CN113925614B

CN113925614B - Clamping angle control method and device and surgical robot

Info

Publication number: CN113925614B
Application number: CN202111540139.1A
Authority: CN
Inventors: 王迎智; 马晓忠; 董先公
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-03-15
Anticipated expiration: 2041-12-16
Also published as: CN113925614A

Abstract

The invention provides a clamping angle control method, a clamping angle control device and a surgical robot, wherein the method is applied to a power main machine of the surgical robot, and the surgical robot further comprises a pressure sensor, a handle mechanism and an instrument; the method specifically comprises the following steps: acquiring a current instrument control signal according to the charge value detected by the pressure sensor; determining a target clamping angle corresponding to the current instrument control signal according to a preset incidence relation between the instrument control signal and the clamping angle; and adjusting the current clamping angle of the tail end executive part of the control instrument to be the target clamping angle. According to the technical scheme provided by the invention, the acting force applied by the operator is directly sensed by utilizing the pressure sensor, different acting forces correspond to different charge values, so that the target clamping angle directly reflecting the acting force applied by the operator is determined, the current clamping angle is adjusted based on the target clamping angle, and the accurate regulation and control of the clamping angle by the operator are facilitated.

Description

Clamping angle control method and device and surgical robot

Technical Field

The present invention relates to the field of surgical robot technology, and more particularly, to a clamping angle control method, device and surgical robot.

Background

With the development of intuitive medical treatment to precise medical treatment, an operation performed by using a surgical robot generally has the advantages of small wound and fast recovery, which makes the surgical robot widely used in surgical operations.

At present, the instrument clamping angle of a surgical robot is controlled by position information fed back by a position sensor, the size of the instrument clamping angle is controlled by establishing the relationship between the position information fed back by the position sensor and the clamping angle, the position information fed back by the position sensor has indirection, and an operator cannot intuitively feel the size of the instrument clamping angle and the acting force of the operator generally, so that the operator cannot accurately grasp the instrument clamping angle.

Disclosure of Invention

The invention provides a clamping angle control method and device and a surgical robot, and aims to solve the technical problem that an operator cannot accurately grasp an instrument clamping angle in the conventional surgical robot.

In a first aspect, a clamping angle control method is provided, which is applied to a power main machine of a surgical robot, wherein the surgical robot further comprises a pressure sensor, a handle mechanism and an instrument; the pressure sensor is arranged on the handle mechanism; the method specifically comprises the following steps:

acquiring a current instrument control signal according to the charge value detected by the pressure sensor;

determining a target clamping angle corresponding to the current instrument control signal according to a preset incidence relation between the instrument control signal and the clamping angle;

and controlling the current clamping angle of the tail end executive part of the instrument to be adjusted to the target clamping angle.

Optionally, the handle mechanism is connected with the power main machine through an adjusting ball assembly; a rod piece connected with the power main machine through the adjusting ball assembly is provided with a first magnet; the method further comprises:

acquiring a position control signal generated by the movement of the adjusting ball component according to a magnetic induction intensity change value between the adjusting ball component and the first magnet, which is determined by a magnetic position sensor;

and controlling the action path of the universal snake bone component of the instrument according to the position control signal.

Optionally, the handle mechanism comprises a finger buckle assembly and a control handle, and a second magnet is arranged at the tail end of the finger buckle assembly connected with the control handle; the method further comprises:

acquiring a rotation control signal generated by the movement of the finger button component according to a magnetic induction intensity change value between the first magnetic rotary encoder and the second magnet;

controlling a rotation path of the instrument based on the rotation control signal.

Optionally, the power host includes an instrument driving module, the instrument driving module includes a plurality of motor output shafts, and a third magnet is disposed on each motor output shaft or a shaft engaged with the motor output shaft through a gear; then said controlling a rotational path of said instrument based on said rotational control signal comprises:

controlling the instrument to rotate based on the rotation control signal;

acquiring a rotation feedback signal according to the magnetic induction intensity change value between the second magnetic rotary encoder and the third magnet;

controlling a rotation path of the instrument based on the rotation control signal and the rotation feedback signal.

Optionally, the handle mechanism comprises a finger-buckle assembly and a control handle, and the pressure sensor is arranged on the surface of the finger-buckle assembly; or the pressure sensor is arranged on the surfaces of the finger buckle assembly and the control handle.

Optionally, when the pressure sensor is disposed on the surface of the finger lock assembly and the control handle, the current instrument control signal includes a current main control signal and a current auxiliary control signal;

the acquiring a current instrument control signal according to the charge value detected by the pressure sensor includes:

acquiring a current main control signal according to a charge value detected by a pressure sensor arranged on the surface of the finger buckle assembly;

and acquiring a current auxiliary control signal according to the charge value detected by a pressure sensor arranged on the surface of the control handle.

Optionally, the obtaining a current instrument control signal according to the charge value detected by the pressure sensor includes:

determining a charge value detected by the pressure sensor;

and obtaining the current instrument control signal after the charge value passes through a charge amplifier and an automatic gain amplifier.

Optionally, the preset instrument control signal is in linear proportional relation with the clamping angle.

Optionally, the determining a target clamping angle corresponding to the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle includes:

performing adaptive filtering on the current instrument control signal to obtain a filtered current instrument control signal;

carrying out proportional amplification on the filtered current instrument control signal to obtain an amplified current instrument control signal;

and determining a target clamping angle corresponding to the amplified current instrument control signal according to a preset relation between the instrument control signal and the clamping angle.

Optionally, the instrument further comprises a traction steel wire, a metal elastomer quick-connection shaft and a strain gauge, wherein the traction steel wire is connected with the metal elastomer quick-connection shaft and used for controlling the clamping action of the tail end executive part of the instrument; a strain gauge is arranged on the metal elastic quick connecting shaft; the method further comprises:

acquiring current clamping resistance corresponding to the tail end executive part according to the strain gauge;

and displaying the current clamping resistance on a display screen of the power main machine.

determining a compensated instrument control signal corresponding to the current clamping resistance and the current instrument control signal according to a compensation relation between preset clamping resistance and the instrument control signal;

and determining a target clamping angle corresponding to the compensated instrument control signal according to a preset incidence relation between the instrument control signal and the clamping angle.

Optionally, after the current clamping angle of the end effector controlling the instrument is adjusted to the target clamping angle, the method further includes:

acquiring the adjusted clamping angle of the tail end executive part;

and if the adjusted clamping angle is equal to the current clamping angle, determining the clamping force of the tail end executive component based on the adjusted clamping angle and the current instrument control signal.

Optionally, the acquiring a current instrument control signal according to the charge value detected by the pressure sensor includes:

acquiring a charge value detected by a pressure sensor;

if the charge value is larger than a preset threshold value, acquiring a current instrument control signal according to the preset threshold value;

and if the charge value is less than or equal to the preset threshold value, acquiring the current instrument control signal according to the charge value.

Optionally, acquiring a charge value detected by the pressure sensor;

acquiring a current instrument control signal according to the charge value;

and if the current instrument control signal is greater than an instrument control signal threshold, determining the instrument control signal threshold as the current instrument control signal.

Optionally, the method further includes:

acquiring current pressure gear information selected by an operator;

determining a current basic instrument control signal corresponding to the current pressure gear information according to a preset incidence relation between the pressure gear information and a basic instrument control signal;

and acquiring a current instrument control signal according to the charge value detected by the pressure sensor and the current basic instrument control signal.

In a second aspect, a control device for clamping angle is provided, which is disposed on a power host of a surgical robot, the surgical robot further includes a pressure sensor, a handle mechanism and an instrument, the pressure sensor is disposed on the handle mechanism, the device includes:

the signal acquisition module is used for acquiring a current instrument control signal according to the charge value detected by the pressure sensor;

the angle determining module is used for determining a target clamping angle corresponding to the current instrument control signal according to the preset incidence relation between the instrument control signal and the clamping angle;

and the angle adjusting module is used for controlling the current clamping angle of the tail end executive part of the instrument to be adjusted to the target clamping angle.

In a third aspect, a surgical robot is provided, the surgical robot comprising a handle mechanism, a power host, an instrument, and a pressure sensor;

the first end of the power main machine is connected with the handle mechanism;

the second end of the power main machine is detachably connected with the instrument;

the surface of the handle mechanism is provided with a pressure sensor, and the power main machine is used for determining the clamping angle of the tail end executing piece of the instrument according to the charge value detected by the pressure sensor.

Optionally, the handle mechanism comprises a finger-lock assembly and a control handle;

the pressure sensor is arranged on the surface of the finger buckle assembly.

the pressure sensor is arranged on the surfaces of the finger buckle assembly and the control handle.

In a fourth aspect, there is provided a computer-readable storage medium storing a computer program for executing the above-described nip angle control method.

In a fifth aspect, an electronic device is provided, which includes:

a processor;

a memory for storing the processor-executable instructions;

the processor is used for reading the executable instruction from the memory and executing the instruction to realize the clamping angle control method.

Compared with the prior art, the clamping angle control method, the clamping angle control device, the surgical robot, the computer readable storage medium and the electronic equipment provided by the invention at least have the following beneficial effects:

the technical scheme provided by the invention is applied to a power main machine of a surgical robot, the surgical robot also comprises a pressure sensor, a handle mechanism and an instrument, the pressure sensor is arranged on the handle mechanism, the pressure sensor generates electric charges under the action force applied by an operator, and the electric charge values corresponding to different action forces are different in magnitude, so that the magnitude of the action force applied by the operator can be directly reflected by a current instrument control signal further acquired according to the electric charge values. After the current instrument control signal is determined, a corresponding target clamping angle is determined for the current instrument control signal according to the preset incidence relation between the instrument control signal and the clamping angle, and the current clamping angle of the tail end executive part of the instrument is adjusted to be the target clamping angle. Because the current instrument control signal is determined according to the electric charge value reflecting the acting force applied by the operator, the directness between the target clamping angle and the acting force applied by the operator can be determined according to the current instrument control signal, so that the operator can accurately grasp the relation between the applied acting force and the clamping angle of the tail end executing piece of the instrument, and the accurate regulation and control of the operator on the clamping angle are facilitated.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a first schematic flow chart of a clamping angle control method according to an exemplary embodiment of the present invention;

FIG. 2 is a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 3 is a second schematic flowchart of a clamping angle control method according to an exemplary embodiment of the present invention;

fig. 4 is a partially enlarged view of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 5 is a second partial enlarged view of a surgical robot to which the clamping angle control method according to the exemplary embodiment of the present invention is applied;

fig. 6 is a partially enlarged view three of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 7 is a fourth partial enlarged view of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 8 is a partially enlarged view of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 9 is a partial enlarged view six of a surgical robot to which the clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 10 is a partially enlarged view seven of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 11 is a partially enlarged view eight of a surgical robot to which a clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 12 is a partially enlarged view nine of a surgical robot to which the clamping angle control method according to an exemplary embodiment of the present invention is applied;

fig. 13 is a schematic structural diagram of a control device for a nip angle according to an exemplary embodiment of the present invention;

FIG. 14 is a block diagram of an electronic device provided in an exemplary embodiment of the invention;

wherein, in the figures, the respective reference numerals:

26-a handle mechanism; 263-finger snap assembly;

264-a second magnet; 265-control handle;

2651-an adjustment ball assembly; 266-a first magnetic rotary encoder;

267-a pressure sensor; 268-a magnetic position sensor;

27-a power main machine; 272-a first magnet;

273-display screen; 28-an instrument;

281-drawing the steel wire; 283-metal elastomer quick connecting shaft;

284-universal snake bone component; 285-strain gage;

286-end effector; 30-an instrument drive module;

301-a third magnet; 303-second magnetic rotary encoder.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, belong to the scope of protection of the embodiments of the present invention.

Exemplary method

Fig. 1 is a schematic flowchart of a clamping angle control method according to an exemplary embodiment of the present invention, and fig. 2 is a schematic structural diagram of a surgical robot 20, which is applied to a power main unit 27 of the surgical robot 20, and includes a pressure sensor 267, a handle mechanism 26, and an instrument 28; the pressure sensor 267 is disposed at the handle mechanism; the method specifically comprises the following steps:

step 101, acquiring a current instrument control signal according to the charge value detected by the pressure sensor.

In one embodiment, a pressure sensor 267 is disposed on the handle mechanism 26, and the pressure sensor 267 senses the force applied by the operator and detects a charge value directly reflecting the magnitude of the force applied by the operator. And the current instrument control signal determined according to the charge value can directly reflect the acting force applied by the operator. In particular, the pressure sensor 267 may be a diaphragm pressure sensor.

In one possible implementation, the obtaining a current instrument control signal according to the charge value detected by the pressure sensor includes: determining a charge value detected by the pressure sensor; and obtaining the current instrument control signal after the charge value passes through a charge amplifier and an automatic gain amplifier.

When an operator applies a force to the pressure sensor 267, the thickness of the pressure sensor 267 changes, and accordingly, a corresponding electric charge is generated, which is accumulated on the upper and lower electrodes, thereby generating a charge value corresponding to the magnitude of the force. As shown in FIG. 3, the electric charge is amplified by a charge amplifier, and the output value of the charge amplifier is represented by the piezoelectric charge coefficient of the pressure sensor 267d ₃₃[pC/N]And a capacitor C [ pF]The value is determined, the low frequency cut-off frequency is determined by the time constant RC, when the low frequency cut-off frequency is far larger than the low frequency cut-off frequency

Output voltage of charge amplifierVp[V]Comprises the following steps:

where Fp N characterizes the force applied perpendicular to the sensor surface. In order to ensure that the acting force applied by an operator can be accurately measured, the time constant RC is far longer than the duration of the acting force, the resistor R is 100M ohm, and the capacitor C is 100 pF-100 nF. In order to increase the dynamic range of voltage acquisition, the output voltage signal of the charge amplifier is connected to an automatic gain amplifier, and is connected to an Analog-to-Digital Converter (ADC) module of a Micro Control Unit (MCU) of the surgical robot after secondary amplification, so as to obtain the current instrument control signal. When the output of the automatic gain amplifier exceeds the input range of the ADC module, the MCU can adjust the voltage input into the ADC module by controlling the amplification factor of the automatic gain amplifier, so that the input voltage is always within the range of the ADC range.

And 102, determining a target clamping angle corresponding to the current instrument control signal according to a preset incidence relation between the instrument control signal and the clamping angle.

In one embodiment, the association between the instrument control signal and the clamping angle is predetermined, and different instrument control signals correspond to different clamping angles, so that after the current instrument control signal is determined, a target clamping angle corresponding to the current instrument control signal is determined according to the association, and the target clamping angle has a direct relationship with the acting force applied by the operator.

In one possible implementation, the relationship between the preset instrument control signal and the clamping angle is a linear proportional relationship, that is:

wherein the content of the first and second substances,

the control quantity of the clamping angle is represented,

the instrument control signal is characterized and k represents a scaling factor.

And 103, controlling the current clamping angle of the tail end executive part of the instrument to be adjusted to the target clamping angle.

In one embodiment, after the target clamping angle is determined, the current clamping angle of the end effector 286 of the instrument 28 is adjusted to the target clamping angle, wherein the current clamping angle is the clamping angle corresponding to the end effector 286 at the current moment, and after the operator applies the acting force, in order to ensure real-time change of the clamping angle of the end effector 286, the current clamping angle is adjusted to the target clamping angle that directly reflects the magnitude of the acting force applied by the operator. Specifically, after the MCU obtains the current instrument control signal and further determines the target clamping angle, the driving module is used to drive the motor, so that the clamping angle of the end effector of the instrument 28 is adjusted under the control of the motor.

According to the technical scheme provided by the embodiment, the handle mechanism 26 is provided with the pressure sensor 267, the pressure sensor generates charges under the action force applied by the operator, and the charge values corresponding to different action forces are different in magnitude, so that the current instrument control signal obtained according to the charge values can directly reflect the magnitude of the action force applied by the operator. After the current instrument control signal is determined, a corresponding target clamping angle is determined for the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle, and the current clamping angle of the distal end effector 286 of the instrument 28 is adjusted to the target clamping angle. Because the current instrument control signal can directly reflect the magnitude of the acting force applied by the operator, the determination of the directness between the target clamping angle and the acting force applied by the operator is ensured, and the operator can accurately grasp the relation between the applied acting force and the clamping angle of the tail end executive part 286 of the instrument 28, which is beneficial to the accurate regulation and control of the operator on the clamping angle.

As shown in fig. 4, in an exemplary embodiment of the invention, the handle mechanism 26 is connected to the power host 27 via an adjusting ball assembly 2651; a first magnet 272 is arranged on a rod connected with the adjusting ball assembly 2651 and the power main machine 27; the method further comprises:

and 104, acquiring a position control signal generated by the movement of the adjusting ball component according to the magnetic induction intensity change value between the magnetic position sensor and the first magnet.

And 105, controlling the action path of the universal snake bone component of the instrument according to the position control signal.

In the above embodiment, the handle mechanism 26 is hinged to the power unit 27 via the adjusting ball assembly 2651, so that the handle mechanism 26 can perform yaw and pitch motions relative to the power unit 27. When the handle mechanism 26 has yaw and pitch motions relative to the power main unit 27, the magnetic position sensor 268 senses a change in magnetic induction with the first magnet 272, determines a change value of the magnetic induction, and establishes a positional relationship of the first magnet 272 relative to the magnetic position sensor 268, that is, a positional relationship of the handle mechanism 26 relative to the power main unit 27 through internal calculation according to the change value, so as to acquire a position control signal generated by the movement of the adjusting ball assembly 2651. Specifically, after the position relationship is determined, the analog signals are output to an ADC module of the MCU in the form of two paths of analog signals. The MCU can acquire the position of the handle mechanism 26 relative to the power main unit 27 by acquiring two signals and processing the signals, and then the position control signal is used as a position reference signal to control the universal snake bone assembly 284 of the instrument 28 to perform pitching and yawing actions through the motor.

As shown in fig. 5, in an exemplary embodiment of the present invention, the handle mechanism 26 includes a finger-lock component 263 and a control handle 265, and a second magnet 264 is disposed at the end of the finger-lock component 263 connected to the control handle 265; the method further comprises:

and 106, acquiring a rotation control signal generated by the movement of the finger button component according to the magnetic induction intensity change value between the first magnetic rotary encoder and the second magnet.

Step 107, controlling a rotation path of the instrument based on the rotation control signal.

In the embodiment described above, the instrument 28 requires not only pitch and yaw, but also axial rotation about the instrument 28 during the surgical procedure, and in this embodiment, the operator can effect axial rotation of the instrument 28 via the finger assembly 263. The finger-lock assembly 263 is embodied as a finger-lock, and when an operator rotates the finger-lock, the position of the second magnet 264 of the end of the finger-lock connected to the control handle 265 is changed with respect to the first magnetic rotary encoder 266, so that the first magnetic rotary encoder 266 determines a rotation control signal in which the rotation angle of the finger-lock exists by determining a magnetic induction conversion value with the second magnet 264. To effect rotation of the implement 28, when the rotation control signal is determined, the power master 27 controls the rotation path of the implement 28 based on the rotation control signal to effect pivoting of the implement 28. Specifically, as shown in FIG. 6, when the finger assembly 263 is embodied as a finger, the film pressure sensor 267 is attached to the surface of the finger.

In a possible implementation manner, an instrument driving module 30 is arranged in the power main 27, the instrument driving module 30 includes a plurality of motor output shafts, and a third magnet 301 is arranged on each motor output shaft or a shaft engaged with the motor output shaft through a gear; said step 107 of controlling a rotation path of said instrument with said power master based on said rotation control signal comprises:

step 1071, controlling the instrument to rotate based on the rotation control signal.

Step 1072, obtaining a rotation feedback signal according to the magnetic induction intensity variation value determined by the second magnetic rotary encoder and the third magnet.

Step 1073, controlling a rotation path of the instrument based on the rotation control signal and the rotation feedback signal.

In the above embodiment, in order to accurately determine the rotation of the instrument 28 when the instrument 28 is controlled to rotate by the power main unit 27, as shown in fig. 7, 8 and 9, the third magnet 301 is provided on the motor output shaft or a shaft engaged with the motor output shaft through a gear, and a corresponding second magnetic rotary encoder 303 is provided for each third magnet 301, each second magnetic rotary encoder 303 can sense the corresponding third magnet 301, so that when the position of the third magnet 301 on the motor output shaft or the shaft engaged with the motor output shaft through the gear changes, the second magnetic rotary encoder 303 can determine the magnetic induction intensity change value with the corresponding third magnet 301, so that the second magnetic rotary encoder 303 can acquire the rotation angle of the third magnet 301, and the rotation angle of the third magnet 301 can be used as rotation feedback information for feedback of the rotation position, so that the power main unit 27 can accurately grasp the rotation of the tool 28 based on the obtained rotation feedback information. When it is determined from the rotation feedback information that the instrument 28 has rotated to the target position determined by the rotation control signal, the rotation of the instrument 28 may be stopped.

In an exemplary embodiment of the present invention, the pressure sensor 267 is disposed on a surface of the finger assembly 263 and the control handle 265. Specifically, the pressure sensor 267 provided at the control handle 265 may be provided at a position corresponding to a middle finger, ring finger, or little finger. When the pressure sensor 267 is disposed on the surface of the finger assembly 263 and the control handle 265, the current instrument control signal comprises a current main control signal and a current auxiliary control signal; in step 101, obtaining a current instrument control signal according to the charge value detected by the pressure sensor, including:

and step 1011, acquiring a current main control signal according to the charge value detected by the pressure sensor arranged on the surface of the finger buckle assembly.

In step 1012, a current auxiliary control signal is obtained according to the charge value detected by the pressure sensor disposed on the surface of the control handle.

In the above embodiment, the operator obtains the current main control signal according to the charge value corresponding to the acting force exerted on the pressure sensor 267 on the surface of the finger-buckling assembly 263; the current auxiliary control signal is acquired by the charge value corresponding to the force applied by the operator on the pressure sensor 267 on the surface of the control handle 265. Multiple controls of the instrument 28 are achieved to meet the needs of different operators.

It should be noted that, when there is a current main control signal and a current auxiliary control signal, the instrument control signal in the preset association relationship between the instrument control signal and the clamping angle includes the main control signal and the auxiliary control signal, so that an accurate target clamping angle can be determined according to the preset association relationship. Although the pressure sensors 267 are provided on both the face of the finger assembly 263 and the face of the control handle 265, there are situations where the operator can use either, and therefore the method further comprises: and judging whether the current main control signal or the current auxiliary control signal exists at the same time, if not, obtaining the current main control signal or the current auxiliary control signal as the current instrument control signal.

In an exemplary embodiment of the present invention, the determining a target clamping angle corresponding to the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle includes: performing adaptive filtering on the current instrument control signal to obtain a filtered current instrument control signal; carrying out proportional amplification on the filtered current instrument control signal to obtain an amplified current instrument control signal; and determining a target clamping angle corresponding to the amplified current instrument control signal according to a preset relation between the instrument control signal and the clamping angle.

In the above embodiment, when the operator applies an acting force to the pressure sensor 267, there is a physiological shake, which may cause signal noise and affect the control result, and in order to eliminate the effect of the physiological shake, after the current instrument control signal is obtained, the current instrument control signal is adaptively filtered, and the filtered current instrument control signal is obtained. In order to further obtain a more accurate target clamping angle, the filtered current instrument control signals are amplified in proportion, and the difference between the amplified current instrument control signals is more obvious, so that the more accurate target clamping angle can be obtained.

In an exemplary embodiment of the present invention, the acquiring of the current instrument control signal from the charge value detected by the pressure sensor includes: acquiring a charge value detected by a pressure sensor; if the charge value is larger than a preset threshold value, acquiring a current instrument control signal according to the preset threshold value; and if the charge value is less than or equal to the preset threshold value, acquiring the current instrument control signal according to the charge value.

In the above embodiment, after the charge value detected by the pressure sensor 267 is obtained, if the charge value is greater than the preset threshold, that is, the acting force applied by the operator is too large, in order to ensure safety, the current instrument control signal is obtained according to the preset threshold, that is, after the charge value is greater than the preset threshold, the corresponding current instrument control signal is not determined according to the charge value, but the current instrument control signal is stabilized at the instrument control signal corresponding to the preset threshold. And if the charge value is less than or equal to the preset threshold value, directly acquiring the current instrument control signal according to the acquired charge value.

In an exemplary embodiment of the present invention, the acquiring of the current instrument control signal from the charge value detected by the pressure sensor includes: acquiring a charge value detected by a pressure sensor; acquiring a current instrument control signal according to the charge value; and if the current instrument control signal is greater than an instrument control signal threshold, determining the instrument control signal threshold as the current instrument control signal.

In the above embodiment, after determining the current instrument control signal according to the charge value, if the current instrument control signal is greater than the instrument control signal threshold, the instrument control signal threshold is determined as the current instrument control signal, that is, when the force applied by the operator is too large, the current instrument control signal is still maintained at the instrument control signal threshold for safety protection. So that the clamping force of the instrument does not continuously increase along with the increase of the acting force applied by the operator.

In an exemplary embodiment of the invention, as shown in fig. 10 and 11, the device 28 further comprises a puller wire 281, a metal elastomer quick-connect shaft 283 and a strain gage 285, wherein the puller wire 281 is connected with the metal elastomer quick-connect shaft 283, and the puller wire 281 is used for controlling the clamping action of the end effector 286 of the device 28; a strain gage 285 is arranged on the metal elastic quick-connection shaft 283; the method further comprises: acquiring current clamping resistance corresponding to the tail end executive part according to the strain gauge; and displaying the clamping resistance on a display screen of the power main machine.

In the above embodiment, the instrument 28 includes 4 pulling wires 281, the pulling wires 281 are respectively connected to the metal elastomer quick-coupling shafts 283, as shown in fig. 11, strain gauges 285 are attached to the metal elastomer quick-coupling shafts 283, the strain gauges 285 can sense the clamping resistance corresponding to the end effector 286, specifically, the current clamping resistance is determined according to the pulling force corresponding to the pulling wires 281, and is displayed on the display screen 273 of the power main unit 27 (as shown in fig. 12), so that the operator can visually sense the clamping resistance through the display screen, which is beneficial for the operator to better control the end effector. Specifically, as shown in fig. 3, the clamping resistance measured by the strain gauge is input to the ADC template via the signal conditioning circuit and finally displayed in the OLED.

In an exemplary embodiment of the present invention, the step 102 of determining the target clamping angle corresponding to the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle includes: determining a compensated instrument control signal corresponding to the current clamping resistance and the current instrument control signal according to a compensation relation between preset clamping resistance and the instrument control signal; and determining a target clamping angle corresponding to the compensated instrument control signal according to a preset incidence relation between the instrument control signal and the clamping angle.

In the above embodiment, there may be resistance in the process of clamping, so in order to determine an accurate target clamping angle, after the current clamping resistance corresponding to the end effector 286 is obtained according to the strain gauge 285, according to the compensation relationship between the preset clamping resistance and the instrument control signal, for example, the clamping resistance is subtracted from the instrument control signal, so that after the current instrument control signal is obtained, the current clamping resistance is subtracted from the current instrument control signal, a compensated instrument control signal is obtained, and according to the association relationship between the preset instrument control signal and the clamping angle, the target clamping angle corresponding to the supplemented instrument control signal is determined.

In an exemplary embodiment of the invention, after the current clamping angle of the end effector controlling the instrument is adjusted to the target clamping angle, the method further comprises: acquiring the adjusted clamping angle of the tail end executive part; and if the adjusted clamping angle is equal to the current clamping angle, determining the clamping force of the tail end executive component based on the adjusted clamping angle and the current instrument control signal.

In the above embodiment, if the adjusted clamping angle is equal to the current clamping angle, that is, even if the operator increases the magnitude of the applied force at this time, the clamping angle cannot be further decreased, so that the clamping force of the distal end effector is determined according to the adjusted clamping angle and the current instrument control signal, that is, the clamping force can be appropriately increased when the clamping angle cannot be decreased. Specifically, a target instrument control signal corresponding to the adjusted clamping angle or the current clamping angle is determined; the target instrument control signal represents the instrument control signal size required by the adjusted clamping angle, the increase of the current instrument control signal compared with the target instrument control signal is determined based on the difference between the current instrument control signal and the target instrument control signal, and the clamping force of the tail end executive part is determined according to the difference.

In one embodiment of the invention, the method further comprises: and acquiring the current pressure gear information selected by the operator. The acquiring a current instrument control signal according to the charge value detected by the pressure sensor includes: determining a current basic instrument control signal corresponding to the current pressure gear information according to a preset incidence relation between the pressure gear information and a basic instrument control signal; and acquiring a current instrument control signal according to the charge value detected by the pressure sensor and the current basic instrument control signal.

In the above-described embodiment, the preset pressure range is selected by the operator, and in different pressure ranges, the operator can achieve the same clamping angle of end effector 286 of instrument 28 by applying different forces. For example, there are 3 pressure ranges, including a high range, a mid range, and a low range, in which the operator needs to apply a greater force to make the angle of the end effector 286 smaller, and in which the operator needs to apply a lesser force to make the angle of the end effector 286 smaller. Thus allowing the operator to make pressure gear selections that allow the operator to achieve accurate control of the implement 28 for different finger force levels. And when the operator needs to continuously apply a larger acting force, the pressure gear can be selected to be increased, namely the instrument 28 can be controlled by using a smaller acting force, so that the operator can control the instrument 28 for a longer time, and the excessive fatigue of the operator is avoided. When the current instrument control signal is determined, the current instrument control signal is determined together with the charge value detected by the pressure sensor 267 and the current basic instrument control signal.

Specifically, different basic instrument control signals are set for different pressure gears, for example, no basic instrument control signal is set for a low gear, a medium-level basic instrument control signal is set for a medium gear, and a high-level basic instrument control signal is set for a high gear. And determining an additional instrument control signal according to the charge value detected by the pressure sensor 267, and combining the additional instrument control signal and the basic instrument control signal to determine a current instrument control signal. In the high gear, the control effect same as that of the middle gear by applying a larger acting force can be achieved by applying a smaller acting force during operation, and convenience is provided for an operator.

Exemplary devices

Based on the same conception as the method embodiment, the embodiment of the invention also provides a clamping angle control device.

Fig. 13 is a schematic structural diagram of a control device for a clamping angle provided in an exemplary embodiment of the present invention, the control device is disposed on a power main unit of a surgical robot, the surgical robot further includes a pressure sensor 267, a handle mechanism 26, and an instrument 28, the pressure sensor 267 is disposed on the handle mechanism 26; the device comprises:

the signal acquisition module 131 is configured to acquire a current instrument control signal according to the charge value detected by the pressure sensor;

an angle determining module 132, configured to determine a target clamping angle corresponding to the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle;

an angle adjusting module 133, configured to control a current clamping angle of the distal end effector of the instrument to be adjusted to the target clamping angle.

In an exemplary embodiment of the present invention, the handle mechanism 26 is connected to the power main 27 via an adjusting ball assembly 2651; a first magnet 272 is arranged on a rod connected with the adjusting ball assembly 2651 and the power main machine 27; the apparatus further comprises:

the position signal acquisition module is used for acquiring a position control signal generated by the movement of the adjusting ball component according to a magnetic induction intensity change value between the magnetic position sensor and the first magnet;

and the motion path determining module is used for controlling the motion path of the universal snake bone component of the instrument according to the position control signal.

In an exemplary embodiment of the present invention, the handle mechanism 26 includes a finger-buckle assembly 263 and a control handle 265, and a second magnet 264 is disposed at the end of the finger-buckle assembly 263 connected to the control handle 265; the apparatus further comprises:

the rotation signal acquisition module is used for acquiring a rotation control signal generated by the movement of the finger fastener component according to the magnetic induction intensity change value between the first magnetic rotary encoder and the second magnet;

a rotation path determination module to control a rotation path of the instrument based on the rotation control signal.

In an exemplary embodiment of the invention, the pressure sensor 267 is disposed on a surface of the finger assembly; alternatively, the pressure sensor 267 is disposed on a surface of the finger assembly and the control handle.

In an exemplary embodiment of the present invention, when the pressure sensor 267 is disposed on the surface of the finger lock assembly and the control handle, the current instrument control signal includes a current main control signal and a current auxiliary control signal; the signal acquisition module comprises:

the main signal acquisition unit is used for acquiring a current main control signal according to a charge value detected by a pressure sensor arranged on the surface of the finger buckle assembly;

and the auxiliary signal acquisition unit is used for acquiring the current auxiliary control signal according to the charge value detected by the pressure sensor arranged on the surface of the control handle.

In an exemplary embodiment of the present invention, the power main 27 includes an instrument driving module 30, the instrument driving module 30 includes a plurality of motor output shafts, and a third magnet 301 is disposed on each of the motor output shafts or a shaft engaged with the motor output shafts through a gear; the rotation path determination module includes:

a rotation control unit for controlling the instrument to rotate based on the rotation control signal;

the feedback acquisition unit is used for acquiring a rotation feedback signal according to the magnetic induction intensity change value determined by the second magnetic rotary encoder and the third magnet;

a path determination unit for controlling a rotation path of the instrument based on the rotation control signal and the rotation feedback signal.

In an exemplary embodiment of the present invention, the signal obtaining module includes:

a change value determination unit for determining a charge value detected by the pressure sensor;

and the signal processing unit is used for acquiring the current instrument control signal after the charge value passes through the charge amplifier and the automatic gain amplifier.

In an exemplary embodiment of the present invention, the relationship between the preset instrument control signal and the clamping angle is a linear proportional relationship.

In an exemplary embodiment of the invention, the angle determining module includes:

the filtering processing unit is used for carrying out self-adaptive filtering on the current instrument control signal to obtain a filtered current instrument control signal;

the amplification processing unit is used for carrying out proportional amplification on the filtered current instrument control signal to obtain an amplified current instrument control signal;

and the first angle determining unit is used for determining a target clamping angle corresponding to the amplified current instrument control signal according to the preset relation between the instrument control signal and the clamping angle.

In an exemplary embodiment of the invention, the instrument 28 further comprises a puller wire 281, a metal elastomer quick-connect shaft 283 and a strain gage 285, the puller wire 281 being connected to the metal elastomer quick-connect shaft 283, the puller wire 281 being used to control the clamping action of a distal actuator 286 of the instrument 28; a strain gage 285 is arranged on the metal elastic quick-connection shaft 283; the device further comprises:

the resistance acquisition module is used for acquiring clamping resistance corresponding to the tail end executive part according to the strain gauge;

and the resistance display module is used for displaying the clamping resistance on a display screen of the power main machine.

In an exemplary embodiment of the invention, the angle determination module includes:

the compensation signal determining unit is used for determining the compensated instrument control signal corresponding to the current clamping resistance and the current instrument control signal according to the preset compensation relation between the clamping resistance and the instrument control signal;

and the second angle determining unit is used for determining a target clamping angle corresponding to the compensated instrument control signal according to the preset incidence relation between the instrument control signal and the clamping angle.

In an exemplary embodiment of the invention, the apparatus further comprises:

the adjusting angle acquisition module is used for acquiring the adjusted clamping angle of the tail end executive part;

and the clamping force determining module is used for determining the clamping force of the tail end executive part based on the adjusted clamping angle and the current instrument control signal if the adjusted clamping angle is equal to the current clamping angle.

In an exemplary embodiment of the present invention, the signal acquisition module includes:

a charge value acquisition unit for acquiring a charge value detected by the pressure sensor;

the first judgment unit is used for acquiring a current instrument control signal according to a preset threshold value if the charge value is larger than the preset threshold value;

and the second judging unit is used for acquiring the current instrument control signal according to the charge value if the charge value is less than or equal to the preset threshold value.

the signal acquisition unit is used for acquiring a current instrument control signal according to the charge value;

and the third judging unit is used for determining the instrument control signal threshold as the current instrument control signal if the current instrument control signal is greater than the instrument control signal threshold.

In an exemplary embodiment of the invention, the apparatus further comprises:

the gear information acquisition module is used for acquiring current pressure gear information selected by an operator;

the signal acquisition module is used for determining a current basic instrument control signal corresponding to the current pressure gear information according to a preset incidence relation between the pressure gear information and the basic instrument control signal; and acquiring a current instrument control signal according to the charge value detected by the pressure sensor and the current basic instrument control signal.

As shown in fig. 2, in an exemplary embodiment of the present invention, a surgical robot is provided, which includes a handle mechanism 26, a power host 27, an instrument 28, and a pressure sensor 267; a first end of the power main 27 is connected with the handle mechanism 26; the second end of the power main unit 27 is detachably connected with the instrument 28; the surface of the handle mechanism 26 is provided with a pressure sensor 267, and the power main machine is used for determining the clamping angle of the distal actuating member of the instrument according to the charge value detected by the pressure sensor 267.

In the above embodiment, the operator holds the handle mechanism 26 and applies a force to the pressure sensor 267 on the surface of the handle mechanism 26 to cause the thickness of the pressure sensor 267 to change to generate an electric charge, so as to obtain a current instrument control signal, which can directly reflect the magnitude of the force applied by the operator. After the current instrument control signal is determined, a corresponding target clamping angle is determined for the current instrument control signal according to the preset incidence relation between the instrument control signal and the clamping angle, and the current clamping angle of the tail end execution part 286 of the instrument 28 is adjusted to the target clamping angle by using the power host 27, so that the magnitude of the acting force applied by an operator can be directly reflected by the current instrument control signal, and further, the direct relation between the determined target clamping angle and the acting force applied by the operator is also determined, so that the operator can accurately grasp the relation between the applied acting force and the clamping angle of the tail end execution part 286 of the instrument 28, and the more accurate regulation and control of the clamping angle by the operator are facilitated.

Optionally, as shown in fig. 5 and 6, the handle mechanism 26 includes a finger tab assembly 263 and a control handle 265; the pressure sensor 267 is arranged on the surface of the finger buckle component 263; or the pressure sensor 267 is disposed on the surface of the finger assembly 263 and the control handle 265.

Alternatively, as shown in fig. 4, the handle mechanism 26 is connected to the power main unit 27 through an adjusting ball assembly 2651; the rod of the adjusting ball assembly 2651 connected to the power main unit 27 is provided with a first magnet 272, and the handle mechanism 26 is provided with a magnetic position sensor 268 for determining a magnetic induction variation value with the first magnet 272.

Optionally, as shown in fig. 5, the handle mechanism 26 includes a finger-buckle assembly 263 and a control handle 265, a second magnet 264 is disposed at an end of the finger-buckle assembly 263 connected to the control handle 265, and the control handle 265 is provided with a first magnetic rotary encoder 266 for determining a variation value of magnetic induction strength between the second magnet 264 and the control handle 263.

Optionally, as shown in fig. 2 and fig. 7 to 9, an instrument driving module 30 is disposed in the power main 27, the instrument driving module 30 includes a plurality of motor output shafts, a third magnet 301 is disposed on each motor output shaft or a shaft engaged with the motor output shaft through a gear, a second magnetic rotary encoder 303 is disposed for each third magnet 301, and the second magnetic rotary encoder 303 is configured to determine a magnetic induction intensity variation value between the second magnetic rotary encoder 303 and the third magnet 301.

Optionally, as shown in fig. 10 and 11, the device 28 further comprises a pull wire 281 connected to the metal elastomer quick coupling 283 of the power master 27, a metal elastomer quick coupling 283 and a strain gage 285, the pull wire 281 being used to control the clamping action of the distal actuator 286 of the device 28; a strain gauge 285 is arranged on the metal elastic quick coupling shaft, and the strain gauge 285 is used for measuring the clamping resistance corresponding to the end effector 286.

Exemplary electronic device

FIG. 14 illustrates a block diagram of an electronic device in accordance with an embodiment of the present invention.

As shown in fig. 14, the electronic device 100 includes one or more processors 101 and memory 102.

The processor 101 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

Memory 102 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 101 to implement the pinch angle control methods of the various embodiments of the invention described above and/or other desired functions.

In one example, the electronic device 100 may further include: an input device 103 and an output device 104, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

Of course, for the sake of simplicity, only some of the components of the electronic device 100 related to the present invention are shown in fig. 14, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 100 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the pinch angle control method according to various embodiments of the present invention described in the "exemplary methods" section above of this specification.

The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present invention may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the pinch angle control method according to various embodiments of the present invention described in the "exemplary methods" section above in this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing detailed description of the invention is provided for the purpose of illustration and understanding only, and is not intended to be limiting, since the invention will be described in any way as it would be understood by one skilled in the art.

The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the apparatus, devices and methods of the present invention, the components or steps may be broken down and/or re-combined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.

The previous description of the inventive aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. The clamping angle control method is characterized by being applied to a power main machine of a surgical robot, wherein the surgical robot further comprises a pressure sensor, a handle mechanism and an instrument, and the pressure sensor is arranged on the handle mechanism; the method specifically comprises the following steps:

controlling the current clamping angle of the tail end executive part of the instrument to be adjusted to the target clamping angle;

the method further comprises the following steps:

acquiring current pressure gear information selected by an operator;

2. The method of claim 1, wherein the handle mechanism is connected to the power host by an adjustment ball assembly; a rod piece connected with the power main machine through the adjusting ball assembly is provided with a first magnet; the method further comprises:

3. The method of claim 1, wherein the handle mechanism comprises a finger-lock assembly and a control handle, and a second magnet is arranged at the end of the finger-lock assembly connected with the control handle; the method further comprises:

4. The method of claim 3, wherein the power master comprises an instrument drive module comprising a plurality of motor output shafts, a third magnet disposed on each of the motor output shafts or a shaft geared with the motor output shafts; then said controlling a rotational path of said instrument based on said rotational control signal comprises:

controlling the instrument to rotate based on the rotation control signal;

5. The method of claim 1, wherein the handle mechanism comprises a finger assembly and a control handle, the pressure sensor being disposed on a surface of the finger assembly; or the pressure sensor is arranged on the surfaces of the finger buckle assembly and the control handle.

6. The method of claim 5, wherein when the pressure sensor is disposed on a surface of the finger assembly and the control handle, the current instrument control signal comprises a current primary control signal and a current secondary control signal;

7. The method of claim 1, wherein said obtaining a current instrument control signal based on the charge value detected by the pressure sensor comprises:

determining a charge value detected by the pressure sensor;

8. The method of claim 1, wherein the pre-set instrument control signal is related to the nip angle in a linear proportional relationship.

9. The method according to claim 1, wherein the determining a target clamping angle corresponding to the current instrument control signal according to a preset association relationship between the instrument control signal and the clamping angle comprises:

10. The method of claim 1, wherein the instrument further comprises a puller wire, a metal elastomer quick connect shaft, and a strain gauge, the puller wire being connected to the metal elastomer quick connect shaft, the puller wire being used to control the clamping action of the instrument's tip effector; a strain gauge is arranged on the metal elastic quick connecting shaft; the method further comprises:

11. The method according to claim 10, wherein the determining the target clamping angle corresponding to the current instrument control signal according to the preset association relationship between the instrument control signal and the clamping angle comprises:

12. The method of claim 1, wherein after the current clamping angle of the tip effector controlling the instrument is adjusted to the target clamping angle, the method further comprises:

acquiring the adjusted clamping angle of the tail end executive part;

13. The method of claim 1, wherein said obtaining a current instrument control signal based on the charge value detected by the pressure sensor comprises:

acquiring a charge value detected by a pressure sensor;

if the charge value is less than or equal to the preset threshold value, acquiring a current instrument control signal according to the charge value;

or acquiring a charge value detected by the pressure sensor;

acquiring a current instrument control signal according to the charge value;

14. The clamping angle control device is characterized by being arranged on a power main machine of a surgical robot, the surgical robot further comprises a pressure sensor, a handle mechanism and an instrument, and the pressure sensor is arranged on the handle mechanism; the device comprises:

the angle adjusting module is used for controlling the current clamping angle of the tail end executive part of the instrument to be adjusted to the target clamping angle;

the device further comprises:

15. A surgical robot is characterized by comprising a handle mechanism, a power main machine, an instrument and a pressure sensor;

the first end of the power main machine is connected with the handle mechanism;

the surface of the handle mechanism is provided with a pressure sensor, and the power main machine is used for determining the clamping angle of the tail end executive part of the instrument according to the charge value detected by the pressure sensor;

the determining the clamping angle of the end effector of the instrument according to the charge value detected by the pressure sensor comprises the following steps:

wherein, still include:

acquiring current pressure gear information selected by an operator;

16. A surgical robot as claimed in claim 15, wherein the handle mechanism comprises a finger-grip assembly and a control handle;

the pressure sensor is arranged on the surface of the finger buckle component;

or the pressure sensor is arranged on the surfaces of the finger buckle assembly and the control handle.

17. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the nip angle control method according to any one of claims 1 to 13.

18. An electronic device, characterized in that the electronic device comprises:

a processor;

a memory for storing the processor-executable instructions;

the processor is used for reading the executable instructions from the memory and executing the instructions to realize the clamping angle control method of any one of the claims 1-13.