CN111685883A - Automatic identification and control parameter updating method and device for surgical instruments of minimally invasive surgical robot - Google Patents
Automatic identification and control parameter updating method and device for surgical instruments of minimally invasive surgical robot Download PDFInfo
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- CN111685883A CN111685883A CN201910664146.9A CN201910664146A CN111685883A CN 111685883 A CN111685883 A CN 111685883A CN 201910664146 A CN201910664146 A CN 201910664146A CN 111685883 A CN111685883 A CN 111685883A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/258—User interfaces for surgical systems providing specific settings for specific users
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus
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Abstract
The invention discloses a method and a device for automatically identifying surgical instruments and updating control parameters of a minimally invasive surgical robot, wherein the method comprises the steps of judging whether the surgical instruments are installed successfully; if the surgical instrument is successfully installed, reading parameter information stored in an identification chip in the surgical instrument; initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information. The invention can enable medical staff to complete the installation of the most suitable surgical instrument on the minimally invasive surgery robot according to specific experimental contents, so that the successfully installed surgical instrument can well realize the configuration of the surgical instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method and a device for automatically identifying surgical instruments and updating control parameters of a minimally invasive surgical robot.
Background
In minimally invasive surgery, a doctor is often required to manually cut, peel and suture tissues, and for some complex surgeries, the doctor is required to stand for a long time and hold a miniature surgical instrument for performing the surgery, so that the doctor is easily fatigued, and the quality of the surgery is affected. Meanwhile, the conventional minimally invasive surgical instrument is a simple simulation of the conventional open surgical instrument, has less freedom, low flexibility and large internal friction force, can cause the attenuation of transmission force and the fatigue of a doctor, is difficult to avoid the reduction of the accuracy of the operation caused by the hand tremor and the fatigue of the doctor, and is inconvenient for the smooth development of the operation.
In order to solve the technical problems, some surgical instruments for minimally invasive surgical robots are gradually applied to actual clinics at present, but at present, because the minimally invasive surgical robot can only install one surgical instrument, namely corresponding parameters of the corresponding surgical instrument are manually operated and input in the installation process, the surgical instrument cannot be replaced after the installation is finished, and the application range of the surgical instrument and the minimally invasive surgical robot is greatly limited. In order to further improve the application of surgical instruments, people now propose the desire that minimally invasive surgical robots can select and install appropriate surgical instruments according to the specific content of the surgery. When the surgical instrument is installed on the minimally invasive surgery robot, in order to ensure the normal operation of the surgical instrument, simplify the operation process of a doctor and reduce human errors in the system configuration process, the minimally invasive surgery robot can automatically identify the assembled surgical instrument, the mechanical arm and the instrument control parameter are configured by reading parameter information in the instrument memory, and operation prompt and instrument information display are carried out on an operator at a man-machine interaction interface.
Therefore, there is a need for a method for automatically identifying and updating control parameters of surgical instruments of a surgical instrument of a minimally invasive surgical robot.
Disclosure of Invention
The invention aims to solve the technical problem that the surgical instruments of the existing minimally invasive surgical robot cannot be replaced at will, so that the application range of the surgical instruments is greatly reduced.
In order to solve the technical problem, the invention provides an automatic identification and control parameter updating method for a surgical instrument of a minimally invasive surgical robot, which comprises the following steps:
judging whether the surgical instrument is installed successfully;
if the surgical instrument is successfully installed, reading parameter information stored in an identification chip in the surgical instrument;
initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information.
Preferably, the step of determining whether the surgical instrument is successfully installed comprises:
judging whether a mounting level signal is received by a surgical instrument motor driving board of the minimally invasive surgical robot; if the installation is successful, the installation is successful.
Preferably, the step of reading the parameter information stored in the identification chip in the surgical instrument comprises:
and the surgical instrument motor driving board reads the surgical instrument type information, the surgical instrument operation range information and the surgical instrument polarity information stored in the identification chip in the surgical instrument.
Preferably, the operation range information includes a degree of freedom of the surgical instrument and a movement angle of the surgical instrument.
Preferably, the step of initializing the corresponding mechanical arm control parameters and surgical instrument control parameters in the main control system of the minimally invasive surgical robot according to the parameter information includes:
the surgical instrument motor driving board sends the parameter information to a main control system of the minimally invasive surgery robot;
and the master control system initializes the corresponding mechanical arm control parameters and the corresponding surgical instrument control parameters according to the surgical instrument type information and the surgical instrument operation range information, and correspondingly updates a display operation interface.
Preferably, the step of initializing the corresponding mechanical arm control parameter and surgical instrument control parameter in the main control system of the minimally invasive surgical robot according to the parameter information further includes:
and the master control system judges whether the surgical instrument needs to be connected with an energy source according to the polarity information of the surgical instrument, and controls the surgical instrument to be communicated with the energy source if the surgical instrument needs to be connected with the energy source.
Preferably, the minimally invasive surgery robot further comprises a motor driving board and a main control system of the surgical instrument, so that the working modes of the motor driving board and the main control system of the surgical instrument are updated.
In order to solve the technical problem, the invention also provides an automatic identification and control parameter updating device for surgical instruments of the minimally invasive surgical robot, which comprises an installation judgment module, a reading module and a configuration module which are sequentially connected:
the installation judging module is used for judging whether the surgical instrument is installed successfully;
the reading module is used for reading parameter information stored in an identification chip in the surgical instrument when the surgical instrument is successfully installed; and
and the configuration module is used for initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information.
Preferably, the parameter information stored in the identification chip in the surgical instrument includes surgical instrument type information, surgical instrument operation range information and surgical instrument polarity information.
Preferably, the operation range information includes a degree of freedom of the surgical instrument and a movement angle of the surgical instrument.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the method for automatically identifying the surgical instrument and updating the control parameter of the minimally invasive surgical robot, provided by the embodiment of the invention, medical staff can complete the installation of the most suitable surgical instrument on the minimally invasive surgical robot according to specific experimental contents, so that the successfully installed surgical instrument can well realize the automatic identification and the updating of the control parameter of the surgical instrument, and further, a main control system in the minimally invasive surgical robot can operate the newly installed surgical instrument according to the newly configured contents. Specifically, the judgment and the corresponding setting of the polarity information of the surgical instrument stored in the identification chip in the surgical instrument enable the functions of the surgical instrument to be fully utilized, and the treatment efficiency of the surgical instrument is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating the steps of a method for automatically identifying surgical instruments and updating control parameters of a minimally invasive surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic identification and control parameter updating device for a surgical instrument of a minimally invasive surgical robot according to an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In minimally invasive surgery, a doctor is often required to manually cut, peel and suture tissues, and for some complex surgeries, the doctor is required to stand for a long time and hold a miniature surgical instrument for performing the surgery, so that the doctor is easily fatigued, and the quality of the surgery is affected. In order to solve the problem, the surgical instrument for the minimally invasive surgical robot provided by the prior art is gradually applied to actual clinics, and the surgical instrument can well solve the problem, but at present, because the minimally invasive surgical robot can only be provided with one surgical instrument, namely corresponding parameters of the corresponding surgical instrument are manually input in the installation process, the surgical instrument cannot be replaced after the installation is finished, and the application range of the surgical instrument and the minimally invasive surgical robot is greatly limited. When different minimally invasive surgical robots are installed, the operation parameters and the like in a main control system in the minimally invasive surgical robot cannot be well identified and the control parameters cannot be well updated.
Example one
In order to solve the problems in the prior art, the embodiment of the invention provides a method for automatically identifying surgical instruments and updating control parameters of a minimally invasive surgical robot.
FIG. 1 is a schematic diagram illustrating the steps of a method for automatically identifying surgical instruments and updating control parameters of a minimally invasive surgical robot according to an embodiment of the present invention; referring to fig. 1, the method for automatically identifying the surgical instrument and updating the control parameter of the minimally invasive surgical robot according to the embodiment includes the following steps.
And step S101, judging whether the surgical instrument is installed successfully.
Specifically, the minimally invasive surgery robot comprises a surgical instrument motor driving board and a main control system, wherein the surgical instrument motor driving board is used for reading information of surgical instruments installed at corresponding positions of the minimally invasive surgery robot. The master control system is used for updating the type and the control parameters of the surgical instrument according to the information of the surgical instrument so as to facilitate the minimally invasive surgery robot to better control the surgical instrument.
After the surgical instrument is installed on the minimally invasive surgery robot, if the installation is successful, the surgical instrument motor driving board of the minimally invasive surgery robot receives an installation level signal related to the surgical instrument in the transmission process, namely the installation of the surgical instrument is successful, so that the installation level signal is successfully sent to the surgical instrument motor driving board of the minimally invasive surgery robot through the surgical instrument, and the surgical instrument required in the operation work is judged to be successfully installed on the minimally invasive surgery robot at the moment. If the mounting fails, the surgical instrument motor driving board of the minimally invasive surgery robot cannot receive mounting level signals related to surgical instruments in the transmission process, namely the mounting level signals are not sent to the surgical instrument motor driving board of the minimally invasive surgery robot through the transmission process related to the surgical instruments, at the moment, the mounting failure of the surgical instruments on the minimally invasive surgery robot is judged, and medical staff are prompted to mount the surgical instruments again until the mounting is successful.
And S102, if the surgical instrument is successfully installed, reading parameter information stored in an identification chip in the surgical instrument.
Specifically, because the structure of each surgical instrument is different, the parameters and the like of the corresponding surgical instruments are greatly different, and in order to distinguish different surgical instruments, a memory chip is arranged on each surgical instrument, and the memory chip stores the parameter information of the surgical instrument. Further, the parameter information at least includes type information of the surgical instrument, motion operation range information, and surgical instrument polarity information.
After the surgical instruments are installed successfully, the positions of the surgical instrument motor driving plate of the minimally invasive surgical robot are exactly corresponding to the positions of the identification chips of the surgical instruments, and the surgical instrument motor driving plate of the minimally invasive surgical robot can read information stored in the identification chips. Furthermore, the surgical instrument motor driving board of the minimally invasive surgical robot respectively reads the surgical instrument type information, the surgical instrument operation range information and the surgical instrument polarity information stored in the identification chip in the surgical instrument. The surgical instrument motor driving board of the minimally invasive surgical robot can also send the read surgical instrument type information, the surgical instrument operation range information and the surgical instrument polarity information to a main control system of the minimally invasive surgical robot, so that the main control system can conveniently configure corresponding parameters such as the operation of the installed surgical instruments.
And S103, initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information. Further comprising the following substeps.
And in the substep S301, the surgical instrument motor driving board of the minimally invasive surgery robot sends the read surgical instrument type information, surgical instrument operation range information and surgical instrument polarity information to a main control system of the minimally invasive surgery robot.
The operation range information of the surgical instrument comprises the motion range information of each degree of freedom of the instrument, the motion control parameters of each degree of freedom of the instrument and the motion compensation parameters. The surgical instrument polarity information includes instrument energy source type information and polarity information.
And in the substep S302, the main control system initializes the corresponding mechanical arm control parameters and the corresponding surgical instrument control parameters according to the surgical instrument type information and the surgical instrument operation range information, and correspondingly updates the display operation interface.
Specifically, the main control system of the minimally invasive surgical robot determines the type of the surgical instrument installed on the main control system according to the type information of the surgical instrument, and correspondingly displays the type on the display screen. The main control system of the minimally invasive surgery robot initializes the corresponding mechanical arm control parameters and the corresponding surgical instrument control parameters according to the surgical instrument operation range information and correspondingly updates the operation display interface. Further, the operation range information further includes degrees of freedom of the surgical instrument and a movement angle of the surgical instrument. The main control system of the minimally invasive surgery robot updates and displays the degree of freedom of the surgical instrument on the operation interface, the operation range of the motion angle of the surgical instrument, operation items and the like according to the degree of freedom of the surgical instrument and the motion angle of the surgical instrument, so that the minimally invasive surgery robot can well work with the surgical instrument in a coordinated mode, and the surgical instrument can be operated flexibly and conveniently.
And in the substep S303, the master control system judges whether the surgical instrument needs to be connected with the energy source according to the polarity information of the surgical instrument, and controls the surgical instrument to be connected with the energy source if the surgical instrument needs to be connected with the energy source.
In particular, some surgical instruments have a function of treating an affected part of a patient by means of ultrasonic waves or electric shocks. Therefore, in the practical application process, the main control system needs to judge whether the installed surgical instrument needs to be connected with the energy source according to the polarity information of the surgical instrument, and further judges the type information and the polarity information of the energy source of the instrument if the surgical instrument needs to be connected with the energy source, and simultaneously controls the surgical instrument to be communicated with the energy source, so that the purpose of treating the affected part of the patient by the ultrasonic waves and electric shocks of the surgical instrument is conveniently realized.
And step S104, updating the surgical instrument motor driving board and the main control system of the minimally invasive surgery robot so as to update the working modes of the surgical instrument motor driving board and the main control system.
It should be noted that this step may be implemented in the process of implementing the previous step, or after completing the previous step, so as to play a role in updating the working state of the minimally invasive surgical robot in real time.
By applying the method for automatically identifying the surgical instrument and updating the control parameter of the minimally invasive surgical robot, provided by the embodiment of the invention, medical staff can complete the installation of the most suitable surgical instrument on the minimally invasive surgical robot according to specific experimental contents, so that the successfully installed surgical instrument can be well automatically configured, and further, a main control system in the minimally invasive surgical robot can operate the newly installed surgical instrument according to the automatic configuration contents. Specifically, the judgment and the corresponding setting of the polarity information of the surgical instrument stored in the identification chip in the surgical instrument enable the functions of the surgical instrument to be fully utilized, and the treatment efficiency of the surgical instrument is improved.
Example two
In order to solve the problem in the prior art, the embodiment of the invention also provides an automatic identification and control parameter updating device for the surgical instrument of the minimally invasive surgical robot.
Fig. 2 is a schematic structural diagram of an automatic identification and control parameter updating device for a surgical instrument of a minimally invasive surgical robot according to an embodiment of the invention. Referring to fig. 2, the automatic identification and control parameter updating apparatus for surgical instruments of the minimally invasive surgical robot in this embodiment includes an installation judgment module, a reading module, a configuration module, and an updating module, where the installation judgment module, the reading module, and the configuration module are sequentially connected, and the updating module is connected to a surgical instrument motor driving board and a main control system of the minimally invasive surgical robot.
And the installation judgment module is arranged on a surgical instrument motor driving plate of the minimally invasive surgical robot and used for judging whether the surgical instrument is installed successfully.
The reading module is arranged on a surgical instrument motor driving board of the minimally invasive surgery robot and used for reading parameter information stored in the identification chip in the surgical instrument when the surgical instrument is successfully installed.
And the configuration module is arranged on the master control system of the minimally invasive surgery robot and used for configuring parameters of the master control system in the minimally invasive surgery robot according to the parameter information stored in the identification chip in the surgical instrument.
And the updating module is used for initializing the corresponding mechanical arm control parameters and the surgical instrument control parameters in the main control system of the minimally invasive surgery robot according to the parameter information.
The specific working modes of the installation determining module, the reading module, the configuring module and the updating module respectively correspond to steps S101 to S104 in the first embodiment, and are not described in detail herein.
By applying the automatic identification and control parameter updating device for the surgical instrument of the minimally invasive surgical robot provided by the embodiment of the invention, medical staff can complete the installation of the most suitable surgical instrument on the minimally invasive surgical robot according to specific experimental contents, so that the surgical instrument which is successfully installed can be well automatically configured, and further a main control system in the minimally invasive surgical robot can operate the newly installed surgical instrument according to the automatic configuration contents. Specifically, the judgment and the corresponding setting of the polarity information of the surgical instrument stored in the identification chip in the surgical instrument enable the functions of the surgical instrument to be fully utilized, and the treatment efficiency of the surgical instrument is improved.
Those skilled in the art will appreciate that the modules or steps of the invention described above can be implemented in a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, and optionally implemented in program code that is executable by a computing device, such that the modules or steps are stored in a memory device and executed by a computing device, fabricated separately into integrated circuit modules, or fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An automatic identification and control parameter updating method for surgical instruments of a minimally invasive surgical robot comprises the following steps:
judging whether the surgical instrument is installed successfully;
if the surgical instrument is successfully installed, reading parameter information stored in an identification chip in the surgical instrument;
initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information.
2. The automatic identification and control parameter update method of claim 1, wherein the step of determining whether the surgical instrument is successfully installed comprises:
judging whether a mounting level signal is received by a surgical instrument motor driving board of the minimally invasive surgical robot; if the installation is successful, the installation is successful.
3. The automatic identification and control parameter update method of claim 2, wherein reading the parameter information stored in the identification chip of the surgical instrument comprises:
and the surgical instrument motor driving board reads the surgical instrument type information, the surgical instrument operation range information and the surgical instrument polarity information stored in the identification chip in the surgical instrument.
4. The automatic identification and control parameter update method of claim 3, wherein the operation range information includes degrees of freedom of the surgical instrument and an angle of motion of the surgical instrument.
5. The automatic identification and control parameter updating method of claim 4, wherein the step of initializing corresponding mechanical arm control parameters and surgical instrument control parameters in the master control system of the minimally invasive surgical robot according to the parameter information comprises:
the surgical instrument motor driving board sends the parameter information to a main control system of the minimally invasive surgery robot;
and the master control system initializes the corresponding mechanical arm control parameters and the corresponding surgical instrument control parameters according to the surgical instrument type information and the surgical instrument operation range information, and correspondingly updates a display operation interface.
6. The method of claim 5, wherein initializing corresponding robotic arm control parameters and surgical instrument control parameters in the master control system of the minimally invasive surgical robot according to the parameter information further comprises:
and the master control system judges whether the surgical instrument needs to be connected with an energy source according to the polarity information of the surgical instrument, and controls the surgical instrument to be communicated with the energy source if the surgical instrument needs to be connected with the energy source.
7. The method of claim 1, further comprising updating a surgical instrument motor driver board and a master control system of the minimally invasive surgical robot to update the operating modes of the surgical instrument motor driver board and the master control system.
8. The utility model provides an automatic identification and control parameter update device of surgical instruments of minimal access surgery robot which characterized in that, includes the installation judgement module that connects gradually, reads the module and disposes the module:
the installation judging module is used for judging whether the surgical instrument is installed successfully;
the reading module is used for reading parameter information stored in an identification chip in the surgical instrument when the surgical instrument is successfully installed; and
and the configuration module is used for initializing corresponding mechanical arm control parameters and surgical instrument control parameters in a main control system of the minimally invasive surgery robot according to the parameter information.
9. The automatic identification and control parameter update method of claim 8, wherein the parameter information stored in the identification chip of the surgical instrument comprises surgical instrument type information, surgical instrument operation range information and surgical instrument polarity information.
10. The automatic identification and control parameter update method of claim 9, wherein the operation range information includes degrees of freedom of the surgical instrument and an angle of motion of the surgical instrument.
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