CN114098988A - Surgical robot system, control method thereof, medium, and computer device - Google Patents
Surgical robot system, control method thereof, medium, and computer device Download PDFInfo
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- CN114098988A CN114098988A CN202210082876.XA CN202210082876A CN114098988A CN 114098988 A CN114098988 A CN 114098988A CN 202210082876 A CN202210082876 A CN 202210082876A CN 114098988 A CN114098988 A CN 114098988A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
Abstract
The invention relates to a surgical robot system, a control method of the surgical robot system, a medium and a computer device, the surgical robot system includes: the surgical robot execution end comprises a surgical instrument; the control end comprises an action acquisition part, a first control component, a second control component and a third control component, wherein the action acquisition part is configured to acquire action information of the first control component, the second control component and the third control component, determine a control signal according to the action information and send the control signal to the master control end; and the main control end is configured to receive the control signal, convert the control signal into an action instruction and instruct the surgical robot execution end to execute a corresponding action according to the action instruction. Through the operation to three control parts respectively, can satisfy the motion demand of surgical instruments in the operation process, convenient operation need not to carry out the switching of operation function for the operator can be absorbed in the operation process, improves operation efficiency and operation success rate.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a surgical robot system, a control method, a medium and computer equipment thereof.
Background
In the related art, the manipulation end of the surgical robot usually has only one manipulation member, for example, only one control rod, to control the distal end motion of the surgical robot, and since the distal end motion of the surgical robot usually includes displacement and rotation, a switching device, for example, a button, is required to switch the operation mode of the manipulation member, so as to switch the manipulation member between the displacement manipulation mode and the rotation manipulation mode.
The surgical robot with one control component can cause inconvenience in use for doctors, prolong the operation time, and easily cause misoperation to cause safety risks of operations.
Disclosure of Invention
To overcome the problems in the related art, the present invention provides a surgical robot system, a control method thereof, a medium, and a computer device.
According to a first aspect of the present invention, there is provided a surgical robotic system comprising:
a surgical robot actuation end comprising a surgical instrument;
the control terminal comprises an action acquisition part, a first control component, a second control component and a third control component, wherein the action acquisition part is configured to acquire action information of the first control component, the second control component and the third control component, determine a control signal according to the action information and send the control signal to the master control terminal;
the main control end is configured to receive the control signal, convert the control signal into an action instruction, and instruct the surgical robot execution end to execute a corresponding action according to the action instruction;
the operation of the first control component is used for indicating the translation of the surgical instrument along a reference plane, the operation of the second control component is used for indicating the rotation of the surgical instrument relative to the reference plane, the operation of the third control component is used for indicating the movement of the surgical instrument along a reference linear path, and the reference linear path and the reference plane are arranged at an included angle.
In some embodiments of the invention, the first manipulation member comprises a first rocker; and/or the presence of a gas in the gas,
the second control component comprises a second rocker; and/or the presence of a gas in the gas,
the third manipulation member comprises a push rod.
In some embodiments of the invention, the reference linear path is an extension direction of the surgical instrument; and/or the presence of a gas in the gas,
the manipulation end comprises a fourth manipulation component, the motion acquisition part is further configured to acquire motion information of the fourth manipulation component, and the motion of the fourth manipulation component is used for indicating the surgical instrument to rotate around the reference straight line; and/or the presence of a gas in the gas,
the operation and control end comprises a fifth operation and control component, the action acquisition part is further configured to acquire action information of the fifth operation and control component, and the action of the fifth operation and control component is used for indicating the surgical instrument to move up and down; and/or the presence of a gas in the gas,
the operation and control end comprises a sixth operation and control component, the action acquisition part is further configured to acquire action information of the sixth operation and control component, and actions of the sixth operation and control component are used for instructing the surgical robot execution end to load or release a surgical instrument.
In some embodiments of the invention, the surgical robot performing end comprises a force detecting means for detecting force information of the surgical instrument;
the control end further comprises a force feedback device configured to execute different feedback actions based on different stress information of the force detection device.
According to a second aspect of the present invention, there is provided a control method of a surgical robot system, the control method being applied to a master control terminal, the control method including:
receiving a control signal, and determining an action instruction according to the control signal;
sending the action instruction, wherein the action instruction is used for indicating an action to be executed by a surgical robot execution end;
wherein the manipulation signal comprises a first manipulation signal, and the action instruction comprises a first action instruction corresponding to the first manipulation signal and used for indicating the translation of a surgical instrument at the execution end of the surgical robot along a reference plane;
the control signal comprises a second control signal, and the action command comprises a second action command corresponding to the second control signal and used for indicating the rotation of the surgical instrument relative to the reference plane;
the control signal comprises a third control signal, the action command comprises a third action command corresponding to the third control signal, and the third action command is used for indicating the movement of the surgical instrument along a reference linear path, and the reference linear path and the reference plane are arranged at an included angle.
In some embodiments of the invention, the first manipulation signal includes movement direction information and movement speed information of the first manipulation member with respect to an initial position thereof, and the first motion instruction includes a translation direction and a translation speed of the surgical instrument along the reference plane; and/or the presence of a gas in the gas,
the second control signal comprises movement direction information and movement speed information of a second control component relative to the initial position of the second control component, and the second action command comprises a rotation direction and a rotation angular speed of the surgical instrument relative to the reference plane; and/or the presence of a gas in the gas,
the third control signal comprises movement direction information and movement speed information of a third control component relative to the initial position of the third control component, and the third action command comprises the movement direction and movement speed of the surgical instrument along the reference linear path; and/or the presence of a gas in the gas,
the manipulation signal comprises a fourth manipulation signal, and the action command comprises a fourth action command corresponding to the fourth manipulation signal and used for indicating the surgical instrument to rotate around the reference straight line; and/or the presence of a gas in the gas,
the control signal comprises a fifth control signal, and the action instruction comprises a fifth action instruction corresponding to the fifth control signal and used for indicating the surgical instrument to move up and down; and/or the presence of a gas in the gas,
the control signal comprises a sixth control signal, and the action instruction comprises a sixth action instruction corresponding to the sixth control signal and used for instructing the surgical robot executing end to load or release a surgical instrument.
In some embodiments of the present invention, the determining the action instruction according to the manipulation signal includes:
under the condition that the surgical robot execution end is in a first manipulation mode, converting the manipulation signal into a first mode action instruction, wherein the first mode action instruction is used for indicating the continuous action of the surgical instrument;
and under the condition that the surgical robot execution end is in a second manipulation mode, converting the manipulation signal into a second mode action instruction, wherein the second mode action instruction is used for indicating the stepping action of the surgical instrument.
In some embodiments of the invention, the control method further comprises:
receiving stress information, wherein the stress information is stress information of the surgical instrument;
determining a motion control instruction based on the force-bearing information, the motion control instruction being used to indicate an action to be performed by a force feedback device;
and sending the action control instruction.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed, carries out the steps of the method as described above.
According to a fourth aspect of the present invention, there is provided a computer device comprising a processor, a memory and a computer program stored on the memory, the processor implementing the steps of the method as described above when executing the computer program.
In the surgical robot system provided by the embodiment of the invention, the manipulation end comprises a first manipulation component, a second manipulation component and a third manipulation component, the motion of the first manipulation component is used for indicating the translation of the surgical instrument along the reference plane, the motion of the second manipulation component is used for indicating the rotation of the surgical instrument relative to the reference plane, and the motion of the third manipulation component is used for indicating the motion of the surgical instrument along the reference linear path. So, decompose surgical instruments's action into the action of following a planar translation action, relative a planar rotation action and along a linear direction's advancing and retreating action, through the operation to three control the part respectively, can satisfy surgical instruments's motion demand in the operation process, convenient operation need not to carry out the switching of operation function for the operator can be absorbed in the operation process, improves operation efficiency and operation success rate.
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 invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a surgical robotic system shown in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram of a surgical robot effector in a surgical robotic system according to one exemplary embodiment;
FIG. 3 is a schematic structural diagram of a manipulation end in a surgical robotic system according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating a method of controlling a surgical robotic system according to an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating a coordinate system construction of a first rocker in the manipulation end according to an exemplary embodiment;
FIG. 6 is a schematic representation of the operation of the surgical robot effector corresponding to FIG. 5;
FIG. 7 is a schematic diagram illustrating a coordinate system construction of a second rocker in the manipulation end according to an exemplary embodiment;
FIG. 8 is a schematic representation of the operation of the surgical robot effector corresponding to FIG. 7;
FIG. 9 is a schematic diagram illustrating a coordinate system construction of a putter in a manipulation end according to an exemplary embodiment;
FIG. 10 is a schematic representation of the operation of the surgical robotic applicator corresponding to FIG. 9;
FIG. 11 is a block diagram illustrating a computer device in accordance with an example embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments of the present invention may be arbitrarily combined with each other without conflict.
The manipulating end of the surgical robot usually has only one manipulating part, for example, only one control rod, to control the displacement and rotation of the surgical robot executing end, and the operating mode of the manipulating part is switched by a switching device, for example, a key. In the operation process, the actions of the operation robot executing end are usually very complicated, and a doctor needs to frequently switch the operation mode of the operation component, so that the use of the doctor is inconvenient, and the operation time is prolonged. In addition, since the operation modes are frequently switched, a doctor is easy to confuse the current operation mode during the operation, thereby causing misoperation and causing the safety risk of the operation.
In addition, the surgical robot is difficult to satisfy some operations requiring a specific tip motion, for example, in a puncture operation, needle insertion and needle withdrawal operations are required to be performed in a needle direction, which is variable at any time.
Based on this, the embodiment of the invention provides a surgical robot system, which is characterized in that three control components are arranged to respectively indicate the translational motion of a surgical instrument along a plane, the rotational motion relative to the plane and the forward and backward motion along a linear direction, so that the motion requirement of the surgical instrument in the surgical process is met, the operation is convenient, the switching of operation functions is not needed, an operator can be concentrated in the surgical process, and the surgical efficiency and the surgical success rate are improved.
As shown in fig. 1, the surgical robot system includes a surgical robot executing terminal 300, a manipulating terminal 100 and a main control terminal 200. The manipulation terminal 100 is a manipulation part of the surgical robot system, and an operator, such as a doctor, may perform an operation at the manipulation terminal 100 to send an operation instruction to the main control terminal 200. After receiving the manipulation instruction, the manipulation terminal 100 may generate a manipulation signal according to the manipulation instruction, and send the manipulation signal to the main control terminal 200, and the main control terminal 200 determines an action instruction according to the manipulation signal sent by the manipulation terminal 100, and instructs the surgical robot performing terminal 300 to perform a corresponding action according to the determined action instruction.
As shown in fig. 2, the surgical robot executing end 300 includes a surgical instrument 310, where the surgical instrument 310 is an instrument for executing a surgical operation, for example, in executing a puncture surgical operation, the surgical instrument 310 is a puncture needle for puncturing, and the surgical instrument 310 may also be a puncture biopsy needle, a cryoablation needle, a particle implantation needle, a radio frequency puncture needle, a microwave puncture needle, and the like. The surgical robot executing end 300 further includes a driving mechanism 320, the driving mechanism 320 is connected to the surgical instrument 310 and is used for driving the surgical instrument 310 to move, and the driving mechanism 320 may be, for example, a six-axis driving mechanism, so that various complex motions can be realized, and the accuracy of the motions can be ensured.
The manipulation terminal 100 includes a motion collection part 140, a first manipulation member 110, a second manipulation member 120, and a third manipulation member 130. The first manipulating member 110, the second manipulating member 120 and the third manipulating member 130 are all movable members, and may be a controllable structure such as a rocker, a push rod, a knob, etc., and an operator can operate the movement of each manipulating member. The action collecting part 140 is configured to collect action information of the first manipulation part 110, the second manipulation part 120, and the third manipulation part 130, and transmit a manipulation signal to the main control terminal 200 according to the action information. The control signal includes motion information of the control component, for example, in an embodiment where the control component includes a joystick, the control signal may include motion angle information and motion speed information of the joystick, and for example, in an embodiment where the control component includes a push rod, the control signal may include motion direction information and motion speed information of the push rod.
The action of the first manipulating member 110 is used to instruct the surgical device 310 to translate along the reference plane, where "translation along the reference plane" refers to that when the first manipulating member 110 instructs the surgical device 310 to move, the motion trajectory of each point on the surgical device 310 is located on a translation plane, and the translation planes of different points on the surgical device 310 are all parallel to the reference plane, and the motion trajectory of one or more points on the surgical device 310 may be located on the reference plane.
The action of the second manipulating member 120 is used to instruct the rotation of the surgical device 310 relative to the reference plane, and the "rotation relative to the reference plane" mentioned herein means that a point on the surgical device 310, which may be located on the reference plane, has a constant relative position with respect to the reference plane and rotates around the point.
In embodiments where the surgical device 310 includes a puncture needle, a reference plane may be provided at the distal end point of the puncture needle, i.e., the location where the puncture needle is used to perform the puncture, and at the distal end point of the puncture needle, the reference plane may be provided to facilitate operator control of the puncture location during operation.
The action of the third manipulating member 130 is to instruct the surgical device 310 to move along the reference linear path, where "movement along the reference linear path" means that the movement locus of each point on the surgical device 310 is located on a linear locus, and the linear loci of different points on the surgical device 310 are parallel to the reference linear path, and the linear locus of one or more points on the surgical device 310 may be located on the reference linear path. The reference linear path is disposed at an angle to the reference plane, in some embodiments, the angle between the reference linear path and the reference plane may be a determined value, for example, the reference linear path is perpendicular to the reference plane, and in other embodiments, the angle between the reference linear path and the reference plane may be variable.
As an example, the reference linear path is an extending direction of the surgical instrument 310, for example, in an embodiment where the surgical instrument 310 includes a puncture needle, the reference linear path is the extending direction of the puncture needle, so that the operator can conveniently implement accurate needle inserting and withdrawing actions through the operation of the third manipulating part 130.
In the surgical robot system according to the embodiment of the present invention, the manipulation terminal 100 includes a first manipulation member 110, a second manipulation member 120, and a third manipulation member 130, wherein an action of the first manipulation member 110 is used to instruct translation of the surgical instrument 310 along a reference plane, an action of the second manipulation member 120 is used to instruct rotation of the surgical instrument 310 relative to the reference plane, and an action of the third manipulation member 130 is used to instruct movement of the surgical instrument 310 along a reference linear path. So, decompose surgical instruments 310's action into the action of following a planar translation action, relative a planar rotation action and the advance and retreat action along a linear direction, through the operation to three control parts respectively, can satisfy surgical instruments 310 motion demand in the operation process, convenient operation need not to carry out the switching of operation function for the operator can be absorbed in the operation process, improves operation efficiency and operation success rate. In addition, the surgical robot system can meet certain operations with specific requirements on the terminal motion, such as a puncture operation, through the above motion decomposition, because the third control component 130 can instruct the surgical instrument 310 to move along the reference linear path, the movement can meet the operation requirements of needle insertion and needle withdrawal along specific directions in the puncture operation, the movement accuracy of the puncture needle in the puncture operation process is ensured, and the success rate of the operations is improved.
In order to facilitate the master 200 to distinguish which manipulation component generates the received manipulation signal based on the action of which manipulation component, the manipulation signal further includes identification information of the manipulation component, each manipulation component corresponds to one identification information, and the identification information of different manipulation components is different, for example, the identification information corresponding to the first manipulation component 110 is a1, the identification information corresponding to the second manipulation component 120 is a2, and the identification information corresponding to the third manipulation component 130 is A3.
In one embodiment, the manipulation signal includes a first manipulation signal indicative of a translation of the surgical instrument 310 along a reference plane. When the motion information of the first manipulating part 110 is collected by the motion collecting part 140, a first manipulating signal is determined according to the motion information, and the first manipulating signal includes the motion information of the first manipulating part 110 and the first identification information of the first manipulating part 110. The main control terminal 200 reads the first identification information, determines that the first manipulation signal is generated based on the motion of the first manipulation unit 110, and determines a first motion instruction according to the motion information of the first manipulation unit 110 in the first manipulation signal to indicate the translation of the surgical instrument 310 along the reference plane (described in detail later).
The manipulation signal includes a second manipulation signal indicative of a rotation of the surgical instrument 310 relative to the reference plane. When the motion information of the second manipulating part 120 is acquired by the motion acquiring part 140, a second manipulating signal is determined according to the motion information, and the second manipulating signal includes the motion information of the second manipulating part 120 and the second identification information of the second manipulating part 120. The main control terminal 200 reads the second identification information, determines that the second manipulation signal is generated based on the motion of the second manipulation unit 120, and determines a second motion command according to the motion information of the second manipulation unit 120 in the second control signal, so as to instruct rotation of the surgical instrument 310 relative to the reference plane (described in detail later).
The steering signal includes a third steering signal indicative of movement of the surgical instrument 310 along the reference linear path. When the motion information of the third manipulating part 130 is collected by the motion collecting part 140, a third manipulating signal is determined according to the motion information, and the third manipulating signal includes the motion information of the third manipulating part 130 and the third identification information of the third manipulating part 130. The main control terminal 200 reads the third identification information, determines that the third manipulation signal is generated based on the motion of the third manipulation part 130, and then determines a third motion command according to the motion information of the third manipulation part 130 in the third control signal, so as to indicate the motion of the surgical instrument 310 along the reference linear path (described in detail later).
In order to meet the requirement of the surgical instrument 310 on the precision of movement along a reference plane, in one embodiment, as shown in fig. 3, the first manipulating member 110 employs a first rocking bar 111, the first rocking bar 111 can be manipulated at 360 °, the movement of the surgical instrument 310 along the reference plane in any direction can be realized by the first rocking bar 111, and it is convenient to establish a corresponding relationship between the movement of the first rocking bar 111 and the movement of the surgical instrument 310, and it is also more convenient for an operator to perform intuitive operations.
In order to meet the requirement of the surgical device 310 on the precision of the movement of the surgical device 310 around the reference plane, in one embodiment, as shown in fig. 3, the second manipulating member 120 employs a second rocking bar 121, the second rocking bar 121 can be manipulated at any angle of 360 degrees, the second rocking bar 121 can realize the rotation of the surgical device 310 around the reference plane in any direction, and it is convenient to establish the corresponding relationship between the movement of the second rocking bar 121 and the movement of the surgical device 310, and it is also more convenient for the operator to perform intuitive operations.
The third manipulating component 130 is used for instructing the linear motion of the surgical instrument 310 along a direction, and in one embodiment, as shown in fig. 3, the third manipulating component 130 employs a push rod 131, and the operation of the operator can be facilitated by employing the push rod 131, so that the accuracy of the operation is improved. The center position is also important to the feel of the surgeon during the surgical procedure, and the surgeon can determine whether the surgical instrument 310 has moved into position or moved to an abnormal position by the feel. Based on this, in an embodiment, the surgical robot performing end further comprises a force detecting device for detecting force information of the surgical instrument 310, and the force detector may be a force sensor, for example. In the embodiment in which the surgical device 310 is a puncture needle, the force detection means is used to detect a reaction force to which the puncture needle is subjected in its direction of extension.
In one embodiment, the manipulating end 100 further includes a motion locking device for locking the movement or rotation of the surgical instrument 310 in a certain direction, in some embodiments, after the motion locking device is triggered, the output value of the motion capturing portion 140 in the corresponding direction or corresponding angle is 0, as shown in fig. 3, the motion locking device is, for example, the dial 150, when the dial 150 is located at the first position, the motion locking device is in a non-triggered state, the motion capturing portion 140 outputs the normal output, when the dial 150 is located at the second position, the motion locking device is in a triggered state, and the output value of the motion capturing portion 140 in the corresponding direction is 0. Of course, the motion locking device may have other structures such as a button and a knob.
In other embodiments, after the motion locking device is triggered, the manipulation signal sent by the motion acquisition unit 140 includes a motion locking signal, so that an output value in a corresponding direction in the motion command sent by the main control terminal 200 is 0.
In an embodiment, the manipulation end further includes a fourth manipulation member, and the motion acquisition unit is further configured to acquire motion information of the fourth manipulation member, where the motion of the fourth manipulation member is used to instruct the surgical instrument to rotate around the reference straight line, where "rotate around the reference straight line" refers to that the surgical instrument rotates around the reference straight line, for example, in an embodiment where the surgical instrument 310 is a puncture needle, the motion of the fourth manipulation member is used to instruct the puncture needle to rotate around its central axis as a rotation axis. The fourth operating member may be a knob, for example.
In an embodiment, the manipulation terminal includes a fifth manipulation member, the motion collection unit is further configured to collect motion information of the fifth manipulation member, the motion of the fifth manipulation member is used to instruct the surgical instrument to move up and down, where "up and down in the up and down motion" refers to a direction in a normal use state, and the fifth manipulation member may be, for example, a push rod, and the control of the up and down motion of the surgical instrument is realized by manipulating the push rod.
In an embodiment, the manipulation end includes a sixth manipulation member, and the motion collection unit is further configured to collect motion information of the sixth manipulation member, where the motion of the sixth manipulation member is used to instruct the surgical robot performing end to load or release the surgical instrument, for example, the surgical robot performing end includes a movable clamping portion, and the movable clamping portion is manipulated by the sixth manipulation member to perform a motion to clamp or release the surgical instrument. The sixth operating member may be, for example, a button, a lever, or the like.
In some embodiments, the stress information detected by the force detection device is sent to the console terminal 100 through the main control terminal 200 and displayed on the console terminal 100, so that the operator can check whether the current operation is abnormal or not at the console terminal 100. Because the doctor usually does not have the effort to observe the contents displayed on the display interface when focusing on the patient state and the manipulation itself during the operation, in other embodiments, the manipulation end 100 further includes a force feedback device configured to perform different feedback actions based on different stress information of the force detection device, for example, the force feedback device is used to change the operation resistance of each manipulation component, and the larger the stress detected by the force detection device is, the larger the operation resistance of the corresponding manipulation component is. For another example, the force feedback device includes a vibration motor, vibration of the vibration motor can be transmitted to each manipulation member, and the larger the force detected by the force detection device is, the higher the vibration frequency of the vibration motor is. In this way, during the operation process of the operator, the stress condition of the surgical instrument 310 can be directly fed back to the operator through the control component in real time, so that the operator can sense abnormality in time, and the smooth operation of the operation is ensured. In addition, when the stress detected by the force detection device exceeds a set threshold, the main control terminal 200 can control the surgical robot performing terminal 300 to stop moving or move in the reverse direction, so as to ensure the reaction speed and the safety to the maximum extent.
As shown in fig. 4, an embodiment of the present application provides a control method of a surgical robot system, which is applied to a master control end, and the control method includes:
and S10, receiving the control signal and determining an action command according to the control signal.
And S20, sending an action instruction, wherein the action instruction is used for indicating the action to be executed by the surgical robot executing end.
In step S10, the control signal includes action information of the control component, and the main control terminal 200 receives the control signal sent by the control terminal 100 and determines an action instruction according to the control signal, where the control signal includes a first control signal, and the action instruction includes a first action instruction corresponding to the first control signal, and is used to instruct the surgical instrument 310 of the surgical robot performing terminal 300 to translate along the reference plane. The manipulation signal includes a second manipulation signal, and the motion command includes a second motion command corresponding to the second manipulation signal for instructing rotation of the surgical instrument 310 with respect to the reference plane. The manipulation signals include a third manipulation signal, and the motion commands include a third motion command corresponding to the third manipulation signal for instructing the surgical instrument 310 to move along a reference linear path, the reference linear path being disposed at an angle to the reference plane, in some embodiments, the angle between the reference linear path and the reference plane may be a determined value, illustratively, the reference linear path is perpendicular to the reference plane, and in other embodiments, the angle between the reference linear path and the reference plane may be variable.
For the descriptions of "translation along the reference plane", "rotation relative to the reference plane", "movement along the reference linear path", reference is made above, and details thereof are not repeated.
In an embodiment, the first manipulation signal includes information of a movement direction and a movement speed of the first manipulation member 110 relative to its initial position, and the first motion command includes a translation direction and a translation speed of the surgical instrument 310 along a reference plane. Taking the first manipulating component 110 as the first joystick 111 as an example, as shown in fig. 5, a first joystick coordinate system is constructed for the first joystick 111, exemplarily, a central position of the first joystick 111 is taken as an origin, and two directions perpendicular to each other are X directions respectively1Axis and Y1The axes construct a first rocker coordinate system. As shown in fig. 6, an instrument coordinate system is constructed for the surgical instrument 310, corresponding to the first rocker coordinate system, taking the surgical instrument 310 including the puncture needle as an example, taking the end point of the puncture needle as the origin, and the two directions perpendicular to each other are X respectivelynAxis and YnAxes construct the instrument coordinate system, XnAxis and YnThe plane formed by the axes may be parallel to the horizontal plane, in the initial position, XnAxis and YnThe plane formed by the shaft is perpendicular to the extending direction of the puncture needle.
The correspondence between the movement of the first rocking lever 111 and the movement of the puncture needle can be constructed by constructing the two corresponding coordinate systems, for example, as shown in fig. 5 and 6, the first rocking lever 111 is in X1Axis and Y1Projection and X on a plane of axis construction1Angle theta of the axes1Corresponding to the direction of movement of the tip point of the puncture needle and XnAngle theta of the axes2I.e. theta1=θ2. This facilitates the operation of the operator on the one hand and the calculation of the action command by the main control end 200 on the other hand.
Illustratively, the output value of the first rocker 111 includes the first rocker 111 along X1Axial motion value x1And along Y1Axial motion value y1I.e. the first steering signal comprises x1And y1. When the main control end 200 receives the first control signal, the movement direction and the X of the tail end point of the puncture needle are calculated according to the following formulanAngle theta of the axes2：
The moving speed v of the puncture needle is calculated according to the following formula:
wherein, MAX1Is the maximum output value of the first rocker 111;
Vmaxthe maximum moving speed of the puncture needle.
When the first rocker 111 is returned to the center position, x1And y1The outputs are all 0, and at this time, the main control terminal 200 issues an instruction to stop the operation to the surgical robot executing terminal 300.
In one embodiment, as shown in FIG. 3, the first rocker 111 has two corresponding paddles 150, one paddle 150 for locking the surgical device 310 along the X-axisnThe translational motion in the axial direction, when the pick 150 is in the trigger state, no matter how the first rocking bar 111 moves, x1The outputs are all 0. The other paddle 150 is used to lock the surgical instrument 310 along YnThe translational motion in the axial direction, when the pick 150 is in the trigger state, no matter how the first rocking bar 111 moves, y1The outputs are all 0.
In one embodiment, the collecting part is provided with X1Threshold of axial initial movement, X1Maximum movement of the shaftThreshold value, Y1Threshold for initial movement of axis and Y1The maximum movement threshold of the shaft is set when the acquisition part acquires that the first rocker 111 moves along X1The distance of movement of the shaft being less than X1When the shaft starts to move the threshold value, the action value x is sent to the master control end 20010, when the first rocker 111 collected by the collecting part is along X1The distance of movement of the shaft being greater than X1The motion value x sent to the master 200 when the maximum motion threshold of the shaft is reached1Is MAX1(ii) a When the collecting part collects the Y-direction of the first rocker 1111The distance of movement of the shaft being less than Y1When the axis starts to move the threshold value, the action value y is sent to the master control end 20010, when the first rocking bar 111 collected by the collecting part is along Y1The distance of movement of the shaft being greater than Y1The motion value y sent to the master 200 when the maximum motion threshold of the axis is reached1Is MAX1。
In this embodiment, by setting the initial motion threshold and the maximum motion threshold in two directions, the motion error of the first rocker 111 caused by factors such as machining error can be eliminated, and the reliability of controlling the surgical robot actuator 300 by the first rocker 111 is ensured.
In an embodiment, the second manipulation signal includes information of a movement direction and a movement speed of the second manipulation member 120 relative to its initial position, and the second motion command includes a rotation direction and a rotation angular speed of the surgical instrument 310 relative to the reference plane. Taking the second manipulating component 120 as the second joystick 121 as an example, as shown in fig. 7, a second joystick coordinate system is constructed for the second joystick 121, exemplarily, a central position of the second joystick 121 is taken as an origin, and two directions perpendicular to each other are X respectively2Axis and Y2The axes construct a second rocker coordinate system. The second rocker coordinate system and the above-mentioned apparatus coordinate system (with the end point of the puncture needle as the origin, and the two mutually perpendicular directions are X respectivelynAxis and YnAxis-constructed coordinate system) to construct a correspondence between the motion of the second rocking lever 121 and the motion of the puncture needle, for example, as shown in fig. 7 and 8, the second rocking lever 121 is moved at X2Axis and Y2Projection and X on a plane of axis construction2Angle theta of the axes3Correspond toThe puncture needle is arranged at XnAxis and YnProjection and X of an axis-constructed planenAngle theta of the axes4I.e. theta3=θ4So as to facilitate the operation of the operator and the calculation of the action instructions.
Illustratively, the output value of the second rocker 121 includes the second rocker 121 along X2Axial motion value x2And along Y2Axial motion value y2I.e. the second steering signal comprises x2And y2. When the main control end 200 receives the second control signal, the puncture needle X is calculated according to the following formulanAxis and YnProjection and X of an axis-constructed planenAngle theta of the axes4：
The rotational angular velocity ω of the puncture needle is calculated according to the following formula:
wherein, MAX2Is the maximum output value of the second rocker 121;
When the second rocking bar 121 returns to the center position, x2And y2The outputs are all 0, and at this time, the main control terminal 200 issues an instruction to stop the operation to the surgical robot executing terminal 300.
In one embodiment, as shown in FIG. 3, the second rocker 121 has two corresponding paddles 150, one paddle 150 for locking the surgical device 310 about the XnThe rotational movement of the shaft, when the paddle 150 is in the activated state, x, no matter how the second rocker 121 moves2The outputs are all 0. The other paddle 150 is used to lock the surgical instrument 310 around YnRotational movement of the shaft when the paddle 150 is in the activated state, regardless of the secondHow the rocker 121 moves, y2The outputs are all 0.
In one embodiment, the collecting part is provided with X2Threshold of axial initial movement, X2Threshold of maximum axial movement, Y2Threshold for initial movement of axis and Y2The maximum movement threshold of the shaft is set when the acquisition part acquires the X-shaped edge of the second rocker2The distance of movement of the shaft being less than X2When the shaft starts to move the threshold value, the action value x is sent to the master control end 2002Is 0, when the second rocker arm collected by the collecting part is along X2The distance of movement of the shaft being greater than X2The motion value x sent to the master 200 when the maximum motion threshold of the shaft is reached2Is MAX2(ii) a When the collecting part collects the second rocker edge Y2The distance of movement of the shaft being less than Y2When the axis starts to move the threshold value, the action value y is sent to the master control end 2002Is 0, when the second rocker is collected by the collecting part along the Y2The distance of movement of the shaft being greater than Y2The motion value y sent to the master 200 when the maximum motion threshold of the axis is reached2Is MAX2。
In this embodiment, by setting the initial motion threshold and the maximum motion threshold in two directions, the motion error of the second rocking bar 121 due to factors such as machining error can be eliminated, and the reliability of controlling the surgical robot actuator 300 by the second rocking bar 121 is ensured.
In one embodiment, the third manipulation signal includes information of a movement direction and a movement speed of the third manipulation member 130 relative to its initial position, and the third motion command includes a movement direction and a movement speed of the surgical instrument 310 along the reference linear path. Continuing with the example in which surgical instrument 310 includes a puncture needle, as shown in fig. 9, the center position of pushrod 131 is taken as the origin, and the pushing direction parallel to pushrod 131 is taken as Z3The axes construct the putter coordinate system, as shown in FIG. 10, at XnAxis and YnOn the basis of the shaft, Z is addednAxis, ZnAxis and XnAxis and YnThe plane formed by the axes being of variable angle, ZnThe shaft is the extending direction of the puncture needle, so that the corresponding relation between the action of the push rod 131 and the action of the puncture needle is established. For example, as shown in FIGS. 9 and 10, the pushing of the push rod 131Direction and Z3Angle of included axis beta1Corresponding to the direction of movement of the puncture needle and ZnAngle of included axis beta2，β1=β2。
Illustratively, the output value of pushrod 131 includes pushrod 131 along Z3Axial motion value z3I.e. the third steering signal comprises z3. When the main control end 200 receives the third control signal, the movement direction and the Z direction of the puncture needle are calculated according to the following formulanAngle of included axis beta2：
The moving speed v of the puncture needle is calculated according to the following formulaz：
Wherein, MAX3Is the maximum output value of the push rod 131;
Vmaxthe maximum moving speed of the puncture needle.
When pushrod 131 returns to the center position, z3The output is 0, and at this time, the main control terminal 200 issues an instruction to stop the operation to the surgical robot executing terminal 300.
In one embodiment, z is set in the collecting part3Threshold of axis start motion and z3Maximum shaft motion threshold, when the acquisition part acquires that the push rod 131 moves along z3The distance of movement of the axis being less than z3When the shaft starts to move the threshold value, the action value z is sent to the master control end 20030, when the push rod 131 collected by the collecting part is along z3The distance of movement of the shaft being greater than z3The motion value z sent to the master 200 when the maximum motion threshold of the shaft is reached3Is MAX3。
In this embodiment, by setting the initial motion threshold and the maximum motion threshold, the motion error of the push rod 131 caused by factors such as machining error can be eliminated, and the reliability of controlling the surgical robot actuator 300 by the push rod 131 is ensured.
In order to facilitate the main control end 200 to distinguish that the received manipulation signal is generated based on the action of the manipulation component, the manipulation signal may further include identification information of the manipulation component, each manipulation component corresponds to one identification information, and the identification information of different manipulation components is different from each other, so that when the main control end 200 reads the identification information in the manipulation signal, it may be determined that the manipulation signal is generated based on the action of the manipulation component, so as to generate a corresponding action instruction.
Illustratively, the identification information corresponding to the first manipulating part 110 is a1, and the first manipulating signal includes action information of the first manipulating part 110 and identification information a 1; the identification information corresponding to the second manipulating part 120 is a2, and the second manipulating signal includes action information of the second manipulating part 120 and identification information a 2; the identification information corresponding to the third manipulating part 130 is A3, and the third manipulating signal includes action information of the third manipulating part 130 and identification information A3. When the main control end 200 reads the identification information a1 in the manipulation signal, and determines that the manipulation signal is generated based on the action of the first manipulation component 110, a first action instruction is generated based on the action information of the first manipulation component 110; when the main control end 200 reads the identification information a2 in the manipulation signal, and determines that the manipulation signal is generated based on the action of the second manipulation component 120, a second action instruction is generated based on the action information of the second manipulation component 120; when the main control end 200 reads the identification information a3 in the manipulation signal, and determines that the manipulation signal is generated based on the motion of the third manipulation part 130, a third motion instruction is generated based on the motion information of the third manipulation part 130.
In an embodiment, the manipulation signals further include a fourth manipulation signal, a fifth manipulation signal and a sixth manipulation signal, and the action commands further include a fourth action command corresponding to the fourth manipulation signal, a fifth action command corresponding to the fifth manipulation signal and a sixth action command corresponding to the sixth manipulation signal. The fourth motion command is used for instructing the surgical instrument 310 to rotate around the reference straight line, the fifth motion command is used for instructing the surgical instrument 310 to move up and down, and the sixth motion command is used for instructing the surgical robot executing end 300 to load or release the surgical instrument 310.
In an embodiment, the surgical robot performing end 300 has a first manipulation mode and a second manipulation mode, and when the surgical robot performing end 300 is in the first manipulation mode, the main control end 200 converts the manipulation signal into a first mode action command, where the first mode action command is used to instruct the surgical instrument 310 to continue to act. For example, the aforementioned first control signal comprises x1And y1In the embodiment of the invention, when the main control terminal 200 continuously receives the first control signal, the main control terminal 200 controls the surgical instrument 310 of the surgical robot executing terminal 300 to continuously perform the translational motion. For another example, the aforementioned second control signal comprises x2And y2In the embodiment of the present invention, the main control terminal 200 continuously receives the second manipulation signal, and then the main control terminal 200 controls the surgical instrument 310 of the surgical robot executing terminal 300 to continuously rotate. As another example, the aforementioned third control signal comprises z3In the embodiment of the invention, when the main control terminal 200 continuously receives the third manipulation signal, the main control terminal 200 controls the surgical instrument 310 of the surgical robot executing terminal 300 to continuously perform the translational motion.
When the surgical robot executing end 300 is in the second manipulation mode, the main control end 200 converts the manipulation signal into a second mode action command, and the second mode action command is used for instructing the surgical instrument 310 to perform a stepping action. The manipulation mode is a precise manipulation mode in which the surgical instrument 310 moves only a predetermined distance or rotates only a predetermined angle during one motion, thereby precisely manipulating the motion of the surgical instrument 310. For example, a first further distance is set for the first rocking bar 111, and when the surgical instrument 310 is manipulated to move by the first rocking bar 111, the main control terminal 200 controls the surgical robot executing terminal 300 to stop moving after the surgical instrument 310 moves the first further distance. For another example, a step angle is set for the second rocking bar 121, and when the surgical instrument 310 is manipulated to rotate by the second rocking bar 121, the main control terminal 200 controls the surgical robot executing terminal 300 to stop rotating after the surgical instrument 310 rotates by the step angle. For another example, a second stepping distance is set for the push rod 131, and when the surgical instrument 310 is manipulated to move by the push rod 131, the main control terminal 200 controls the surgical robot executing terminal 300 to stop moving after the surgical instrument 310 moves the second stepping distance.
In one embodiment, the control method further comprises:
s30, receiving stress information, wherein the stress information is stress information of the surgical instrument along a reference straight line path;
s40, determining action control instructions based on the stress information, wherein the action control instructions are used for indicating actions to be executed by the force feedback device;
and S50, sending an action control command.
In this embodiment, the force feedback device is instructed to perform a corresponding action according to the stress information of the surgical instrument 310, so that the stress condition of the surgical instrument 310 can be directly fed back to the operator in real time through the control component, thereby ensuring that the operator can sense abnormality in time and ensuring that the operation is performed smoothly.
In one embodiment, the force feedback device includes a vibration motor, and step S40 includes:
s41, acquiring configuration information, wherein the configuration information is used for representing the corresponding relation between the stress value interval and the preset vibration frequency;
and S42, determining the vibration frequency of the vibration motor based on the configuration information and the stress information.
Illustratively, the stress value interval and the preset vibration frequency
The correspondence of (a) is shown in the following table:
in one embodiment, when the stress information belongs to the stress value interval [ f1And + ∞), the main control end 200 sends an action command of stopping movement or reverse movement to the surgical robot execution end 300, thereby ensuring the reaction speed and safety to the maximum extent.
An embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program, which when executed performs the steps of the method as described above.
Fig. 11 is a block diagram illustrating a computer device 900 for implementing the method described above, according to an example embodiment. For example, computer device 900 may be provided as a server. Referring to fig. 11, the computer apparatus 900 includes a processor 901, and the number of the processors may be set to one or more as necessary. Computer device 900 also includes a memory 902 for storing instructions, such as application programs, that are executable by processor 901. The number of the memories can be set to one or more according to needs. Which may store one or more application programs. The processor 901 is configured to execute instructions to perform the above-described methods.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus (device), or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer, and the like. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (10)
1. A surgical robotic system, comprising:
a surgical robot actuation end comprising a surgical instrument;
the control terminal comprises an action acquisition part, a first control component, a second control component and a third control component, wherein the action acquisition part is configured to acquire action information of the first control component, the second control component and the third control component, determine a control signal according to the action information and send the control signal to the master control terminal;
the main control end is configured to receive the control signal, convert the control signal into an action instruction, and instruct the surgical robot execution end to execute a corresponding action according to the action instruction;
the operation of the first control component is used for indicating the translation of the surgical instrument along a reference plane, the operation of the second control component is used for indicating the rotation of the surgical instrument relative to the reference plane, the operation of the third control component is used for indicating the movement of the surgical instrument along a reference linear path, and the reference linear path and the reference plane are arranged at an included angle.
2. The surgical robotic system of claim 1, wherein the first manipulation member comprises a first rocker; and/or the presence of a gas in the gas,
the second control component comprises a second rocker; and/or the presence of a gas in the gas,
the third manipulation member comprises a push rod.
3. The surgical robotic system of claim 1, wherein the reference linear path is an extension direction of the surgical instrument; and/or the presence of a gas in the gas,
the manipulation end comprises a fourth manipulation component, the motion acquisition part is further configured to acquire motion information of the fourth manipulation component, and the motion of the fourth manipulation component is used for indicating the surgical instrument to rotate around the reference straight line; and/or the presence of a gas in the gas,
the operation and control end comprises a fifth operation and control component, the action acquisition part is further configured to acquire action information of the fifth operation and control component, and the action of the fifth operation and control component is used for indicating the surgical instrument to move up and down; and/or the presence of a gas in the gas,
the operation and control end comprises a sixth operation and control component, the action acquisition part is further configured to acquire action information of the sixth operation and control component, and actions of the sixth operation and control component are used for instructing the surgical robot execution end to load or release a surgical instrument.
4. A surgical robotic system as claimed in claim 1, wherein the surgical robotic effector comprises force detection means for detecting force information of the surgical instrument;
the control end further comprises a force feedback device configured to execute different feedback actions based on different stress information of the force detection device.
5. A control method of a surgical robot system is applied to a master control end, and the control method comprises the following steps:
receiving a control signal, and determining an action instruction according to the control signal;
sending the action instruction, wherein the action instruction is used for indicating an action to be executed by a surgical robot execution end;
wherein the manipulation signal comprises a first manipulation signal, and the action instruction comprises a first action instruction corresponding to the first manipulation signal and used for indicating the translation of a surgical instrument at the execution end of the surgical robot along a reference plane;
the control signal comprises a second control signal, and the action command comprises a second action command corresponding to the second control signal and used for indicating the rotation of the surgical instrument relative to the reference plane;
the control signal comprises a third control signal, the action command comprises a third action command corresponding to the third control signal, and the third action command is used for indicating the movement of the surgical instrument along a reference linear path, and the reference linear path and the reference plane are arranged at an included angle.
6. The control method according to claim 5, wherein the first manipulation signal includes movement direction information and movement speed information of the first manipulation member with respect to an initial position thereof, and the first motion instruction includes a translation direction and a translation speed of the surgical instrument along the reference plane; and/or the presence of a gas in the gas,
the second control signal comprises movement direction information and movement speed information of a second control component relative to the initial position of the second control component, and the second action command comprises a rotation direction and a rotation angular speed of the surgical instrument relative to the reference plane; and/or the presence of a gas in the gas,
the third control signal comprises movement direction information and movement speed information of a third control component relative to the initial position of the third control component, and the third action command comprises the movement direction and movement speed of the surgical instrument along the reference linear path; and/or the presence of a gas in the gas,
the manipulation signal comprises a fourth manipulation signal, and the action command comprises a fourth action command corresponding to the fourth manipulation signal and used for indicating the surgical instrument to rotate around the reference straight line; and/or the presence of a gas in the gas,
the control signal comprises a fifth control signal, and the action instruction comprises a fifth action instruction corresponding to the fifth control signal and used for indicating the surgical instrument to move up and down; and/or the presence of a gas in the gas,
the control signal comprises a sixth control signal, and the action instruction comprises a sixth action instruction corresponding to the sixth control signal and used for instructing the surgical robot executing end to load or release a surgical instrument.
7. The control method according to claim 5 or 6, wherein the determining of the action command according to the manipulation signal comprises:
under the condition that the surgical robot execution end is in a first manipulation mode, converting the manipulation signal into a first mode action instruction, wherein the first mode action instruction is used for indicating the continuous action of the surgical instrument;
and under the condition that the surgical robot execution end is in a second manipulation mode, converting the manipulation signal into a second mode action instruction, wherein the second mode action instruction is used for indicating the stepping action of the surgical instrument.
8. The control method according to claim 5 or 6, characterized by further comprising:
receiving stress information, wherein the stress information is stress information of the surgical instrument;
determining a motion control instruction based on the force-bearing information, the motion control instruction being used to indicate an action to be performed by a force feedback device;
and sending the action control instruction.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the steps of the method according to any of claims 5-8.
10. A computer arrangement comprising a processor, a memory and a computer program stored on the memory, characterized in that the steps of the method according to any of claims 5-8 are implemented when the computer program is executed by the processor.
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