor's console and the main operator. The robotic arm and surgical instruments move during surgery according to the movement of the master manipulator manipulated by the operator. A display device may be provided on the doctor's console, which is communicatively connected with the endoscope mounted on the mechanical arm of the operating trolley, and capable of receiving and displaying images collected by the endoscope. According to the image displayed on the display device on the doctor's console, the operator controls the movement of the mechanical arm and surgical instruments through the main operator, so that the endoscope and surgical instruments enter the patient's position through the wound on the patient's body. During the operation, the surgical robot executes any of the information processing methods for surgical instruments described in the embodiments of the present disclosure, converts the loss data sequence used to characterize the force of the consumables in the surgical instrument into the life consumption information of the consumables, and uses the life consumption information Update the life information of the corresponding surgical instrument, or transmit the life consumption information to the cloud data center.

Fig. 1 is a flowchart of an information processing method of a surgical instrument in an embodiment. Please refer to Figure 1, the information processing method for surgical instruments includes the following steps:

Step S10, acquiring a wear data sequence used to characterize the stress on the consumables in the surgical instrument generated during the use of the surgical instrument by the surgical robot.

Step S20, converting the consumption data sequence into life consumption information of consumables.

Step S30, updating the life information of the corresponding surgical instrument by using the life consumption information.

Specifically, the surgical instruments used by surgical robots generally include passive surgical instruments and active surgical instruments. Among them, passive surgical instruments generally include right-angle forceps, arc shears, direct shears, ultrasonic scalpels, and vigorous grasping forceps; active surgical instruments Generally include unipolar arc coagulation forceps and so on. Surgical instruments may also include surgical instruments including endoscopes. By acquiring the loss data sequence used to characterize the force of the consumables in the surgical instrument generated during the use of the surgical instrument by the surgical robot, the sequence may contain one piece of data, or may contain multiple time-ordered data data, that is, each loss data in the sequence can be correspondingly set with its generation time; since the loss data time series hides the real life information of the surgical instrument, the life consumption information of the consumables is generated according to the loss data sequence, and the use of the Updating the life information of the corresponding surgical instrument by updating the life consumption information described above can more accurately manage the service life of the surgical instrument, improve the utilization rate of consumables, and reduce unnecessary waste.

As an example, in one embodiment of the present disclosure, the wear data sequence used to characterize the stress on the consumables in the surgical instrument generated during the use of the surgical instrument by the surgical robot may include one or more data, derived from At least one of the following: torque data of the driver of the consumable, the driving speed and/or angle of the driver, the output power of the driver, the force state of the corresponding consumable determined based on the driving command of the driver, and the force sensing induced by the consumable data. Wherein, the consumables may include: a driving wire, or a plurality of driving wires having a force action relationship.

As an example, the step S20 converts the consumption data sequence into life consumption information of the consumables. Wherein, the life consumption information is used to indicate that the consumables in the surgical instrument are under the action of the force represented by the loss data sequence, reflecting the information that the usable life of the consumables is consumed; it includes but is not limited to Information, information represented by the amount of material wear, or information represented by force; or information obtained by evaluating at least the above two types of information according to a preset evaluation mechanism.

In some embodiments, step S20 includes: calculating the life consumption information of the corresponding consumables during the use of the surgical instrument according to each loss data in the loss data sequence obtained according to the sampling interval and its corresponding first weight ; or according to the duration of each loss data in the loss data sequence and the corresponding second weight, calculate the life consumption information of the corresponding consumables during the use of the surgical instrument.

Specifically, the contraction degree of the multiple transmission wires on the surgical instrument is different, or the lengths of the multiple transmission wires are different, resulting in different force distribution on the transmission wires. Under the action, the length of life of the transmission wire is also different. This example is extended to various consumables in surgical instruments, the first weight or the second weight is used to indicate that the degree of wear of the consumables is changed according to the corresponding consumables under different stresses/stress durations; At least one of the material itself, the force/duration of the force between the plurality of interacting consumables, and the current wear condition of the consumables. The first weight or the second weight is, for example, set through a pre-life test, or calculated according to a preset life simulation measurement. The first weight or the second weight may be obtained based on at least one of the following weights: the weight corresponding to the loss data of a single consumable; and the weights corresponding to the respective loss data of a plurality of consumables with a force action relationship. The corresponding relationship between each loss data and the first weight is pre-stored, for example, may be pre-stored in a database, or determined based on a pre-configured mapping function; and/or the corresponding relationship between the duration of each loss data and the second weight is pre-stored, for example It can be pre-stored in the database, or determined based on a pre-configured mapping function. Wherein, the mapping function is, for example, constructed based on a finite element algorithm or a force-directed algorithm.

Data processing such as weighted calculation/weighted average calculation is performed according to each loss data in the loss data sequence and its corresponding first weight, and the obtained result is regarded as life consumption information.

Alternatively, data processing such as weighted calculation/weighted average calculation is performed according to the duration of each loss data in the loss data sequence and the corresponding second weight, and the obtained result is regarded as life consumption information.

Using the life consumption information calculated by the method provided by any of the above-mentioned embodiments, perform step S30 to update the life information of the corresponding surgical instrument, wherein the life information may reflect the life of the surgical instrument that has been consumed, or reflect the operation Information on the remaining life of the device.

For different surgical instruments, the types of consumables they contain are not exactly the same. For example, a surgical instrument includes multiple consumables, and the updated life information of the surgical instrument corresponds to the life information of the consumables with the shortest remaining life.

Additionally, in some examples, a surgical robot may use the same surgical instrument throughout its lifetime. For this reason, the lifetime information updated by the information processing method is determined to correspond to a unique surgical instrument. In some other examples, the surgical instrument used by the surgical robot depends on the surgical procedure. To this end, the information processing method further includes a step of associating the instrument label of the surgical instrument with the corresponding lifetime information.

As an example, in one embodiment of the present disclosure, before step S30, and in no necessary order with steps S10 and S20, the information processing method further includes the step of: reading the instrument label of the surgical instrument to update it according to the instrument label Corresponding life information; or detecting the assembly position information of the surgical instrument and the surgical robot, so as to update the corresponding life information according to the assembly position information.

Here, the surgical instrument pre-stores an instrument tag with identification information, so that the calculated life consumption information is associated with the instrument tag, and when step S30 is performed, the corresponding life information is updated according to the instrument tag.

In addition, the assembly position information of surgical instruments and surgical robots is generally unique, and the corresponding life information can also be updated according to the assembly position information. Take the four surgical tool arms provided by the surgical robot as an example, wherein the first surgical tool arm is correspondingly equipped with surgical instruments including an endoscope, and the second surgical tool arm and the third surgical tool arm are correspondingly equipped with surgical instruments for surgical operations (such as surgical scissors, etc.), and the fourth surgical tool arm is correspondingly equipped with surgical instruments (such as retractors, etc.) that assist surgical operations. In the case that each surgical tool arm of the surgical robot is configured with a uniquely determined surgical instrument, use the assembly position information provided by each surgical tool arm, such as the device label or position sequence number of the surgical tool arm, to calculate the life expectancy The consumption information is associated with the surgical instrument, and when step S30 is executed, it is determined to update the life information of the corresponding surgical instrument.

As an example, in one embodiment of the present disclosure, in no necessary order with the above steps, for example, after step S30 is performed, the information processing method further includes: Compare the results and prompt to update the corresponding surgical instruments. For example, when the comparison result indicates that the corresponding consumable reaches the corresponding life threshold, at least one prompting opportunity before the surgical robot uses the surgical instrument, during use, and before use, prompts to update the corresponding surgical instrument .

In the following embodiments, a driving wire is used as a consumable, and an instrument identification code of a surgical instrument is used as an instrument label for obtaining its identity information to exemplify the realization principle of the present disclosure.

Please refer to Fig. 2, in one embodiment of the present disclosure, the information processing method of the surgical instrument used by the surgical robot includes the following steps:

Step S11, acquiring the instrument identification code, initial life value and life threshold of the surgical instrument.

Specifically, please refer to FIG. 3 to FIG. 5 , the information processing method of the surgical instrument can be applied to the surgical robot system. The surgical robot system may include a control unit 100 (also called a doctor console or a doctor control terminal) and a surgical robot 200 (also called a surgical trolley or a patient control terminal). The surgical robot 200 has several mechanical arms 210, and the mechanical arms 210 can be used to mount surgical instruments 400 such as scalpels or endoscopes (eg, laparoscopes). The control unit 100 communicates with the surgical robot 200 . An operator (for example, a surgeon) can perform minimally invasive surgical treatment on a patient on the hospital bed 300 through the control unit 100 .

Wherein, the control unit 100 may be provided with a main operator. The master operator, the robotic arm 210 and the surgical instrument 400 may form a master-slave control relationship. The operator controls the movement of the mechanical arm 210 through the master operator, thereby controlling the movement of the surgical instrument 400 . Furthermore, the main operator can also receive information about the reaction force of human tissues and organs on the surgical instrument 400 and feed it back to the operator's hand, so that the operator can experience the surgical operation more intuitively.

The control unit 100 may also have a display device, which is communicatively connected with the endoscope mounted on the robotic arm 210 of the surgical robot 200 and capable of receiving and displaying images collected by the endoscope. According to the images displayed by the display device, the operator controls the movement of the mechanical arm 210 and the surgical instrument 400 through the main operator. The endoscope and surgical instrument 400 are each entered into the patient site through an incision in the patient's body. Optionally, the display device may include an immersive display device 102 and a fixed display device 101 . The operator can view the condition in the patient's body through the display screen of the immersive display device 102 or the fixed display device 101 .

A surgical instrument 400 may be mounted on the plurality of robotic arms 210 of the surgical robot 200 respectively. Each surgical instrument 400 has a corresponding instrument identification code. The instrument identification code represents the identity information of the surgical instrument 400 , and the robotic arm 210 on which the surgical instrument 400 is mounted can be determined through the instrument identification code.

The initial life value of the surgical instrument 400 is the life value of the surgical instrument 400 before this use. The current lifetime value of the surgical instrument 400 is the real-time lifetime value during its use. The life threshold of the surgical instrument 400 is the upper limit of the life of the surgical instrument 400 .

In some examples, the lifetime value of surgical instrument 400 may be incremented during use. When the surgical instrument 400 is used for the first time, its initial life value is zero, and when the surgical instrument 400 is used for the Xth time, its initial life value may be the life value after the (X-1)th use. As the usage time increases, the current life value of the surgical instrument 400 gradually increases, and when the current life value of the surgical instrument 400 reaches the life threshold, it needs to be replaced. In other examples, the lifetime value of surgical instrument 400 may be decremented during use. When the surgical instrument 400 is used for the first time, its initial life value may be full, and when the surgical instrument 400 is used for the Xth time, its initial life value may be the life value after the (X-1)th use. As the use time increases, the current life value of the surgical instrument 400 gradually decreases, and when the current life value of the surgical instrument 400 reaches the life threshold, it needs to be replaced. In the following embodiments of the present disclosure, the service life value of the surgical instrument 400 increases during use as an example for illustration.

In some examples, a computer readable memory chip may be disposed within surgical instrument 400 . The computer-readable memory chip is used to store information such as the instrument identification code, initial life value, and life threshold value of the surgical instrument 400 . Surgical instrument 400 can communicate with surgical robot 200 , so that control unit 100 can obtain corresponding instrument identification code, initial life value and life threshold value from the computer-readable memory chip in each surgical instrument 400 through surgical robot 200 . Of course, the control unit 100 can also acquire the instrument identification code of the surgical instrument 400 in other ways such as code scanning and identification, so as to obtain the wear data sequence corresponding to the surgical instrument 400 later.

In other examples, the operator can input the instrument identification code, initial life value and life threshold value of each surgical instrument 400 into the control unit 100 through input devices such as a mouse and a keyboard. The life threshold value is related to the material of the consumable, and the The service life thresholds corresponding to the consumables may be different. Of course, the control unit 100 can also further transmit information such as the instrument identification code, initial life value and life threshold value of each surgical instrument 400 to the corresponding surgical instrument 400 through the surgical robot 200, so that the computer-readable memory chip in the surgical instrument 400 stores Such information is used for the control unit 100 to acquire the life threshold of the surgical instrument 400 according to the instrument identification code of the surgical instrument 400 .

In step S13, the force value of the driving wire during the use of the surgical instrument is obtained in real time.

In some examples, referring to FIGS. 6 and 7 , a surgical instrument 400 may include a proximal control portion 402 , an elongated shaft 403 and a distal portion 401 . Two ends of the elongated rod 403 are respectively connected with the proximal control part 402 and the distal part 401 . The proximal control part 402 and the distal part 401 are also connected by a wire transmission structure (not shown in the figure), the wire transmission structure includes several transmission wires 404, and the wire transmission structure transmits the power of the proximal control part 402 to the distal part 401 . A cavity can be opened inside the elongated rod 403 for accommodating the wire driving structure. An actuator 220 may be disposed on the robotic arm 210 of the surgical robot 200 . The proximal control portion 402 of the surgical instrument 400 is mounted into the actuator 220 of the robotic arm 210, and the actuator 220 is used to drive the proximal control portion 402 to move. The actuator 220 may include a motor 221 inside, and specifically the motor 221 may drive the proximal control part 402 to move. The proximal control part 402 may also be provided with a communication unit such as a radio frequency identification device (RFID, Radio Frequency Identification), and the communication unit communicates with the surgical robot 200, so that the surgical robot 200 can obtain the computer-readable memory chip in each surgical instrument 400. Stored information such as device identification codes, initial life values, and life thresholds.

Specifically, a detection unit may be set to detect the force value of the driving wire 404 inside the surgical instrument 400 during use of the surgical instrument 400 .

In some examples, the torque information of the motor 221 can be obtained in real time, and the force value of each driving wire 404 can be calculated based on the torque information. In this embodiment, the force value of each transmission wire 404 includes the force value of each single transmission wire 404 . When the motor 221 in the mechanical arm 210 drives the surgical instrument 400 , the torque of the motor 221 will be converted into the pulling force on the transmission wire 404 . Therefore, a torque acquisition device such as a torque sensor or a current sensor of the motor 221 can be used to collect the torque information of the motor 221, and the force on the corresponding transmission wire 404 can be calculated based on the collected torque information of the motor 221 and the information of the wire transmission structure of the surgical instrument 400 value.

In other examples, the force value of each driving wire 404 collected by the tension sensor may be acquired in real time. In this embodiment, the force value of each transmission wire 404 includes the force value on each single transmission wire 404, or the force value of each transmission wire 404 includes the force value on each single transmission wire 404 and the force value of each transmission wire 404. The force value between the wires 404. When collecting the force value on each single driving wire 404 , please refer to FIG. 8 , the detection unit may include a plurality of first tension sensors 501 , and the number of first tension sensors 501 is equal to the number of driving wires 404 and corresponds one to one. Each first tension sensor 501 is respectively disposed on the corresponding transmission wire 404 , and is used to detect the force value on the corresponding transmission wire 404 . When collecting the force values between the transmission wires 404, please refer to Fig. 9, the detection unit may include a plurality of second tension sensors 502, and each second tension sensor 502 is respectively arranged between two different transmission wires 404, and respectively It is used to detect the force value between the corresponding two transmission wires 404 .

It should be noted that the real-time acquisition of the force value of the driving wire 404 during the use of the surgical instrument 400 may use any method known to those skilled in the art and is not limited to the methods in the above-mentioned embodiments.

In step S15, the current life value of the surgical instrument is obtained based on the initial life value and the force value of the driving wire.

Specifically, based on the force value of the transmission wire 404, the life value of the surgical instrument 400 during use can be gradually accumulated to obtain a real-time life increase value, and then the sum of the real-time life cumulative value and the initial life value of the surgical instrument 400 during use can be calculated. Life information of the surgical instrument 400, such as a current life value, can be obtained.

In step S17, it is determined whether the surgical instrument corresponding to the instrument identification code needs to be replaced based on the current life value and the life threshold.

In some examples, the current life value of the surgical instrument 400 can be directly compared with the life threshold, and when the current life value reaches the life threshold, it is determined that the surgical instrument 400 corresponding to the instrument identification code needs to be replaced and step S19 is performed; otherwise, it can be Continue to execute step S13 until the surgical instrument 400 is pulled out.

In other examples, the set value corresponding to the surgical instrument 400 may be configured according to the life threshold, and when the current life value reaches the set value, it is determined that the surgical instrument 400 corresponding to the instrument identification code needs to be replaced and step S19 is performed; Otherwise, step S13 may be continued until the surgical instrument 400 is pulled out. When the current life value of the surgical instrument 400 is increasing during use, the set value can be configured to be lower than the life threshold, and when the current life value of the surgical instrument 400 is decreasing during use, the set value can be configured to be higher than the life threshold. Configuring the set value can leave a certain margin for the use time of the surgical instrument 400, so as to avoid affecting the surgery when the current life value of the surgical instrument 400 reaches the life threshold and cannot be used. For example, the configuration setting value is that when the current life value of the surgical instrument 400 reaches the set value, the remaining service life of the surgical instrument 400 is expected to be 30 minutes and so on. For another example, when the updated life information reaches the preset percentage (such as 95%) of the life threshold, it is determined that the service life of the surgical instrument 400 is estimated to have M minutes remaining, or it is estimated that the operation cannot be completed.

Step S19, output prompt information.

Specifically, prompt information can be output through text, icon, sound, etc., to remind the user that the current life value of the surgical instrument 400 has reached or is about to reach the upper limit, and it cannot be used any longer. It is recommended to replace other surgical instruments 400 . The prompt information may also include the information of the robotic arm 210 corresponding to the surgical instrument 400 that is suggested to be replaced, so that the user can know the surgical instrument 400 that needs to be replaced. For example, the surgical robot 200 includes a left robotic arm 210 and a right robotic arm 210. When the current life value of the surgical instrument 400 held by the left robotic arm 210 reaches a set value, please refer to FIG. The display screen interface of the display device 101) prompts that the surgical instrument 400 of the left robotic arm 210 has an estimated service life of 30 minutes remaining, and it is recommended to replace it. For example, referring to FIG. 11 , the surgical robot 200 includes arm No. 1, arm No. 2, arm No. 3, and arm No. 4. When the current life value of the surgical instrument 400 held by the No. 4 arm reaches the life threshold, the graphical user interface The position corresponding to the upper No. 4 arm indicates that the life of the device has expired, please replace the device.

The information processing method of the above surgical instrument acquires the instrument identification code, initial life value and life threshold of the surgical instrument 400, and obtains the force value of the driving wire 404 during the use of the surgical instrument 400 in real time, based on the initial life value and the force of the driving wire 404 value to obtain the current life value of the surgical instrument 400, and determine whether the surgical instrument 400 corresponding to the instrument identification code needs to be replaced based on the current life value and the life threshold value, and if it needs to be replaced, a prompt message is output to prompt to update the corresponding surgical instrument, as shown life information, or prohibit the use of the surgical instrument 400 and the like. The information processing method of the surgical instrument uses the force value of the driving wire 404 to calculate the current life value of the surgical instrument 400, thereby judging whether the surgical instrument 400 corresponding to the instrument identification code needs to be replaced, taking into account the wear and tear of the driving wire 404 during use , so that the service life of the surgical instrument 400 can be accurately reflected, and the service life of the surgical instrument 400 can be managed more accurately.

In some examples, please refer to Figures 2 and 12, step S11 includes:

Step S111, acquiring the instrument identification code and initial life value of the surgical instrument.

Specifically, the method for obtaining the instrument identification code and the initial life value of the surgical instrument 400 may refer to the method of step S11 in the above-mentioned embodiment.

In step S112, the material of the driving wire is obtained based on the device identification code.

In step S113, a life threshold is obtained based on the material of the transmission wire.

Specifically, the device identification code may be associated with the material of the driving wire 404, the life threshold of the driving wire 404, and the like. The transmission wire 404 of the surgical instrument 400 can be made of tungsten wire or stainless steel, and the transmission wire 404 of different materials has different wear resistance, so the configured life thresholds are also different. In this embodiment, considering that the materials of the transmission wire 404 used by the surgical instrument 400 are different, the same pulling force will cause different wear and tear on the transmission wire 404 of different materials, which will lead to different life thresholds of the transmission wire 404 during use, making the life threshold more accurate. .

In some examples, please refer to FIG. 2 and FIG. 12 , step S12 is also included before step S13 , and it is determined whether the surgical instrument corresponding to the instrument identification code needs to be replaced based on the initial lifetime value and the lifetime threshold value.

Specifically, after the surgical instrument 400 is installed on the robotic arm 210, the surgical robot 200 establishes communication with the surgical instrument 400 through radio frequency signals, etc., so that the control unit 100 can read the instrumentation data stored in the computer-readable storage medium on the surgical instrument 400. Identification code, initial life value, life threshold and other information. If the initial life value of the surgical instrument 400 has reached the life threshold or the set value, it is determined that the surgical instrument 400 needs to be replaced, and step S19 is executed. If the initial life value of the surgical instrument 400 does not reach the life threshold or the set value, it is determined that the surgical instrument 400 can continue to be used, and step S13 is executed.

In some examples, please refer to FIG. 2 and FIG. 12 , step S14 is also included before step S15 to perform data filtering processing on the force value of the driving wire.

Specifically, when the collected force value of the transmission wire 404 contains a noise signal, data filtering may be performed on the force value data of the transmission wire 404 to filter out the noise signal. Because the force value data of the transmission wire 404 generally fluctuates up and down within a certain value range, the force value data exceeding this value range may be abnormal data, and the filters that can be used include low-pass filter, Kalman filter or other A filter of the form to remove abnormal data in the acquired force value data. Filtering the force value of the transmission wire 404 is beneficial to obtain a more accurate force value, so that the calculated current life value is also more accurate.

In some examples, please refer to FIG. 2 and FIG. 12 , step S114 is also included before step S17 , performing big data analysis on the life threshold to obtain a more accurate life threshold.

Specifically, referring to FIG. 13 , the surgical robot system may transmit the acquired life threshold of the surgical instrument 400 to the data center 600 through a wireless communication network. The data center 600 performs big data analysis on the life threshold of the surgical instrument 400 to obtain a more accurate life threshold. Further, the data center 600 can also remotely update the lifetime threshold stored in the computer-readable memory chip of the surgical instrument 400 .

In some examples, please refer to FIG. 2 and FIG. 12 , step S18 is further included after step S17 , determining whether the surgical instrument is pulled out.

Specifically, a detection device such as an in-position sensor can be configured to detect whether the surgical instrument 400 is pulled out from the mechanical arm 210 of the surgical robot 200 . If yes, end the process; if not, return to step S13.

In some examples, please refer to Figure 2 and Figure 14, step S15 includes:

Step S21, acquiring the motion state information of the surgical instrument in real time.

Step S22, determining the first weight coefficient of the surgical instrument in each time period based on the motion state information of the surgical instrument in each time period.

Step S23, calculating the current life value based on the first weight coefficient and the force value of the transmission wire.

In this embodiment, the force value of each transmission wire 404 includes the force value of each single transmission wire 404 . The calculation weight coefficient of the force on the driving wire 404 when calculating the current life of the surgical instrument 400 is determined according to the motion state of the surgical instrument 400 . Specifically, the motion state information of the surgical instrument 400 may be collected in real time, for example, the motion state information may include information such as speed information and position information of the motor 221 driving the surgical instrument 400 to move. Then, based on the motion state information, the motion state of the surgical instrument 400 in each time period is judged, and according to different motion states, different first weight coefficients are selected as the first weight corresponding to each wear data in the wear data sequence. For example, the motion states of the surgical instrument 400 include motion state 1 to motion state N, and these motion states correspond to the first weight coefficients a ¹ to a ^N in sequence. Finally, the weighted sum of the force values on the transmission wire 404 is performed, and then the weighted and summed result is added to the initial life value to obtain the current life value of the surgical instrument 400 . The current life value T _life satisfies:

Among them, t is time, now is the current moment,

is the first weight coefficient of the surgical instrument 400 in the i-th motion state,

is the force value of the transmission wire 404 in the i-th motion state of the surgical instrument 400.

Taking the surgical instrument 400 as a laparoscope as an example, the laparoscope in the initial life state will at least experience the oral cavity movement state, the esophageal movement state, the pyloric movement state and the gastric cavity movement state during the process of entering the human body from the outside of the human body. Corresponding to the first weight coefficients a ¹ to a ⁴ in turn, where the force value of the driving wire 404 when the laparoscope is in the state of oral cavity movement is

The force value of the driving wire 404 when the laparoscope is in the esophageal movement state is

The force value of the transmission wire 404 under the laparoscope in the state of pylorus movement is

The force value of the transmission wire 404 under the laparoscope in the state of gastric cavity movement is

t is time, and the current lifetime value T ⁰ _life of the laparoscope satisfies:

In this embodiment, when the surgical instrument 400 is used, it may be in different motion states in different time periods, and its first weight coefficient and force value both change in different motion states. Therefore, it is considered that the force of the surgical instrument 400 under different forces and different motion states causes different loss of the driving wire 404 so as to improve the accuracy of the calculated current life value.

In some examples, please refer to Figure 2 and Figure 15, step S15 includes:

Step S31 , acquiring the second weight coefficient of the force on each single transmission wire and the third weight coefficient of the force between the transmission wires.

Step S32, calculating the current life value based on the second weight coefficient, the third weight coefficient, the stress on each single transmission wire and the force between each transmission wire.

In this embodiment, the current lifetime value T _life satisfies:

Among them, b ⁱ is the second weight coefficient of the i-th transmission wire 404, T ⁱ is the force value on the i-th transmission wire 404, c ^i,j is the i-th transmission wire 404 and the j-th transmission wire The third weight coefficient of 404 , T ^i,j is the force value between the i-th driving wire 404 and the j-th driving wire 404 .

In this embodiment, the force value of each transmission wire 404 includes the force value on each single transmission wire 404 and the force value between each transmission wire 404 . Since different types of forces (forces on different transmission wires 404 and forces between different transmission wires 404) have different influences on the life of the device, different weight coefficients are set for the first weight, that is, the first weight Two weight coefficients and a third weight coefficient. For example, the second weight coefficients of the force acting on the driving wire 4041 to the driving wire 404n of the surgical instrument 400 are b ¹ to b ^N in sequence, and the second weight coefficient is used to represent the first weight corresponding to each loss data in the loss data sequence of a single consumable. One weight, the third weight coefficient of the force between the transmission wire 404i and the transmission wire 404j is c ^{i, j} , and the third weight coefficient represents the corresponding first Weights. The second weight coefficient and the third weight coefficient are used to perform weighted calculation on the force value on each single transmission wire 404 and the force value between the transmission wires 404 to obtain the current life value of the surgical instrument 400 .

In some examples, please refer to Figure 1 and Figure 16, step S15 includes:

Step S41, determining the wear state of the surgical instrument in each time period based on the force value on each single transmission wire and the force value between the transmission wires in each time period;

Step S42, obtaining the loss weight coefficient and maintenance time of the surgical instrument in each wear state;

Step S43, calculating the current life value based on the loss weight coefficient and maintenance time of the surgical instrument in each wear state.

In this embodiment, the current lifetime value T _life satisfies:

Wherein, d ^m is the loss weight coefficient of the surgical instrument 400 in the wear state m, and Δt _m is the maintenance time of the surgical instrument 400 in the wear state m.

In this embodiment, the force value of each transmission wire 404 includes the force value on each single transmission wire 404 and the force value between each transmission wire 404 . According to the force on different transmission wires 404 of the surgical instrument 400 and the force between different transmission wires 404 , different wear states of the surgical instrument 400 are determined. Then, according to the different degrees of influence of different wear states on the life of the device, different loss weight coefficients are determined. For example, the loss state of the surgical instrument 400 includes loss state 1 to loss state N, and these loss states correspond to the loss weight coefficients d ¹ to d ^N in turn, and the loss weight coefficient is used to represent the corresponding duration of each loss data in the loss data sequence the second weight of . Then, a weighted calculation is performed on the usage time in different wear states to obtain the current life value of the surgical instrument 400 .

It should be noted that the methods for selecting weight coefficients in the embodiments shown in FIGS. 14-16 can be selected arbitrarily and combined with each other.

It should be understood that although the steps in the flow charts of FIGS. 1-2 , 12 , and 14-16 are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in FIGS. 1-2, 12, and 14-16 may include multiple steps or stages, and these steps or stages are not necessarily executed at the same time, but may be performed at different times. The execution sequence of these steps or stages is not necessarily performed sequentially, but may be executed in turn or alternately with other steps or at least a part of steps or stages in other steps.

The present disclosure also provides a surgical instrument, including at least one consumable and a storage medium; wherein, the storage medium stores an instrument label and a computer program, and when the computer program is run, it executes the operation described in any embodiment of the present disclosure. steps of the method described above.

The present disclosure also provides a surgical robot system. The surgical robot system includes a surgical instrument 400 and a surgical robot 200. The surgical instrument 400 includes at least one consumable and a storage medium, wherein at least an instrument label is stored in the storage medium; the surgical robot 200 is connected to the surgical instrument 400 for controlling the surgical instrument 400, and perform the steps of the method described in any one of the disclosed embodiments.

Specifically, please continue to refer to FIG. 13 , in some examples, the surgical robot system further includes a detection unit (not shown) and a control unit 100 . The storage medium configured in the surgical instrument 400 may be a computer-readable memory chip, and the computer-readable memory chip is used to store the instrument identification code, initial life value and life threshold value of the surgical instrument 400 . The surgical robot 200 is connected with the surgical instrument 400 for controlling the movement of the surgical instrument 400 . The detection unit is used to detect the force value of the driving wire 404 when the surgical instrument 400 is in use. The control unit 100 is communicatively connected with the surgical robot 200. The control unit 100 includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, the steps of the method in any of the above-mentioned embodiments are implemented. .

The above-mentioned surgical robot system obtains the device identification code, initial life value and life threshold value of the surgical instrument 400, obtains the force value of the driving wire 404 during the use of the surgical instrument 400 in real time, and obtains the operation value based on the initial life value and the force value of the driving wire 404. The current life value of the instrument 400, and based on the current life value and the life threshold value, determine whether the surgical instrument 400 corresponding to the instrument identification code needs to be replaced, and output a prompt message if it needs to be replaced. The surgical robot system uses the force value of the transmission wire 404 to calculate the current life value of the surgical instrument 400, thereby judging whether the surgical instrument 400 corresponding to the instrument identification code needs to be replaced, taking into account the wear and tear of the transmission wire 404 during use, so that it can The service life of the surgical instrument 400 is accurately reflected, and the service life of the surgical instrument 400 is managed more accurately.

In some examples, surgical robot 200 includes several robotic arms 210 . The robotic arms 210 are used to mount surgical instruments 400, and the surgical instruments 400 mounted on each robotic arm 210 have corresponding instrument identification codes. The control unit 100 is further configured to obtain the information of the corresponding robotic arm 210 based on the instrument identification code of the surgical instrument 400 to be replaced. The control unit 100 further includes a display device for outputting prompt information, the prompt information includes information about the robotic arm 210 corresponding to the surgical instrument 400 that needs to be replaced.

In some examples, surgical instrument 400 includes a wire drive structure, a distal portion 401 , a proximal control portion 402 and a communication unit. The wire drive structure includes several drive wires 404 . The proximal control part 402 is connected to the distal part 401 through a wire driving structure. The surgical robot 200 is provided with an actuator 220, the actuator 220 is connected with the proximal control part 402, and the actuator 220 is used to drive the proximal control part 402 to move. A computer-readable memory chip is disposed on the near-end control part 402 . The communication unit is provided on the near-end control part 402 . The surgical robot 200 communicates with the communication unit to obtain the instrument identification code, initial life value and life threshold stored in the computer-readable memory chip, and transmits the current life value to the computer-readable memory chip in real time.

In some examples, the force value of each driving wire 404 includes the force value on each single driving wire 404 . The actuator 220 includes a motor 221 , the motor 221 is connected with the proximal control part 402 , and the motor 221 is used to drive the proximal control part 402 to move. The detection unit includes a torque acquisition device. The torque acquisition device is used to collect torque information of the motor 221 in real time. The torque information is used to calculate the force value of each driving wire 404 .

In some examples, the force value of each driving wire 404 includes the force value on each single driving wire 404 . The detection unit includes a number of first tension sensors 501, the number of the first tension sensors 501 is equal to the number of the transmission wires 404 and corresponds to each other, each first tension sensor 501 is respectively arranged on the corresponding transmission wires 404, and is used to detect The corresponding force value on the transmission wire 404.

In some examples, the force value of each driving wire 404 includes the force value between each driving wire 404 . The detection unit includes a plurality of second tension sensors 502 , each second tension sensor 502 is respectively arranged between two different transmission wires 404 , and is used to detect the force value between the corresponding two transmission wires 404 .

Further, the surgical robot system can also execute any step in the information processing method of the above-mentioned surgical instrument. For specific limitations on the surgical robot system, refer to the above-mentioned limitations on the information processing method for surgical instruments, which will not be repeated here. Each module in the above-mentioned surgical robot system can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

The present disclosure also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to memory, storage, database or other media used in the various embodiments provided by the present disclosure may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

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

The above-mentioned embodiments only express several implementation modes of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

Claims (18)

1. An information processing method for a surgical instrument used by a surgical robot, comprising:

   Acquiring a sequence of loss data used to characterize the stress on the consumables in the surgical instrument generated during the use of the surgical instrument by the surgical robot;

   converting the consumption data sequence into life consumption information of the consumable;

   The life information of the corresponding surgical instrument is updated by using the life consumption information.
2. The method according to claim 1, wherein the step of converting the consumption data sequence into life consumption information of the consumables comprises:

   According to each loss data in the loss data sequence obtained according to the sampling interval and its corresponding first weight, calculate the life consumption information of the corresponding consumables during use of the surgical instrument; or

   According to the duration of each wear data in the wear data sequence and the corresponding second weight, the life consumption information of the corresponding consumables during use of the surgical instrument is calculated.
3. The method according to claim 2, wherein the first weight or the second weight is obtained based on at least one of the following weights:

   The weight corresponding to the loss data of a single consumable; and the weights corresponding to the respective loss data of multiple consumables with a force action relationship.
4. The method according to any one of claims 1-3, further comprising: prompting to update the corresponding surgical instrument according to the comparison result of the updated life information and the life threshold of the corresponding consumable.
5. The method according to claim 4, wherein when the comparison result indicates that the corresponding consumable reaches the corresponding life threshold, at least one of before the surgical robot uses the surgical instrument, during use and before use Prompt the timing and prompt to update the corresponding surgical instruments.
6. The method according to claim 4, wherein the prompting to update the corresponding surgical instrument comprises: displaying life information, or prohibiting the use of the surgical instrument.
7. The method according to any one of claims 1-3, further comprising:

   Data filtering is performed on the consumption data sequence of the consumables to remove abnormal data.
8. The method according to any one of claims 1-3, wherein the loss data is derived from at least one of the following: torque data of the driver of the consumable, the driving speed and/or angle of the driver, the driver The output power of the corresponding consumables determined based on the drive command of the driver, and the force sensing data induced by the consumables.
9. The method according to any one of claims 1-3, wherein the consumables comprise: a driving wire, or a plurality of driving wires having a force acting relationship.
10. The method according to any one of claims 1-3, further comprising:

    reading an instrument label of the surgical instrument to update corresponding lifetime information based on the instrument label; or

    Detecting the assembly position information of the surgical instrument and the surgical robot, so as to update the corresponding life information according to the assembly position information.
11. A method according to claim 2 or 3, wherein:

    The corresponding relationship between each loss data and the first weight is pre-stored or determined based on a pre-configured mapping function; and/or

    The corresponding relationship between each loss data and the second weight is pre-stored or determined based on a pre-configured mapping function.
12. A surgical instrument comprising: at least one consumable and a storage medium;

    Wherein, the storage medium stores a device label and a computer program, and when the computer program is executed, the steps of any one of the methods according to claims 1-11 are performed.
13. A surgical robotic system comprising:

    A surgical instrument, comprising at least one consumable and a storage medium, wherein at least an instrument label is stored in the storage medium;

    A surgical robot, connected to the surgical instrument, is used to control the movement of the surgical instrument, and to execute the method according to any one of claims 1-11.
14. The system of claim 13, wherein the surgical robot comprises:

    a plurality of robotic arms for mounting the surgical instruments; and

    The controller is signal-connected with the mounted surgical instrument; the controller is used to read the instrument label of the mounted surgical instrument and its corresponding life information.
15. The system of claim 13 or 14, wherein the consumable in the surgical instrument comprises a drive wire, or a plurality of drive wires in a force acting relationship.
16. The system according to claim 13 or 14, wherein a first force sensor is provided on the consumable, and/or a second force sensor is provided between a plurality of consumables having a force relationship in the surgical instrument; wherein , the first force sensor and/or the second force sensor are used to provide the wear data sequence to the surgical robot.
17. The system of claim 13 or 14, wherein a driver of at least one consumable in the surgical instrument is adapted to provide the sequence of wear data.
18. A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-11 are implemented.

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