CN113749700B

CN113749700B - Endoscope instrument replacing method and device, electronic equipment and storage medium

Info

Publication number: CN113749700B
Application number: CN202111319799.7A
Authority: CN
Inventors: 王迎智; 王干; 齐斌
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-11
Anticipated expiration: 2041-11-09
Also published as: CN113749700A

Abstract

The application relates to an endoscope instrument replacing method, an endoscope instrument replacing device, electronic equipment and a readable storage medium, wherein the endoscope instrument replacing method comprises the following steps: acquiring angle data of a triangular area channel, pitch angle data of a flexible channel and yaw angle data of the flexible channel in a preset period; judging whether the current state of the triangular area channel is in the initial state of the triangular area channel or not according to the triangular area channel angle data; judging whether the current state of the flexible channel is in the initial state of the flexible channel or not according to the pitch angle data and the yaw angle data of the flexible channel; and determining whether the endoscopic instrument can be pulled out or not according to the current state of the triangular area channel and the current state of the flexible channel. The endoscope instrument control system automatically judges whether the endoscope instrument can be pulled out for replacement or not according to the acquired signals, thereby effectively preventing the instrument and channel damage caused by the fact that an operator replaces the instrument under the condition of not paying attention to the flexible channel, increasing the safety of the operation and improving the operation efficiency.

Description

Endoscope instrument replacing method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for replacing an endoscope apparatus, an electronic device, and a storage medium.

Background

In the minimally invasive laparoscopic surgery, when the position of an endoscopic instrument conflicts with other surgical equipment, if the endoscopic instrument is forcibly taken out, human tissues and other surgical equipment can be damaged.

However, the current technology does not give the operator a prompt when the operator makes an erroneous operation in the prior art.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides an endoscopic instrument replacement method, apparatus, electronic device, and storage medium.

According to a first aspect of the embodiments of the present disclosure, there is provided an endoscopic instrument replacement method applied to a surgical robot, including:

acquiring angle data of a triangular area channel, pitch angle data of a flexible channel and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed;

judging whether the current state of the triangular area channel is in the initial state of the triangular area channel or not according to the triangular area channel angle data;

judging whether the current state of the flexible channel is in the initial state of the flexible channel or not according to the pitch angle data and the yaw angle data of the flexible channel;

and determining whether the endoscope instrument can be pulled out or not according to the current state of the triangular area channel and the current state of the flexible channel.

Optionally, the determining whether the endoscopic instrument can be pulled out according to the current state of the trigonal passage and the current state of the flexible passage includes:

if the current state of the triangular area channel is in the initial state of the triangular area channel and the current state of the flexible channel is in the initial state of the flexible channel, judging whether the endoscope apparatus is in an inactive state, wherein the inactive state comprises that the endoscope apparatus is in the inactive state under the condition that event information that a preset control button is pressed is detected;

determining that the endoscopic instrument is removable if the endoscopic instrument is in the inactive state; determining that the endoscopic instrument may not be withdrawn if the endoscopic instrument is in an activated state;

and if the current state of the triangular area channel is not in the initial state of the triangular area channel or the current state of the flexible channel is not in the initial state of the flexible channel, determining that the endoscopic instrument cannot be pulled out.

Optionally, the trigonal channel and the flexible channel are part of a tip tool, which is mounted as a surgical consumable on a base of the surgical robot; the tail end tool further comprises a transmission mechanism and a control adapter, the control adapter is electromagnetically connected with a control handle of the endoscope instrument, and the control adapter is used for collecting an operation instruction of a user on the control handle and transmitting the operation instruction to the base, so that the base drives the transmission mechanism of the tail end tool to rotate by controlling a base motor, and the transmission mechanism drives the flexible channel to pitch and yaw; the method further comprises the following steps:

and if the endoscope instrument is determined to be unpluggable, sending an unlocking instruction to the control handle and/or the control adapter so as to unlock the electromagnetic connection between the control handle and the control adapter.

if the current state of the triangular area channel is in the initial state of the triangular area channel and the current state of the flexible channel is in the initial state of the flexible channel, judging whether the control adapter is pulled outwards to the farthest end along with the control handle;

determining that the endoscopic instrument is extractable if the control adapter has been pulled outwardly to the distal-most end following the control handle;

determining that the endoscopic instrument may not be withdrawn if the control adapter has not been pulled outwardly to the distal-most end following the control handle;

Optionally, the determining whether the control adapter is pulled out to the farthest end along with the control handle includes:

and judging whether one side of the control adapter, which is far away from the flexible channel, contacts and extrudes a preset sensor, and if the side of the control adapter contacts and extrudes the preset sensor, determining that the control adapter is pulled outwards to the farthest end along with the control handle.

Optionally, the control handle is electromagnetically connected with the control adapter through an electromagnet ring, the control handle sends the received operation information to the control adapter, and an encoder of the control adapter sends the operation information to the real-time controller of the base.

Optionally, the method further includes:

when the endoscope instrument cannot be pulled out, providing working voltage for the electromagnetic ring, and locking the control handle and the control adapter through magnetic force;

and when the endoscope instrument is determined to be pulled out, cutting off the working voltage of the electromagnetic ring to eliminate the magnetic force between the control handle and the control adapter.

Optionally, the unfolding angle of the triangle area channel is controlled by a gear, and the determining whether the current state of the triangle area channel is in the initial state of the triangle area channel according to the triangle area channel angle data includes:

acquiring gear rotation parameters under the condition that the angle sensor detects the rotation of the gear;

and judging whether the triangular area channel is in an initial state or not according to the gear rotation parameters.

According to a second aspect of embodiments of the present disclosure, there is provided an endoscopic instrument replacement device comprising:

the acquisition module is used for acquiring angle data of the triangular area channel, pitch angle data of the flexible channel and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed;

the first judgment module is used for judging whether the current state of the triangular area channel is in the initial state of the triangular area channel or not according to the triangular area channel angle data;

the second judging module is used for judging whether the current state of the flexible channel is in the initial state of the flexible channel or not according to the pitch angle data and the yaw angle data of the flexible channel;

and the determining module is used for determining whether the endoscopic instrument can be pulled out or not according to the current state of the triangular area channel and the current state of the flexible channel.

According to a third aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement an endoscopic instrument replacement method.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having instructions which, when executed by a processor of an electronic device, enable the electronic device to perform an endoscopic instrument replacement method.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

the method comprises the steps that angle data of a triangular area channel, pitch angle data of a flexible channel and yaw angle data of the flexible channel are collected in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed; judging whether the current state of the triangular area channel is in the initial state of the triangular area channel or not according to the triangular area channel angle data; judging whether the current state of the flexible channel is in the initial state of the flexible channel or not according to the pitch angle data and the yaw angle data of the flexible channel; and determining whether the endoscope instrument can be pulled out or not according to the current state of the triangular area channel and the current state of the flexible channel. The endoscope instrument control system can automatically judge whether the endoscope instrument can be pulled out for replacement according to the acquired signals, and locks and unlocks the control adapter and the handle through the electromagnet, so that the instrument and channel damage caused by the fact that an operator replaces the instrument under the state without paying attention to the flexible channel is effectively prevented, the safety of an operation is improved, and the operation efficiency is also improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Figure 1 is a flow chart illustrating a method for replacing an endoscopic instrument according to an exemplary embodiment;

figure 2 is a flow chart illustrating another endoscopic instrument exchange method according to an exemplary embodiment;

figure 3 is a flow chart illustrating another endoscopic instrument exchange method according to an exemplary embodiment;

FIG. 4 is a block diagram illustrating an electronic device in accordance with an exemplary embodiment;

figure 5 is a block diagram illustrating an endoscopic instrument exchange device in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating the construction of an end effector and base according to one exemplary embodiment;

FIG. 7 is a cross-sectional schematic view of a flexible channel and a steel wire shown in accordance with an exemplary embodiment;

FIG. 8 is a flow chart illustrating a method of determining whether a current state of a flexible channel is in an initial state in accordance with an exemplary embodiment;

FIG. 9 is a full cross-sectional view of an end effector shown according to an exemplary embodiment.

Description of reference numerals: 46-a multifunctional channel device; 47-an energy adapter; 47A-left energy adapter; 47B-right energy adapter; 48-a base; 49-control adapter; 49A-left control adapter; 49B-right control adapter; 463-the drive shaft; 464-a second magnetic sensing encoder; 465-a flexible channel; the section of the steel wire in the 001-X direction; the cross section of the steel wire in the 002-Y direction; 010-flexible channel cross section.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

To facilitate an understanding of the present application, which applies to surgical robots that perform minimally invasive laparoscopic procedures, endoscopic instruments generally include, but are not limited to, endoscopes, for example.

Fig. 9 is a full cross-sectional view of an end effector shown according to an exemplary embodiment, with the specific positional relationship of the drive shaft 463, the second magnetic sensor encoder 464, and the flexible channel 465 as shown in fig. 9. The transmission shaft 463 is a part of the transmission mechanism. In the present invention, in order to distinguish the magnetic sensor encoder in the end actuator from the magnetic sensor encoder in the base, the magnetic sensor encoder in the end actuator is referred to as a second magnetic sensor encoder 464, and the magnetic sensor encoder in the base is referred to as a first magnetic sensor encoder (Gear magnetic sensor encoder).

The surgical instrument can pass through the two working channels of the tail end execution mechanism and is driven by the tail end execution mechanism to perform surgical operation. The end effector includes a drive mechanism and a flexible channel 465, the flexible channel 465 being adapted to allow passage of a surgical instrument therethrough. After the end effector is engaged with the base motor, the base motor is used to drive the actuator of the end effector during the procedure, thereby moving the flexible channel 465 through the actuator, and further moving the surgical instrument through the movement of the flexible channel 465.

Specifically, as previously described, the transmission mechanism of the end effector includes a transmission shaft 463, and when the end effector is engaged with the base, the base motor is engaged with the transmission shaft 463 to drive the transmission shaft 463 to rotate, thereby winding the wire. The other end of the steel wire is connected with the flexible channel of the tail end execution structure, and the steel wire drives the flexible channel to move when winding.

More specifically, the transmission mechanism of the end effector includes: 4 drive shafts 463, 8 wire coils and 8 wires. Wherein, set up 2 steel wire coils around every transmission shaft, two steel wire coils and transmission shaft direct or indirect meshing. The transmission shaft rotates under the drive of the output shaft of the base motor, and during the rotation of the transmission shaft, one steel wire coil around the transmission shaft is driven to rotate in the same direction with the transmission shaft, and the other steel wire coil around the transmission shaft rotates in the opposite direction with the transmission shaft. One end of each steel wire is wound on one steel wire coil, and the other end of each steel wire is connected with the tail end of the flexible channel. The wire coil is used for tightening or loosening the wire when rotating, and the wire controls the flexible channel to move when being tightened or loosened.

The relationship between the drive shaft 463 and the second magnetic sensor encoder 464 is: two second magnetic sensing encoders 464 are installed on two sides of each transmission shaft 463, and the two second magnetic sensing encoders 464 on two sides of each transmission shaft 463 are respectively used for detecting the rotation angles of the two steel wire coils. Since the total number of the drive shafts is 4, the number of the second magnetic sensor encoders is 8. Also, for convenience of understanding, in the present invention, the two second magnetic sensing encoders 464 corresponding to each transmission shaft 463 are referred to as an auxiliary a magnetic sensing encoder and an auxiliary B magnetic sensing encoder, respectively.

FIG. 6 is a schematic diagram of an end effector and base shown in accordance with an exemplary embodiment, as shown in FIG. 6. In some embodiments, the base 48 includes a base motor, wherein the base motor includes a first left motor, a second left motor, a first right motor, and a second right motor. It should be noted that, since the number of the base motors is 4, and each base motor needs to detect the rotation angle of the output shaft of the base motor through one first magnetic sensor encoder, the number of the first magnetic sensor encoders is also 4.

The end effector includes a multi-functional channel 46, an energy adapter 47, and a control adapter 49, wherein the multi-functional channel 46 includes the aforementioned drive shaft 463, a second magnetic sensor encoder 464, a flexible channel 465, and a steel wire. Wherein the flexible channel comprises a left flexible channel and a right flexible channel. The transmission shaft includes first left transmission shaft (with the first left motor meshing of base for control left side flexible channel is in the motion of X direction), second left transmission shaft (with the second left motor meshing of base, be used for controlling the motion of left side flexible channel in the Y direction), first right transmission shaft (with the first right motor meshing of base, be used for controlling the motion of right side flexible channel in the X direction), second right transmission shaft (with the second right motor meshing of base, be used for controlling the motion of right side flexible channel in the Y direction). The energy adapters 47 include a left energy adapter 47A, a right energy adapter 47B. Control adapters 49 include a left control adapter 49A and a right control adapter 49B.

When carrying out the operation, the flexible cover of scope apparatus most advanced accessible flexible channel front end stretches out, and real-time controller gathers the every single move, the yaw angle of control adapter, control flexible channel's every single move, yaw angle, and when changing the apparatus, flexible channel need get back to straight state earlier, then just can be by smooth pulling out, inserting, the operation under the non-straight state can cause the damage of flexible channel or scope apparatus.

Fig. 1 is a flow chart illustrating an endoscopic instrument replacement method according to an exemplary embodiment, as shown in fig. 1, applied to an endoscopic instrument control system, including the following steps.

Step 101, collecting angle data of a triangular area channel, pitch angle data of a flexible channel and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed.

It should be noted that the direction of the flexible channel is determined by the opening angle of the triangular area and the pitching and yawing of the flexible channel, the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed.

Specifically, two channels are arranged in the end executing mechanism, namely a left channel and a right channel, and taking the left channel as an example, the channels can be divided into a section A and a section B, when the end executing mechanism is installed, the section A is unfolded to keep an expected working triangular area, and the section B is kept in a relatively horizontally straightened state when leaving a factory. The offset condition of the tip of segment B directly affects the operational state of the disposable surgical instrument inserted into the interior of the flexible channel. Segment a determines the maximum available space for work and the distance between the two channels. The section B can control the up-down and left-right swinging of the surgical instrument by the up-down and left-right, namely pitching and yawing, of the channel. Wherein, the section A refers to a triangular area channel, and the tail end of the section B refers to a flexible channel.

The engagement of the base and the end actuating mechanism is completed, namely when the end actuating mechanism and the base are electrically connected, and after a mechanical gap is eliminated through an automatic engagement algorithm, an instrument on the end actuating mechanism can accurately follow the corresponding position of the base to control the motor to rotate.

Therefore, when the engagement between the end executing mechanism and the base is completed, the real-time controller in the base can acquire the opening angle of the triangular area of the flexible channel and the pitching/yawing angle of the flexible channel, and the real-time controller acquires information in each program cycle, and judges whether the unlocking conditions of the handle and the control adapter are met or not and whether the endoscope instrument can be replaced or not.

Specifically, be provided with 4 motors on the base, including first left motor (control left side flexible channel along the motion of X direction), the left motor of second (control left side flexible channel along the motion of Y direction), first right motor (control right side flexible channel along the motion of X direction), the right motor of second (control right side flexible channel along the motion of Y direction), multi-functional passway ware among the end actuating mechanism includes triangle district guiding mechanism, triangle district guiding mechanism includes manual knob (work triangle district opens control button) and drive gear.

Therefore, the motor on the base controls the pitch and yaw of the flexible channel, and the specific movement of the endoscopic instrument is controlled by controlling the flexible channel.

It should be noted that the preset period may be changed according to practical situations, including but not limited to, for example, the preset period is 2ms, and the application is not limited in particular.

And 102, judging whether the current state of the triangular area channel is in the initial state of the triangular area channel or not according to the triangular area channel angle data.

Further, the unfolding angle of the triangular area channel is controlled by a gear, and the judging whether the current state of the triangular area channel is in the initial state of the triangular area channel according to the triangular area channel angle data comprises:

under the condition that the angle sensor detects the rotation of the gear, gear rotation parameters are obtained;

A manual knob in a triangular area adjusting mechanism on the tail end executing mechanism can control a transmission gear to rotate, the gear drives a steel wire to control the triangular area channel to move, under the condition that the angle sensor detects the rotation of the gear, the rotation degree of the gear, namely the rotation parameter of the gear, is obtained, and whether the triangular area channel is in an initial state or not is judged according to the rotation parameter of the gear.

It should be noted that, in the embodiment of the present invention, the initial state of the triangle passage actually refers to the opening angle of the triangle passage, that is, if the triangle passage is open, it indicates that the triangle passage is not in the initial state, that is, the triangle angle is not in the home area. If the triangle channel is closed, the triangle channel is in an initial state, namely the triangle angle is in the home area.

During specific implementation, the triangular area angle can be converted according to the magnetic sensor code value of the motor by reading the magnetic sensor code value, so that whether the triangular area angle is within a preset range or not can be judged. If yes, the triangle angle is in the home area.

Further, when the triangle channel is in the initial state, the angle of the triangle channel is in the home area, and it can be understood that the triangle channel is in an initial position, and only when the triangle channel is in the initial state, it means that whether the flexible channel is in the initial state needs to be further judged to determine whether the endoscopic instrument can be replaced.

103, judging whether the current state of the flexible channel is in the initial state of the flexible channel according to the pitch angle data of the flexible channel and the yaw angle data of the flexible channel.

It should be noted that the initial state of the flexible channel means that the real-time position of the end of the flexible channel is in the initial position area of the end of the flexible channel, and the initial position area is determined according to the pre-factory position of the end of the flexible channel. I.e., in this region, it is shown that the surgical instrument is not greatly displaced from a horizontally straightened state. The channel can be divided into an A section and a B section, when the tail end actuating mechanism is installed, the A section is unfolded to keep an expected working triangular area, and the B section is kept in a relatively horizontal straight state when leaving a factory. The offset condition of the tip of segment B directly affects the operational state of the disposable surgical instrument inserted into the interior of the flexible channel. Segment a determines the maximum available space for work and the distance between the two channels. The section B can control the up-down and left-right swinging of the surgical instrument by the up-down and left-right, namely pitching and yawing, of the flexible channel. Wherein, the section A refers to a triangular area channel, and the tail end of the section B refers to a flexible channel.

It should be noted that, as shown in fig. 7, fig. 7 is a schematic cross-sectional view of a flexible channel and a steel wire according to an exemplary embodiment, wherein 010 indicates a cross-section of the flexible channel, 001 indicates a section of the steel wire along the X direction, i.e., a section of the steel wire for pulling the flexible channel to move along the X direction, and 002 indicates a section of the steel wire along the Y direction, i.e., a section of the steel wire for pulling the flexible channel to move along the Y direction.

In the present invention, as shown in fig. 7, the X direction and the Y direction in the first coordinate system form 45-degree angles with four directions, i.e., the top, bottom, left, and right directions in the visual sense. In other words, the X direction has a 45 degree angle with the horizontal direction and the Y direction also has a 45 degree angle with the vertical direction. Therefore, the steel wires for pulling the flexible channel to move along the X direction are respectively arranged at the upper left corner and the lower right corner of the section of the flexible channel, and the steel wires for pulling the flexible channel to move along the Y direction are respectively arranged at the upper right corner and the lower left corner of the section of the flexible channel. The advantage of arranging the wires in this way is that: when need control flexible channel when skew to the left side, need two steel wires in upper left corner and the lower left corner of simultaneous control, two steel wires compare in a steel wire for flexible channel atress is more even, helps improving flexible channel's motion stability.

In the present invention, the visual horizontal direction is set to the X 'direction, and the visual vertical direction is set to the Y' direction, thereby establishing a second coordinate system according to the X 'direction and the Y' direction.

Therefore, judging whether the flexible channel is in the initial state, as shown in fig. 8, fig. 8 is a flowchart illustrating a method for judging whether the current state of the flexible channel is in the initial state according to an exemplary embodiment, which specifically includes the following steps:

and 601, acquiring a first detection value of the first magnetic sensing encoder and a second detection value of the second magnetic sensing encoder when the end actuator is detected to be completely meshed with the output shaft of the base motor.

The second magnetic sensing encoder is used for detecting the rotation angle of a steel wire coil in the transmission mechanism, the steel wire coil is used for tensioning or loosening a steel wire when rotating, and the steel wire is used for controlling the flexible channel to move when being tensioned or loosened.

In a specific implementation, when the engagement completion of the end actuator and the output shaft of the base motor is detected, the current detection values of the 4 first magnetic sensor encoders, namely the first detection values, can be read at the moment. At the same time, the current detection value, i.e., the second detection value, of each of the 8 second magnetic-sensing encoders is read at this time. The 8 second detection values are divided into 4 pairs, and each pair includes two second detection values belonging to the detection values of the auxiliary a magnetic sensor encoder and the auxiliary B magnetic sensor encoder corresponding to one drive shaft.

And step 602, obtaining a deviation position parameter of the tail end of the flexible channel according to a difference value between the second detection value and a pre-factory detection value of the second magnetic sensor encoder.

And the pre-factory detection value is used for representing the pre-factory position of the tail end of the flexible channel. In some embodiments, a register of the end actuator stores a pre-factory detection value of each second magnetic sensor encoder. When the end actuator is assembled to the base, the contacts on the base are electrically connected to the registers on the end actuator, and the base can access the registers of the end actuator, so as to read the pre-factory detection value of each second magnetic sensor encoder stored in the registers.

For example, before shipping, the end effector is mounted on the base of the robot system, and at this time, 4 wires of the flexible channel of the end effector are in a relaxed and flush state, and the flexible channel does not have any deviation in any direction, that is, the flexible channel can be pulled out by the same angle in any direction with the position as a central point. At this time, the current position values of all the second magnetic sensor encoders on the end actuator are written into the register of the end actuator using the writing tool.

In concrete implementation, the 8 second detection values read in step 601 are respectively different from the factory-expected detection values of the 8 second magnetic sensor encoders to calculate differences, so as to obtain 8 differences. These 8 differences are: a difference value between a second detection value of the auxiliary A magnetic sensor encoder of the first left transmission shaft and a pre-factory detection value, a difference value between a second detection value of the auxiliary B magnetic sensor encoder of the first left transmission shaft and a pre-factory detection value, a difference value between a second detection value of the auxiliary A magnetic sensor encoder of the second left transmission shaft and a pre-factory detection value, a difference value between a second detection value of the auxiliary B magnetic sensor encoder of the second left transmission shaft and a pre-factory detection value, the difference value between the second detection value of the auxiliary A magnetic sensing encoder of the first right transmission shaft and the detection value before factory shipment, the difference value between the second detection value of the auxiliary B magnetic sensing encoder of the first right transmission shaft and the detection value before factory shipment, the difference value between the second detection value of the auxiliary A magnetic sensing encoder of the second right transmission shaft and the detection value before factory shipment, and the difference value between the second detection value of the auxiliary B magnetic sensing encoder of the second right transmission shaft and the detection value before factory shipment. For simplicity of description, the difference value corresponding to the auxiliary a magnetic sensor encoder of each transmission shaft is abbreviated as Δ HomeA, and the difference value corresponding to the auxiliary B magnetic sensor encoder of each transmission shaft is abbreviated as Δ HomeB.

Then, for one transmission shaft, the Δ HomeA corresponding to the auxiliary a magnetic sensing encoder and the Δ HomeB corresponding to the auxiliary B magnetic sensing encoder are both used for feeding back the offset of the flexible channel along one direction. For example, for the first left transmission shaft, the Δ HomeA corresponding to the auxiliary a magnetic sensing encoder and the Δ HomeB corresponding to the auxiliary B magnetic sensing encoder are both used for feeding back the offset of the left flexible channel along the X direction. Therefore, in order to reduce errors, for one transmission shaft, an average value of Δ HomeA corresponding to the auxiliary a magnetic sensor encoder and Δ HomeB corresponding to the auxiliary B magnetic sensor encoder is obtained, that is ([ delta ] HomeA + [ delta ] HomeB)/2, and finally an offset position parameter is obtained. For example, for the first left transmission shaft, the Δ HomeA corresponding to the auxiliary a magnetic sensing encoder and the Δ HomeB corresponding to the auxiliary B magnetic sensing encoder are averaged, and finally the offset position parameter of the left flexible channel along the X direction is obtained.

Through the above processing, 4 offset position parameters are finally obtained, which are respectively: a shift position parameter of the left flexible channel in the X direction, a shift position parameter of the left flexible channel in the Y direction, a shift position parameter of the right flexible channel in the X direction, and a shift position parameter of the right flexible channel in the Y direction.

Step 603, obtaining a position calibration parameter of the end of the flexible channel according to the difference between the first detection value and the offset position parameter.

As described above, in step 601, the first detection values of the 4 first magnetic sensor encoders are read. The 4 first magnetic sensing encoders are respectively used for detecting the rotation angles of the first left motor output shaft, the second left motor output shaft, the first right motor output shaft and the second right motor output shaft, and the four base motors are respectively used for controlling the movement of the left flexible channel along the X direction, the movement of the left flexible channel along the Y direction, the movement of the right flexible channel along the X direction and the movement of the right flexible channel along the Y direction. Therefore, the 4 first detection values read in step 601 are in one-to-one correspondence with the 4 offset position parameters calculated in step 002. For example, a first detection value of a first magnetic sensor encoder for detecting the output shaft of the first left motor corresponds to a displacement position parameter of the left flexible channel in the X direction.

In concrete implementation, the difference between the first detection value and the offset position parameter corresponding to each other is calculated as the position calibration parameter Total Δ. Finally, 4 position calibration parameters are obtained, which are respectively: the position calibration parameters of the left flexible channel along the X direction, the position calibration parameters of the left flexible channel along the Y direction, the position calibration parameters of the right flexible channel along the X direction, and the position calibration parameters of the right flexible channel along the Y direction.

And step 604, calculating a difference value between a real-time detection value of a magnetic sensing encoder of the base motor and the calibration angle parameter, and taking the calculated difference value as a first real-time position parameter of the tail end of the flexible channel in a first coordinate system.

In the present invention, the first real-time location parameter refers to: data reflecting the real-time position of the flexible tunnel end in a first coordinate system in which the component of the first real-time position in the X-axis direction is denoted as ax and the component in the Y-axis direction is denoted as ay, and thus the first real-time position parameter can be expressed in geometric components as ax and ay. In some embodiments, to obtain the first real-time position parameter, the first real-time position parameter of the end of the flexible channel of the end actuator in the first coordinate system may be determined based on real-time detection values of the first magnetic sensor encoder of the base motor. Wherein, first magnetic sensing encoder is used for detecting the turned angle of the output shaft of base motor, and end execution structure includes drive mechanism and flexible channel, and flexible channel is used for supplying surgical instruments to pass, and after end execution mechanism and the output shaft meshing of base motor, during the operation, the output shaft of base motor is used for driving end execution mechanism's drive mechanism to drive flexible channel motion through drive mechanism, and then drive surgical instruments motion.

For understanding, for example, at the current time during the operation, a real-time detection value of the first magnetic sensing encoder corresponding to the first left motor output shaft is read, and then a difference value between the real-time detection value and a position calibration parameter of the left flexible channel along the X direction is calculated, so as to obtain a first real-time position parameter of the left flexible channel along the X direction, where the first real-time position parameter may reflect: the left flexible channel is offset in the X direction at the present time. In the same way, the remaining three first real-time location parameters may be obtained, which are respectively used to reflect: the offset of the left flexible channel in the Y direction at the current moment, the offset of the right flexible channel in the X direction at the current moment and the offset of the right flexible channel in the Y direction at the current moment.

In order to determine the real-time relative position relationship of the flexible channel end to the initial position region, the following sub-steps may be performed:

and mapping the first real-time position parameter to a second coordinate system to obtain a second real-time position parameter, wherein the first coordinate system and the second coordinate system are both plane coordinate systems, the plane of the first coordinate system is parallel to the plane of the second coordinate system, and the coordinate axes of the first coordinate system and the second coordinate system form an included angle of 45 degrees.

As mentioned above, the first coordinate system and the second coordinate system are both planar coordinate systems, the plane of the first coordinate system and the plane of the second coordinate system are parallel to each other, and the coordinate axis of the first coordinate system and the coordinate axis of the second coordinate system form an included angle of 45 degrees.

In some embodiments of the present invention, in order to perform visual display on the real-time relative position relationship, specifically, there may be a visual display interface, where a coordinate system in the visual display interface is a vertical and horizontal direction determined according to normal cognition of vision, that is, a direction of a coordinate system for calibrating vision existing in the visual display interface is a second coordinate system, a direction of a second X axis is a yaw direction of the flexible channel, and a direction of a second Y axis is a pitch direction of the flexible channel, which is equivalent to a horizontal direction (X 'direction) and a vertical direction (Y' direction) in normal cognition.

Step 605, mapping the first real-time position parameter to a second coordinate system to obtain a second real-time position parameter.

Therefore, for displaying on the visualization interface, the first real-time position parameter is mapped to the second coordinate system to obtain a second real-time position parameter, specifically, in the second coordinate system, a component of the second real-time position in the X-axis direction is denoted as Δ X ', and a component in the Y-axis direction is denoted as Δ Y', so the second real-time position parameter may be Δ X 'and Δ Y' in geometric components.

Step 606: and judging whether the real-time position of the tail end of the flexible channel is in the initial position area or not according to the second real-time position parameter, if so, judging that the current state of the flexible channel is in the initial state of the flexible channel, and if not, judging that the current state of the flexible channel is not in the initial state of the flexible channel.

It should be noted that the initial position area of the flexible channel is determined according to the factory position of the flexible tip, and the initial area may be planned as a circular area or a rectangular area. Therefore, in some embodiments, when determining whether the real-time position of the flexible channel end is within the initial position region, two determination cases are divided.

In an embodiment of the present invention, the initial position area is set as a circular initial area, and the judgment coordinate system of the circular area should be consistent with the first coordinate system, so that the corresponding hypotenuses of the X component and the Y component in the geometric space are obtained according to the triangle formula in the mathematical domain by the second real-time position parameters (Δ X 'and Δ Y') obtained in step 605, that is, the distance d from the real-time position of the end of the flexible channel in the first coordinate system to the origin of the initial position area, the first scale factor(s) set by the operator (doctor) is obtained, and the real-time position of the end of the flexible channel and the position relationship of the initial position area are obtained by comparing the aforementioned d and the first preset distance, that is, the radius (r) of the initial position area is multiplied by the first scale factor(s). Is formulated as:

d > r s (formula 1)

d < = r × s (formula 2)

In the above formula 1 and formula 2, d represents a distance from a real-time position of the flexible channel end to an origin of the initial region, r represents a first preset distance as a radius of the initial position region, and s represents a first scale factor.

If the mathematical relationship in formula 1 is satisfied, the real-time position of the flexible channel end is outside the range of the initial position area. If the mathematical relationship in formula 2 is satisfied, the real-time position of the flexible channel end is within the range of the initial position area.

In another embodiment of the present invention, the initial position area is set as a rectangular initial area, and the first preset distance is the side length (length and width) of the initial position area, so that it is determined whether the first real-time position parameter (Δ X and Δ Y) is greater than the length multiplied by the first scale factor and the width multiplied by the first scale factor of the rectangular initial area, respectively. If both the delta X and the delta Y are smaller than the initial position area range, the real-time position of the tail end of the flexible channel is within the initial position area range, and if at least one of the delta X and the delta Y is larger than the initial position area range, the real-time position of the tail end of the flexible channel is outside the initial position area range.

The reason why two types of initial position areas are selected is that the circular initial area is set in consideration of a judgment standard using the orientation of the end actuator as a reference frame, and conforms to the judgment logic of normal consciousness of a person. The rectangular initial area is set by considering the range area which can be reached by each pair of symmetrical position steel wires along the drawing direction of the steel wires, the range area accords with the action range logic of a machine in a task space, two initial position areas can be provided for selection, and in the actual use process, a user can select a mode which is relatively accordant with the use habit and the judgment standard of the user to select the corresponding initial area, and the application is not limited specifically.

Therefore, if the real-time position of the flexible channel is within the initial position region, the current state of the flexible channel is in the initial state.

It should be noted that, in the embodiment of the present invention, although the triangular space channel and the flexible channel are both satisfied as being in the initial state, the actual meanings of the initial states of the triangular space channel and the flexible channel are not the same, and specific reference is made to the above.

And 104, determining whether the endoscopic instrument can be pulled out or not according to the current state of the triangular area channel and the current state of the flexible channel.

In the embodiment of the present invention, the current state of the trigonal channels and the current state of the flexible channels refer to the state of the trigonal channels and the flexible channels when the doctor (operator) needs to pull out the endoscopic instrument.

Firstly, the triangle channel and the flexible channel are components of a terminal tool, and the terminal tool is used as a surgical consumable and is arranged on a base of a surgical robot; the terminal tool further comprises a transmission mechanism and a control adapter, the control adapter is electromagnetically connected with a control handle of the endoscope instrument, and the control adapter is used for collecting an operation instruction of a user on the control handle and transmitting the operation instruction to the base, so that the base drives the transmission mechanism of the terminal tool to rotate by controlling a base motor, and then drives the flexible channel to pitch and yaw through the transmission mechanism.

Thus, if it is determined that the endoscopic instrument is unpluggable, an unlock command is sent to the control handle and/or the control adapter such that the electromagnetic connection between the control handle and the control adapter is unlocked.

It should be noted that the locking between the control handle and the control adapter is achieved by the magnetic force between the electromagnet ring on the control handle and the magnetic material on the control adapter. Specifically, the control handle is electromagnetically connected with the control adapter through the electromagnet ring, the control handle sends received operation information to the control adapter, and an encoder of the control adapter sends the operation information to the real-time controller of the base.

Therefore, when the endoscope instrument cannot be pulled out, the control output port provides working voltage for the electromagnetic ring, so that the control handle and the control adapter are locked by magnetic force; when the endoscope instrument is determined to be pulled out, the working voltage of the electromagnetic ring is cut off, so that the magnetic force between the control handle and the control adapter disappears.

In summary, when the real-time controller determines that the control handle and the control adapter are in the locked state, the real-time controller controls the output port to provide working voltage for the electromagnet, and the control handle and the control adapter are locked by magnetic force; when the real-time controller judges that the control handle and the control adapter are in an unlocking state, the real-time controller controls the output port to cut off the working voltage of the electromagnet, and the magnetic force between the control handle and the control adapter disappears. It should be noted that the locking between the control handle and the control adapter is realized by the magnetic force between the electromagnet ring on the control handle and the magnetic material on the control adapter. When the real-time controller judges that the control handle and the control adapter are in a locked state, the control output port provides working voltage for the electromagnet, the handle and the control adapter are locked by magnetic force, and the handle cannot be pulled out. When the real-time controller judges that the control handle and the control adapter are in an unlocking state, the output port is controlled to cut off the working voltage of the electromagnet, the magnetic force between the handle and the control adapter disappears, and the handle can be pulled out.

Secondly, when it is satisfied that the trigonal passage is in the initial state and the flexible passage is in the initial state at the same time, which means that the entire flexible passage is in a straight state at this time, further, as shown in fig. 2, fig. 2 is a flowchart illustrating another endoscopic instrument replacement method according to an exemplary embodiment, and determining whether the endoscopic instrument can be pulled out includes:

step 201, if the current state of the triangular area channel is in the initial state of the triangular area channel and the current state of the flexible channel is in the initial state of the flexible channel, determining whether the endoscopic instrument is in an inactive state, wherein the inactive state includes that the endoscopic instrument is in an inactive state when event information that a preset control button is pressed is detected.

It should be noted that, when it is detected that the current state of the triangular area channel is in the initial state of the triangular area channel and the current state of the flexible channel is in the initial state of the flexible channel, it is further determined whether the endoscopic instrument is in the inactive state, specifically, for example, a click operation of a user on a preset control button is obtained, when the user needs to take off the endoscopic instrument, the operation active state is converted into the operation inactive state, that is, when it is detected that the event information that the preset control button is pressed is detected, the endoscopic instrument is in the inactive state, and only when the endoscopic instrument is in the inactive state, it can be determined that the endoscopic instrument can be pulled out.

Step 202, if the endoscope device is in an inactive state, determining that the endoscope device can be pulled out; determining that the endoscopic instrument may not be withdrawn if the endoscopic instrument is in an activated state.

In step 202, it is determined that even if it is detected that the current state of the trigonal passage is in the initial state of the trigonal passage and the current state of the flexible passage is in the initial state of the flexible passage, it is further determined whether the endoscopic instrument is in the inactive state, and the endoscopic instrument can be pulled out only if the endoscopic instrument is in the inactive state.

In this embodiment, the operation activated state and the operation deactivated state refer to: during the operation, when the doctor considers that the endoscopic instrument needs to be removed, the doctor needs to click the corresponding button, and then the operation activation state is converted into the operation inactivation state, namely, the possibility of replacing the endoscopic instrument can be existed only in the operation inactivation state.

And step 203, if the current state of the triangular area channel is not in the initial state of the triangular area channel, or the current state of the flexible channel is not in the initial state of the flexible channel, determining that the endoscopic instrument cannot be pulled out.

It should be noted that, when the current state of the triangular space channel is not in the initial state of the triangular space channel or the current state of the flexible channel is not in the initial state of the flexible channel, the endoscopic instrument may not be pulled out even though the endoscopic instrument is in the inactive state.

Further, as shown in fig. 3, fig. 3 is a flow chart illustrating another endoscopic instrument replacement method according to an exemplary embodiment, which determines whether the endoscopic instrument can be pulled out according to the current state of the trigonal channel and the current state of the flexible channel, and further includes the steps of:

step 301, if the current state of the triangular area channel is in the initial state of the triangular area channel, and the current state of the flexible channel is in the initial state of the flexible channel, determining whether the control adapter is pulled outwards to the farthest end along with the control handle.

In another embodiment of the present invention, in case that it is detected that the current state of the triangle section passageway is in the initial state of the triangle section passageway, and the current state of the flexible passageway is in the initial state of the flexible passageway, it is further required to judge whether the control adapter is pulled out to the most distal end following the control handle.

Further, determining whether the control adapter is pulled out to a distal-most end following the control handle comprises: and judging whether one side of the control adapter, which is far away from the flexible channel, contacts and presses the preset sensor, and if the side of the control adapter contacts and presses the preset sensor, determining that the control adapter is pulled outwards to the farthest end along with the control handle. It should be noted that when the control adapter is pulled to the distal-most end, the control adapter contacts and presses against a sensor, wherein the sensor is not specifically limited in this application, including but not limited to, for example, a pressure sensor, to generate a change in the electrical signal, and the system determines that the control adapter is pulled to the distal-most end.

And when the control adapter is not pulled to the farthest end, the handle of the endoscope instrument needs to be connected with the control adapter through the electromagnet ring, so that the operation (such as moving back and forth or rotating) of the handle by a doctor can be transmitted to the control adapter, and the encoder of the control adapter transmits the operation information of the handle to the real-time controller in the base. The real-time controller controls the corresponding motor to rotate according to the operation of a doctor, so that the channel in the triangular area is driven to be opened or closed, or the flexible channel is controlled to pitch or yaw.

Therefore, the specific operation of step 302, step 303 is obtained according to the determination whether the control adapter is pulled out to the farthest end following the control handle.

If the control adapter has been pulled out to the distal-most end following the control handle, it is determined that the endoscopic instrument can be pulled out, step 302.

Step 303, determining that the endoscopic instrument may not be pulled out if the control adapter has not been pulled out to the distal-most end following the control handle.

And 304, if the current state of the triangular area channel is not in the initial state of the triangular area channel or the current state of the flexible channel is not in the initial state of the flexible channel, determining that the endoscopic instrument cannot be pulled out.

In step 304, i.e. when the current state of the trigonal passage is not in the initial state of the trigonal passage or the current state of the flexible passage is not in the initial state of the flexible passage, the endoscopic instrument cannot be pulled out even if the control adapter has been pulled out to the most distal end following the control handle.

Further, as long as any one of the above 4 conditions is not satisfied, namely the following 4 cases: the triangular area channel is in an open state, the flexible channel is not in an initial state, an operation activation state is not converted into an operation non-activation state, the control adapter is not in contact with and extrudes the preset sensor, at the moment, the control handle and the control adapter are both in a locking state, the control output port provides working voltage for the electromagnet, the handle and the control adapter are locked by magnetic force, the handle cannot be pulled out, and an endoscope instrument cannot be replaced.

Fig. 5 is a block diagram of an apparatus for changing an endoscopic instrument according to an exemplary embodiment, the apparatus includes an acquisition module 501, a first determination module 502, a second determination module 503, and a determination module 504.

The acquisition module 501 is configured to acquire angle data of a triangular area channel, pitch angle data of a flexible channel, and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed;

a first judging module 502, configured to judge, according to the triangle area channel angle data, whether a current state of the triangle area channel is in an initial state of the triangle area channel;

a second determining module 503, configured to determine whether a current state of the flexible channel is in an initial state of the flexible channel according to the flexible channel pitch angle data and the flexible channel yaw angle data;

a determining module 504, configured to determine whether the endoscopic instrument is removable according to the current state of the trigonal channel and the current state of the flexible channel.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 4 is a block diagram illustrating an electronic device 400 according to an example embodiment. For example, the electronic device 400 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 4, electronic device 400 may include one or more of the following components: processing component 402, memory 404, power component 406, multimedia component 408, audio component 410, input/output interface 412, sensor component 414, and communication component 416.

The processing component 402 generally controls the overall operation of the device, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 402 may include one or more processors 420 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 402 can include one or more modules that facilitate interaction between the processing component 402 and other components. For example, the processing component 402 can include a multimedia module to facilitate interaction between the multimedia component 408 and the processing component 402.

The memory 404 is configured to store various types of data to support operations at the electronic device 400. Examples of such data include instructions for any application or method operating on the device, contact data, phonebook data, messages, pictures, videos, and the like. The memory 404 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 406 provides power to the various components of the electronic device 400. Power components 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic device 400.

The multimedia component 408 comprises a screen providing an output interface between the electronic device 400 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 408 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 400 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 410 is configured to output and/or input audio signals. For example, the audio component 410 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 400 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 404 or transmitted via the communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.

The input/output interface 412 provides an interface between the processing component 402 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor component 414 includes one or more sensors for providing various aspects of status assessment for the electronic device 400. For example, the sensor assembly 414 may detect an open/closed state of the electronic device 400, the relative positioning of components, such as a display and keypad of the electronic device 400, the sensor assembly 414 may also detect a change in the position of the electronic device 400 or a component of the electronic device 400, the presence or absence of user contact with the electronic device 400, orientation or acceleration/deceleration of the electronic device 400, and a change in the temperature of the electronic device 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 416 is configured to facilitate wired or wireless communication between the electronic device 400 and other devices. The electronic device 400 may access a wireless network based on a communication standard, such as WiFi, a carrier network (such as 2G, 3G, 4G, or 5G), or a combination thereof. In an exemplary embodiment, the communication component 416 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 404 comprising instructions, executable by the processor 420 of the electronic device 400 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. An endoscope instrument replacement method applied to a surgical robot is characterized by comprising the following steps:

acquiring angle data of a triangular area channel, pitch angle data of a flexible channel and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed; the trigonal channel and the flexible channel are part of a tip tool mounted on a base of a surgical robot; the end tool comprises a channel which is divided into A, B sections, wherein the A section refers to the trigonal area channel, the B section refers to the flexible channel, and the offset condition of the B section affects the operation state of the endoscopic instrument inserted into the flexible channel;

2. The method of claim 1, wherein determining whether the endoscopic instrument is removable based on the current state of the trigonal channel and the current state of the flexible channel comprises:

3. The method of claim 1, wherein the end tool further comprises a transmission mechanism and a control adapter, the control adapter is electromagnetically coupled to a control handle of the endoscopic instrument, and the control adapter is configured to collect user operation commands for the control handle and transmit the operation commands to the base, such that the base controls a base motor to rotate the transmission mechanism of the end tool, thereby driving the flexible channel to pitch and yaw via the transmission mechanism; the method further comprises the following steps:

4. The method of claim 3, wherein determining whether the endoscopic instrument is extractable based on the current state of the trigonal channel and the current state of the flexible channel comprises:

5. The method of claim 4, wherein said determining whether the control adapter is drawn outwardly to a distal-most end following the control handle comprises:

6. The method of claim 3, wherein the control handle is electromagnetically coupled to the control adapter through an electromagnet ring, the control handle transmitting the received operational information to the control adapter, an encoder of the control adapter transmitting the operational information to a real-time controller of the base.

7. The method of claim 6, further comprising:

when the endoscope instrument cannot be pulled out, providing working voltage for the electromagnet ring, and locking the control handle and the control adapter through magnetic force;

and when the endoscope instrument is determined to be pulled out, the working voltage of the electromagnet ring is cut off, so that the magnetic force between the control handle and the control adapter disappears.

8. The method of claim 1, wherein the unfolding angle of the triangle section channel is controlled by a gear, and the determining whether the current state of the triangle section channel is in the initial state of the triangle section channel according to the triangle section channel angle data comprises:

9. An endoscopic instrument exchange device, the device comprising:

the acquisition module is used for acquiring angle data of the triangular area channel, pitch angle data of the flexible channel and yaw angle data of the flexible channel in a preset period; the triangular area channel is communicated with the flexible channel, the triangular area channel and the flexible channel are used for an endoscope instrument to pass through, the triangular area channel is used for opening human tissues to form an operation space when being unfolded, and the flexible channel is used for driving the endoscope instrument to move when being pitched and yawed; the trigonal channel and the flexible channel are part of a tip tool mounted on a base of a surgical robot; the end tool comprises a channel which is divided into A, B sections, wherein the A section refers to the trigonal area channel, the B section refers to the flexible channel, and the offset condition of the B section affects the operation state of the endoscopic instrument inserted into the flexible channel;

10. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the endoscopic instrument replacement method according to any one of claims 1 to 8.

11. A computer-readable storage medium, in which instructions that, when executed by a processor of a mobile terminal, enable the mobile terminal to perform the endoscopic instrument replacement method according to any one of claims 1 to 8.