CN114326921B - Motion trend detection method and device, electronic equipment and storage medium - Google Patents
Motion trend detection method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114326921B CN114326921B CN202111589423.8A CN202111589423A CN114326921B CN 114326921 B CN114326921 B CN 114326921B CN 202111589423 A CN202111589423 A CN 202111589423A CN 114326921 B CN114326921 B CN 114326921B
- Authority
- CN
- China
- Prior art keywords
- action
- target
- handle mechanism
- motion
- motor assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The embodiment of the invention provides a motion trend detection method, a motion trend detection device, electronic equipment and a storage medium, wherein the motion trend detection method comprises the following steps: acquiring pressure change rates of a plurality of pressure sensors when a user operates a handle mechanism; determining a target action to be executed by a user and action parameter information of the target action according to the pressure change rate; and determining the operation parameters of the motor assembly when the motor assembly responds to the target action according to the action parameter information of the target action, so that when the handle mechanism of the split type surgical device executes the target action, the motor assembly controls the instrument of the split type surgical device to follow the handle mechanism to execute the action matched with the target action according to the operation parameters. The invention can sense the intention of the user before the user actually acts, and preset the operation parameters of the motor assembly so as to control the instrument to execute corresponding action according to the operation parameters when the user actually acts, thereby reducing the control delay of the handle mechanism on the instrument and enhancing the following performance of the instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a motion trend detection method and device, electronic equipment and a storage medium.
Background
In order to ensure the sensitivity of the split type surgical device, the doctor has better use experience when using the split type surgical device, and zero time delay of the handle mechanism and the instrument of the split type surgical device in operation needs to be ensured. Generally, after the handle mechanism performs the action, the instrument can perform the corresponding action within 150ms, and response is performed within 200ms at the latest, and under the condition that the above requirements are met, the handle mechanism and the instrument can be considered to have zero time delay in operation.
When a user controls the handle mechanism to perform an action, the instrument is required to immediately perform an action corresponding to the action. However, when the control execution is performed after the detection of the motion of the handle mechanism, a certain time delay usually exists, and the following performance is affected.
Disclosure of Invention
The embodiment of the invention provides a motion trend detection method and device, electronic equipment and a storage medium, and aims to solve the problem of how to sense the intention of a user for operating a split type surgical device in advance so as to reduce the control delay of a handle mechanism on an instrument.
In a first aspect, an embodiment of the present invention provides a motion trend detection method, which is applied to a processing system, where the processing system is used to perform motion trend detection on a split-type surgical device, the split-type surgical device includes a handle mechanism, an instrument, and a motor assembly, and a plurality of pressure sensors are disposed on the handle mechanism, and the method includes:
acquiring pressure change rates of the plurality of pressure sensors when a user operates the handle mechanism;
determining a target action to be executed by the user and action parameter information of the target action according to the pressure change rate;
and according to the action parameter information of the target action, determining the operating parameters of the motor assembly when responding to the target action, so that when the handle mechanism executes the target action, the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the operating parameters.
In a second aspect, an embodiment of the present invention further provides a motion trend detection device applied to a processing system, where the processing system is configured to perform motion trend detection on a split-type surgical device, the split-type surgical device includes a handle mechanism, an instrument, and a motor assembly, the handle mechanism is provided with a plurality of pressure sensors, and the device includes:
the acquisition module is used for acquiring the pressure change rate of the pressure sensors when a user operates the handle mechanism;
the first determination module is used for determining a target action to be executed by the user and action parameter information of the target action according to the pressure change rate;
and the second determining module is used for determining the operating parameters of the motor assembly when responding to the target action according to the action parameter information of the target action, so that when the handle mechanism executes the target action, the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the operating parameters.
In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the motion trend detection method are implemented.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the motion trend detection method are implemented.
According to the technical scheme of the embodiment of the invention, the target action to be executed by the user is determined by acquiring the pressure change rate of the pressure sensors arranged on the handle mechanism of the split type surgical device, and then the operation parameters of the motor component of the split type surgical device in response to the target action are determined, so that the intention of the user can be sensed before the user actually makes the action, and then the operation parameters of the motor component corresponding to the target action are determined, so that when the handle mechanism actually executes the target action, the motor component can control the instrument of the split type surgical device to follow the handle mechanism to execute the action matched with the target action according to the operation parameters, and therefore, the control delay of the handle mechanism of the split type surgical device on the instrument can be reduced, the following performance of the instrument can be enhanced, and the operation experience of the user can be improved.
Drawings
FIG. 1 is a schematic structural view of a split surgical device according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a motion trend detection method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control architecture of a motor assembly according to an embodiment of the present invention;
fig. 4 is one of schematic structural diagrams of the arrangement positions of the pressure sensors in the motion tendency detection method provided by the embodiment of the invention;
fig. 5 is a second schematic structural diagram illustrating a position where a pressure sensor is disposed in the motion trend detection method according to the embodiment of the present invention;
fig. 6 is a second schematic flow chart of the motion trend detection method according to the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a motion trend detection apparatus according to an embodiment of the present invention.
Detailed Description
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, 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 appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The embodiment of the invention provides a motion trend detection method, which is applied to a processing system, wherein the processing system is used for detecting a motion trend of a split type surgical device, the processing system is in communication connection with the split type surgical device, as shown in fig. 1, the split type surgical device comprises a handle mechanism 26, an instrument 28 and a power main machine 27, a motor assembly is arranged in the power main machine 27, and a plurality of pressure sensors are arranged on the handle mechanism 26. As shown in fig. 2, the motion tendency detection method may include:
In the embodiment of the invention, in order to more accurately acquire the pressure change condition of the surface of the split type operation device when a user (such as a doctor) uses the split type operation device, a plurality of pressure sensors can be arranged on a handle mechanism of the split type operation device. The pressure sensor can be a film pressure sensor and is attached to the surface of a handle mechanism of the split type surgical device. When a user manipulates the handle mechanism, the pressure sensor may sense pressure applied to the split-type surgical device by the fingers and the palm. The processing system is in communication connection with the pressure sensor, collects the actual pressure of the pressure sensor at a certain sampling frequency and converts the actual pressure into a pressure change rate.
In the embodiment of the invention, the corresponding relation between the actual action executed by the handle mechanism in the actual use process and the actual pressure change rate can be obtained in advance, wherein the actual pressure change rate is the pressure change information applied to the handle mechanism when a user operates the handle mechanism to execute the actual action, and the processing system can determine the pressure change information by collecting the pressure value of the pressure sensor arranged on the handle mechanism. After the pressure change rate of the pressure sensor when the user operates the handle mechanism is obtained, the target action corresponding to the pressure change rate can be determined according to the pressure change rate and the corresponding relation. In addition, motion parameter information of the target motion, such as the speed of performing the target motion, may also be determined based on the pressure change rate.
In the embodiment of the invention, after the target action to be executed by the user is determined through the pressure change rate, the operation parameters of the motor component when the user actually executes the target action can be acquired according to the action parameter information of the target action. Then, when the handle mechanism actually performs the target motion, the motor assembly may directly control the instrument to follow the handle mechanism to perform a motion matching the target motion according to the operation parameter.
According to the embodiment of the invention, the target action to be executed by the user is determined by acquiring the pressure change rate of the pressure sensors arranged on the handle mechanism of the split type surgical device, so that the operation parameters of the motor assembly of the split type surgical device are determined when the motor assembly responds to the target action. Therefore, the intention of a user can be sensed before the user actually makes an action, and then the operation parameters of the motor assembly corresponding to the target action are determined, so that when the handle mechanism actually executes the target action, the motor assembly can control the instrument of the split type surgical device to follow the handle mechanism to execute the action matched with the target action according to the operation parameters, the control delay of the handle mechanism of the split type surgical device to the instrument can be reduced, the following performance of the instrument is enhanced, and the operation experience of the user is improved.
In an optional embodiment of the present invention, the acquiring the pressure change rate of the plurality of pressure sensors when the user manipulates the split type surgical device includes:
for each pressure sensor, generating a corresponding pressure curve according to the acquired historical pressure data of the pressure sensor;
receiving an actual pressure of each of the pressure sensors as the user manipulates the split surgical device;
for each pressure sensor, determining a pressure change rate of each pressure sensor when a user operates the split surgical device according to the corresponding pressure curve and the actual pressure;
wherein the processing system obtains the historical pressure data and the actual pressure of the pressure sensor based on a communication connection with the pressure sensor.
According to the embodiment of the invention, the processing system fits the historical pressure data of each sensor by the least square method to respectively generate the corresponding pressure curves, and noise interference generated by holding the hand can be filtered in the process. Alternatively, in generating the pressure curve from historical pressure data, the historical pressure data may be historical pressure data for a fixed length period of time, which may be a fixed period of time prior to the time at which the actual pressure is received by the processing system, and the historical pressure data may be acquired periodically with a frequency. The pressure change rate corresponding to each pressure sensor when the user operates the split-type surgical device can be determined through the pressure curve and the actual pressure when the user operates the split-type surgical device.
In an optional embodiment of the present invention, the determining, according to the pressure change rate, a target action to be performed by the user and action parameter information of the target action includes:
determining a target action corresponding to the pressure change rate according to a prestored corresponding relation between the action of the handle mechanism and the pressure change rate;
and determining the action parameter information of the target action corresponding to the pressure change rate according to the corresponding relationship between the action parameter information of the handle mechanism and the pressure change rate which is stored in advance.
In the embodiment of the present invention, a corresponding relationship between the motion of the handle mechanism and the pressure change rate, that is, a corresponding relationship between the actual motion performed by the handle mechanism and the actual pressure change rate in the actual use process, may be obtained and stored in advance, where the actual pressure change rate is the pressure change rate applied to the handle mechanism when the user operates the handle mechanism to perform the actual motion, and the processing system may determine the pressure change rate by collecting the pressure value of the pressure sensor disposed on the handle mechanism. After the pressure change rate of the pressure sensor when the user operates the handle mechanism is obtained, the target action corresponding to the pressure change rate can be determined according to the pressure change rate and the corresponding relation. In addition, the correspondence between the motion parameter information of the handle mechanism and the pressure change rate may be acquired and stored in advance, and after the target motion is determined, the motion parameter information of the target motion corresponding to the pressure change rate, such as the speed at which the target motion is executed, may be determined based on the correspondence and the pressure change rate.
In an optional embodiment of the present invention, the split surgical device further comprises a motor controller connected to the motor assembly, and the processing system is communicatively connected to the motor controller.
The processing system of the embodiment of the invention can determine the target action to be executed by the user through the pressure change rate of the pressure sensor arranged on the handle mechanism. After determining the target action, operating parameters of the motor assembly in response to the target action may be determined. Therefore, before the user operates the handle mechanism, the processing system judges the target action to be executed by the user according to the pressure applied to the handle mechanism by the user, further determines the movement trend of the handle mechanism, and acquires the running parameters of the motor assembly in advance when the user actually executes the target action. The motor component can control the instrument to follow the handle mechanism to execute the action matched with the target action according to the operating parameters.
As shown in fig. 3, the motor controller includes a position loop control unit, a speed loop control unit, a current loop control unit and a motion trend control unit, the processing system is in communication connection with the motion trend control unit, the handle mechanism is connected with the position loop control unit, the instrument is connected with the current loop control unit, the position loop control unit is further connected with the speed loop control unit, and the speed loop control unit is further connected with the current loop control unit. In the three-loop control of the motor assembly, the current loop is faster than the speed loop, and the speed loop is faster than the position loop, otherwise, stable control cannot be achieved, for example, if the position loop is faster than the speed loop, the speed loop control is not executed yet, and a new position loop calculation result is input, so that stable control cannot be performed. The embodiment of the invention directly takes the motion trend control unit as the input of the current loop control unit, so that the control of the motion trend control unit is faster than that of the position loop control unit.
It should be noted that, if the motor controller does not include the motion trend control unit, the motor assembly operates in a three-loop control mode of a position loop, a speed loop and a current loop, only when the handle mechanism is detected to have a position movement, the target position of the instrument is determined according to the change of the position of the handle mechanism, and then the motor assembly operates in the three-loop control mode, so that the instrument can follow the action of the handle mechanism to execute corresponding action. In the control process, the motor assembly determines the operation parameters to enable the instrument to execute the matched action when detecting that the handle mechanism executes the action, so that the condition that the instrument cannot execute the corresponding action in time when the handle mechanism executes the action possibly occurs, and operation delay exists between the handle mechanism and the instrument.
In an embodiment of the present invention, the processing system is connected to the motor controller, and specifically, the processing system is connected to a motion trend control unit in the motor controller.
Specifically, after determining the operation parameters of the motor assembly in response to the target motion, the embodiment of the present invention may be implemented in three ways, where each implementation way is described below, with respect to how to reduce the control delay of the handle mechanism of the split surgical device on the instrument according to the operation parameters, so as to enhance the following performance of the instrument.
The first implementation manner is that after the operation parameters of the motor assembly in response to the target action are determined according to the action parameter information of the target action, the operation parameters are input to the motor controller, so that the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters;
when the motor assembly operates to a target position from an original position according to the target torque, the motor controller receives the target position fed back by the motor assembly, and when the motor controller does not receive a position instruction sent when the handle mechanism executes the target action, the motor assembly operates to the original position from the target position; when the motor controller receives the position instruction, the motor controller controls the motor assembly to operate according to the position instruction to drive the instrument to follow the handle mechanism to execute the action matched with the target action.
Specifically, in conjunction with the control architecture of the motor controller shown in fig. 3, the embodiment of the present invention inputs the operation parameters to the motor controller, and actually inputs the operation parameters to the motion trend control unit. The motion trend control unit may determine a target torque matched with the operation parameter according to the operation parameter, and input the target torque to the current loop control unit. When the current loop control unit receives the target torque, the motor assembly is operated to a target position from an original position according to the target torque, and at the moment, due to the change of the position of the motor assembly, the position control unit of the motor controller receives the target position fed back by the motor assembly. At this time, since only the movement trend of the handle mechanism is determined, and actually the handle mechanism does not execute the target action, the position loop control unit in the motor controller does not receive the position instruction sent when the handle mechanism executes the target action, so that the motor assembly returns to the original position from the target position, and finally dynamic balance is realized, that is, the torque of the motor assembly is adjusted to the target torque, and the position is not changed. In this state, when the position control unit of the motor controller receives a position instruction sent when the handle mechanism actually executes the target action, the motor controller can directly control the motor assembly to operate according to the position instruction to drive the instrument to follow the handle mechanism to execute an action matched with the target action.
According to the above embodiment of the invention, when the handle mechanism does not execute the target action, the motor controller controls the motor assembly in advance through the change of the pressure sensor, namely, the torque is adjusted to the target torque, and meanwhile, because the motion trend control unit is directly added to the innermost ring in the three-ring control of the motor assembly, namely, the current ring control unit, when the handle mechanism does not execute the action, the motor assembly does not operate due to the judgment of the motion trend, so that the motor assembly is controlled in advance. When the handle mechanism actually executes the target action, the motor component can drive the instrument to quickly execute the matched action, and the operation delay between the handle mechanism and the instrument is reduced.
In an optional embodiment of the invention, after the operating parameters are input to the motor controller, the method further comprises:
within a preset time, if target action execution information representing that the handle mechanism executes the target action is acquired, a first control instruction is sent to the motor controller to instruct the motor controller to control the motor assembly to operate to drive the instrument to execute an action matched with the target action;
wherein the processing system obtains target motion execution information characterizing the target motion executed by the handle mechanism based on the communication connection with the split surgical device.
According to the embodiment of the invention, after the processing system determines the target action to be executed by the user and determines the operation parameters of the motor assembly responding to the target action, the operation parameters are input to the motor controller, and the motor controller adjusts the torque of the motor assembly to the target torque according to the operation parameters. At this time, the motor assembly has been previously controlled according to the movement tendency of the handle mechanism. Further, in the case of determining the movement tendency of the handle mechanism, it is also necessary to determine whether the handle mechanism actually performs the target action. And within the preset time after the moment is adjusted, if the target action is actually executed by the user, controlling the motor assembly to operate so as to drive the instrument to execute the action matched with the target action.
In an optional embodiment of the invention, after the operating parameters are input to the motor controller, the method further comprises:
and within preset time, if target action execution information representing that the handle mechanism executes the target action is not acquired, sending a second control instruction to the motor controller to instruct the motor controller to adjust the torque of the motor assembly from the target torque to initial torque.
In the above-described embodiment of the present invention, in the case of determining the movement tendency of the handle mechanism, it is also necessary to determine whether the handle mechanism actually performs the target action. Within the preset time after the torque is adjusted, if the target action execution information is not acquired, that is, the processing system determines the target action to be executed by the user according to the pressure change rate of the pressure sensor, but actually the user does not execute the target action or executes another action different from the target action, in order to ensure the normal operation of the motor assembly and timely respond to the another action actually executed by the user, the torque of the motor assembly needs to be adjusted from the target torque to the initial torque.
A second implementation manner is that after determining the operation parameters of the motor assembly in response to the target action according to the action parameter information of the target action, a torque control instruction is sent to the motor controller, so that the motor controller adjusts the torque of the motor assembly to a preset torque, wherein the motor assembly operates when the torque is greater than the preset torque;
when the motor controller receives a position instruction sent when the handle mechanism executes the target action, the motor controller controls the torque of the motor assembly to be increased from the preset torque to a target torque corresponding to the operation parameters, and controls the instrument to follow the handle mechanism to execute an action matched with the target action according to the position instruction.
Specifically, in combination with the control architecture of the motor controller shown in fig. 3, the embodiment of the present invention sends a torque control command to the motor controller, and actually sends a torque control command to the motion trend control unit of the motor controller. And after receiving the moment control command, the motion trend control unit acquires a preset moment carried in the moment control command and inputs the preset moment to the current loop control unit. The preset torque is a critical torque of the motor assembly, that is, the motor assembly can only operate when the torque of the motor assembly is greater than the critical torque. When the current loop control unit receives the preset torque, the torque of the motor assembly is adjusted to be the preset torque, at the moment, the motor assembly does not operate due to the change of the torque because the preset torque is the critical torque of the operation of the motor assembly, and therefore when the movement trend of the handle mechanism is judged, the torque of the motor assembly is only adjusted to be the preset torque. Then the position loop control unit of the motor controller receives the position command sent when the handle mechanism performs the target motion when the handle mechanism actually performs the target motion. After receiving the position instruction, the motor controller raises the torque of the motor assembly to a target torque corresponding to the operation parameters from a preset torque, and controls the instrument to follow the handle mechanism to execute an action matched with the target action according to the position instruction.
According to the above embodiment of the present invention, when the handle mechanism does not perform the target motion, the motor controller controls the motor assembly in advance through the change of the pressure sensor, that is, the torque is adjusted to the preset torque, and meanwhile, the motor assembly does not operate because the preset torque is the critical torque for the operation of the motor assembly. The moment of the motor assembly is controlled to operate according to a position command to drive the instrument to quickly execute the matched action, and the moment of the motor assembly is adjusted in advance, so that the handle mechanism can be lifted from the preset moment instead of the initial moment when actually executing the target action, and the operation delay between the handle mechanism and the instrument can be reduced.
According to the action parameter information of the target action, after determining the operation parameters of the motor assembly when responding to the target action, inputting the operation parameters to the motor controller so that the motor controller stores the operation parameters;
when the motor controller receives a position instruction sent by the handle mechanism when the target action is executed, the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters, and the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the position instruction.
Specifically, in conjunction with the control architecture of the motor controller shown in fig. 3, the embodiment of the present invention inputs the operation parameters to the motor controller, so that the motor controller stores the operation parameters, and actually inputs the operation parameters to the motion trend control unit of the motor controller, so that the motion trend control unit stores the operation parameters. In this case, unlike the first two implementations, in this implementation, the torque of the motor assembly is not adjusted after determining the operating parameters of the motor assembly in response to the target action, but the operating parameters are stored, since the operating parameters correspond to the target torque, that is, the target torque is stored. Then, when the motor controller receives a position command sent when the handle mechanism executes the target action, the motor controller may directly adjust the torque of the motor assembly to a target torque without acquiring or calculating the target torque.
According to the embodiment of the invention, when the handle mechanism does not execute the target action, the motor controller stores the target torque into the motor controller through the change advance pair of the pressure sensor, the torque of the motor assembly is only required to be adjusted to the target torque when the handle mechanism actually executes the target action, and then the motor assembly is controlled to operate according to the position instruction to drive the instrument to quickly execute the matched action, so that the target torque does not need to be recalculated or obtained, and the operation delay between the handle mechanism and the instrument can be further reduced.
In an optional embodiment of the present invention, the target action includes: one of a pull-back action, a push-forward action, a tilt-left action, a tilt-right action, and a clamping action; the plurality of sensors includes: at least two first pressure sensors for determining a pull-back motion and a push-forward motion to be performed by the user, at least two second pressure sensors for determining a tilt-left motion and a tilt-right motion to be performed by the user, and at least two third pressure sensors for determining a pinch-in motion to be performed by the user;
the determining, according to the pressure change rate, a target action to be performed by the user and action parameter information of the target action includes one of:
determining a target action to be executed by the user as the pull-back action or the push-forward action according to the pressure change rate of the first pressure sensor, and determining action parameter information of the target action;
determining a target action to be executed by the user as the leftward leaning action or the rightward leaning action according to the pressure change rate of the second pressure sensor, and determining action parameter information of the target action;
and determining a target action to be executed by the user as the clamping action according to the pressure change rate of the third pressure sensor, and determining action parameter information of the target action.
Specifically, as shown in fig. 4 to 5, the number of the first pressure sensors S1 is at least two, and in this embodiment, the number is two, and the two first pressure sensors S1 are respectively disposed at the position of the suspension joint when the user holds the handle mechanism and the position of the palm center when the user holds the handle mechanism; the number of the second pressure sensors S2 is at least two, and in this embodiment, the number is two, and the two second pressure sensors S2 are respectively disposed at a position where a root of an index finger and a root of a thumb are connected when the user holds the handle mechanism and at a position where a first web of the thumb is located when the user holds the handle mechanism; the number of the third pressure sensors S3 is at least two, and in this embodiment, the number is two, and the two third pressure sensors S3 are respectively disposed at the position where the thumb pad is located when the user holds the handle mechanism and the position where the index finger pad is located when the user holds the handle mechanism.
It should be noted that, for the first pressure sensor for detecting the backward pulling motion or the forward pushing motion, when the operator performs the forward pushing motion on the handle mechanism of the split surgical device, the first pressure sensor located at the rear side is pressed by the tiger's mouth, and the first pressure sensor located at the front side is pressed by the middle finger, if the values of the two first pressure sensors are both increased rapidly in unit time, that is, the first derivative of the pressure value curve is increased compared with that before, it is indicated that the handle has the tendency of forward pushing acceleration. When an operator pulls back a handle mechanism of the split type surgical device, the first pressure sensor positioned on the rear side is pressed by the tiger mouth in a reduced mode, the first pressure sensor positioned on the front side is pressed by the middle finger in a aggravated mode, if the numerical value of one first pressure sensor in unit time is increased sharply, namely the first derivative of a pressure value curve is increased compared with the former, the numerical value of the other first pressure sensor is decreased sharply, namely the first derivative of the pressure value curve is decreased compared with the former, the pull-back acceleration trend exists.
For the second pressure sensor for detecting the leftward tilting motion or the rightward tilting motion, when the operator performs the leftward tilting motion on the handle mechanism of the split type surgical device, the second pressure sensor located on the right side is pressed, the second pressure sensor located on the left side can reduce the pressing, and if the value of the second pressure sensor located on the right side in unit time is rapidly increased, that is, the first derivative of the pressure value curve is increased compared with the previous value, the value of the second pressure sensor located on the left side is rapidly decreased, that is, the first derivative of the pressure value curve is decreased compared with the previous value, it is indicated that the handle has a leftward tilting acceleration tendency. When an operator performs right tilting motion on the handle mechanism of the split type surgical device, the second pressure sensor on the left side is pressed, the second pressure sensor on the right side relieves the pressing, and if the numerical value of the second pressure sensor on the left side in unit time is sharply increased, namely the first derivative of the pressure value curve is increased compared with the previous value, and the numerical value of the second pressure sensor on the right side is sharply reduced, namely the first derivative of the pressure value curve is reduced compared with the previous value, the trend of right tilting acceleration is shown.
Aiming at the third pressure sensors for detecting the clamping action, when an operator clamps the handle mechanism of the split type operation device, the two third pressure sensors are pressed, if the numerical values of the two third pressure sensors in unit time are rapidly increased, namely the first derivative of the pressure value curve is increased compared with the previous value, the trend that the handle has the clamping action is shown.
According to the embodiment of the invention, the pressure sensors for detecting different target actions are arranged at different positions of the split type surgical device, the movement trend of the user operating the handle mechanism is judged according to the pressure change rate of the pressure sensors, and the target action to be executed by the user is determined. For example, if the program detects that the pressure value of the second pressure sensor located on the left side of the handle mechanism increases and the pressure value of the second pressure sensor located on the right side of the handle mechanism decreases when the handle mechanism is not performing an action, it can be preliminarily determined that the user has an action trend of controlling the handle mechanism to rotate rightwards, at this time, the motion trend control unit in the motor controller adds the pressure increase value of the second pressure sensor located on the left side of the handle mechanism and the pressure decrease value of the second pressure sensor located on the right side of the handle mechanism to obtain an average value, and then performs positive-negative determination on the obtained average value according to the determination direction, if the user moves leftwards, the average value is negative, and if the user moves rightwards, the average value is positive (the user considers that the control motor should rotate backwards to the left, and the user considers that the control motor should rotate forwards to the right), and the average value is multiplied by a control coefficient (which can be determined by debugging the control system) and added to the current loop control unit of the motor controller. The control process of the output of the motion trend control unit in the motor controller in the pressure change process of the first pressure sensor and the third pressure sensor is the same as the above.
The following describes an overall implementation flow of the embodiment of the present invention, as shown in fig. 6, including:
Step 606, inputting the operation parameters to the motor controller, so that the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters. When the motor assembly operates to a target position from an original position according to the target torque, the motor controller receives the target position fed back by the motor assembly, and when the motor controller does not receive a position instruction sent when the handle mechanism executes the target action, the motor assembly operates to the original position from the target position; when the motor controller receives the position instruction, the motor controller controls the motor assembly to operate according to the position instruction to drive the instrument to follow the handle mechanism to execute the action matched with the target action.
Step 607, sending a torque control command to the motor controller, so that the motor controller adjusts the torque of the motor assembly to a preset torque. The motor assembly runs when the torque is larger than the preset torque; when the motor controller receives a position instruction sent when the handle mechanism executes the target action, the motor controller controls the torque of the motor assembly to be increased from the preset torque to a target torque corresponding to the operation parameters, and controls the instrument to follow the handle mechanism to execute an action matched with the target action according to the position instruction.
Step 608, inputting the operation parameters to the motor controller, so that the motor controller stores the operation parameters. When the motor controller receives a position instruction sent by the handle mechanism when the target action is executed, the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters, and the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the position instruction.
In the above embodiment, the processing system determines historical pressure data for each pressure sensor by periodically obtaining a pressure value for each pressure sensor disposed on the handle mechanism of the split surgical device. A pressure curve for the corresponding pressure sensor may be generated from the historical pressure data. According to the pressure curves of the pressure sensors and the actual pressure of the pressure sensors when the user operates the split type surgical device, the pressure change rate when the user operates the split type surgical device can be determined, the pressure change rate can be the pressure change rate, and further the target action to be executed by the user and the action parameter information of the target action can be determined, the action parameter information can be the execution speed of the target action, and specifically, the execution speed of the target action to be executed by the handle mechanism can be judged according to the pressure increment in unit time. Further, according to the action parameter information of the target action, determining the operation parameters of the motor assembly of the split type surgical device when the motor assembly responds to the target action, so that when the handle mechanism executes the target action, the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the operation parameters. Specifically, after the operation parameter is determined, in order to reduce the control delay of the handle mechanism of the split surgical device on the instrument according to the operation parameter, and enhance the following performance of the instrument, the embodiment of the present invention may be implemented in three ways, the first way is to adjust the torque of the motor assembly to the target torque corresponding to the operation parameter, corresponding to step 606 above, the second way is to adjust the torque of the motor assembly to the preset torque, which is the critical torque of the operation of the motor assembly, corresponding to step 607 above, and the third way is to store the operation parameter by the motor controller, corresponding to step 608 above.
Through the scheme, the embodiment of the invention determines the target action to be executed by the user by acquiring the pressure change rate of the pressure sensors arranged on the handle mechanism of the split type surgical device, and further determines the operation parameters of the motor component of the split type surgical device when responding to the target action, so that the intention of the user can be sensed before the user actually makes the action, and further determines the operation parameters of the motor component corresponding to the target action, and when the handle mechanism actually executes the target action, the motor component can control the instrument of the split type surgical device to follow the handle mechanism to execute the action matched with the target action according to the operation parameters, thereby reducing the control delay of the handle mechanism of the split type surgical device on the instrument, enhancing the following performance of the instrument and improving the operation experience of the user.
An embodiment of the present invention further provides a motion trend detection device, which is applied to a processing system, wherein the processing system is configured to perform motion trend detection on a split-type surgical device, the split-type surgical device includes a handle mechanism, an instrument and a motor assembly, the handle mechanism is provided with a plurality of pressure sensors, as shown in fig. 7, the device includes:
an obtaining module 701, configured to obtain pressure change rates of the multiple pressure sensors when a user manipulates the handle mechanism;
a first determining module 702, configured to determine, according to the pressure change rate, a target action to be performed by the user and action parameter information of the target action;
a second determining module 703, configured to determine, according to the motion parameter information of the target motion, an operation parameter of the motor assembly in response to the target motion, so that when the handle mechanism performs the target motion, the motor assembly controls, according to the operation parameter, the instrument to follow the handle mechanism to perform a motion matching the target motion.
Optionally, the obtaining module includes:
the generating submodule is used for generating a corresponding pressure curve according to the acquired historical pressure data of the pressure sensor aiming at each pressure sensor;
the receiving submodule is used for receiving the actual pressure of each pressure sensor when a user operates the handle mechanism;
the first determining submodule is used for determining the pressure change rate of each pressure sensor when a user operates the handle mechanism according to the corresponding pressure curve and the actual pressure; wherein the processing system obtains the historical pressure data and the actual pressure of the pressure sensor based on a communication connection with the pressure sensor.
Optionally, the first determining module includes:
the second determining submodule is used for determining a target action corresponding to the pressure change rate according to the prestored corresponding relation between the action of the handle mechanism and the pressure change rate;
and the third determining submodule is used for determining the action parameter information of the target action corresponding to the pressure change rate according to the corresponding relation between the action parameter information of the handle mechanism and the pressure change rate which is stored in advance.
Optionally, the split surgical device further comprises a motor controller connected to the motor assembly, and the processing system is communicatively connected to the motor controller.
Optionally, the apparatus further comprises:
the first control module is used for inputting the operation parameters to the motor controller so that the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters;
when the motor assembly operates to a target position from an original position according to the target torque, the motor controller receives the target position fed back by the motor assembly, and when the motor controller does not receive a position instruction sent when the handle mechanism executes the target action, the motor assembly operates to the original position from the target position; when the motor controller receives the position instruction, the motor controller controls the motor assembly to operate according to the position instruction to drive the instrument to follow the handle mechanism to execute the action matched with the target action.
Optionally, the apparatus further comprises:
the first sending module is used for sending a first control instruction to the motor controller to instruct the motor controller to control the motor assembly to operate so as to drive the instrument to execute an action matched with the target action if target action execution information representing that the handle mechanism executes the target action is obtained within a preset time;
wherein the processing system obtains target motion execution information characterizing the target motion executed by the handle mechanism based on the communication connection with the split surgical device.
Optionally, the apparatus further comprises:
and the second sending module is used for sending a second control instruction to the motor controller to instruct the motor controller to adjust the torque of the motor assembly from the target torque to the initial torque if target action execution information representing that the handle mechanism executes the target action is not acquired within preset time.
Optionally, the apparatus further comprises:
the second control module is used for sending a torque control instruction to the motor controller so that the motor controller can adjust the torque of the motor assembly to a preset torque, wherein the motor assembly operates when the torque is larger than the preset torque;
when the motor controller receives a position instruction sent when the handle mechanism executes the target action, the motor controller controls the torque of the motor assembly to be increased from the preset torque to a target torque corresponding to the operation parameters, and controls the instrument to follow the handle mechanism to execute an action matched with the target action according to the position instruction.
Optionally, the apparatus further comprises:
a third control module for inputting the operating parameters to the motor controller to cause the motor controller to store the operating parameters;
when the motor controller receives a position instruction sent by the handle mechanism when the target action is executed, the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters, and the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the position instruction.
Optionally, the target action includes: one of a pull-back action, a push-forward action, a tilt-left action, a tilt-right action, and a clamping action; the plurality of sensors includes: at least two first pressure sensors for determining a pull-back motion and a push-forward motion to be performed by the user, at least two second pressure sensors for determining a tilt-left motion and a tilt-right motion to be performed by the user, and at least two third pressure sensors for determining a pinch-in motion to be performed by the user;
the first determining module comprises one of the following:
a fourth determining submodule, configured to determine, according to a pressure change rate of the first pressure sensor, that a target action to be performed by the user is the pull-back action or the push-forward action, and determine action parameter information of the target action;
a fifth determining submodule, configured to determine, according to a pressure change rate of the second pressure sensor, that a target action to be performed by the user is the leftward leaning action or the rightward leaning action, and determine action parameter information of the target action;
and the sixth determining submodule is used for determining a target action to be executed by the user as the clamping action according to the pressure change rate of the third pressure sensor and determining action parameter information of the target action.
According to the movement trend detection device provided by the invention, the target action to be executed by the user is determined by acquiring the pressure change rate of the pressure sensors arranged on the handle mechanism of the split type operation device, and then the operation parameters of the motor assembly of the split type operation device when responding to the target action are determined, so that the intention of the user can be sensed before the user actually performs the action, and then the operation parameters of the motor assembly corresponding to the target action are determined, so that when the handle mechanism actually performs the target action, the motor assembly can control the instrument of the split type operation device to follow the handle mechanism to perform the action matched with the target action according to the operation parameters, and therefore, the control delay of the handle mechanism of the split type operation device on the instrument can be reduced, the following performance of the instrument is enhanced, and the operation experience of the user is improved.
An embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program, when executed by the processor, implements each process of the motion trend detection method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the motion trend detection method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (12)
1. A motion trend detection method is applied to a processing system, the processing system is used for carrying out motion trend detection on a split type surgical device, the split type surgical device comprises a handle mechanism, an instrument and a motor assembly, a plurality of pressure sensors are arranged on the handle mechanism, and the method comprises the following steps:
acquiring changes of pressure values of the plurality of pressure sensors when a user operates the handle mechanism;
determining a target action to be executed by the user and action parameter information of the target action according to the change of the pressure value;
and according to the action parameter information of the target action, determining the operation parameters of the motor assembly when responding to the target action, so that when the handle mechanism executes the target action, the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the operation parameters.
2. The motion trend detection method according to claim 1, wherein the determining, according to the change in the pressure value, the target motion to be performed by the user and the motion parameter information of the target motion includes:
determining a target action corresponding to the change of the pressure value according to a prestored corresponding relation between the action of the handle mechanism and the change of the pressure value;
and determining the action parameter information of the target action corresponding to the change of the pressure value according to the prestored corresponding relation between the action parameter information of the handle mechanism and the change of the pressure value.
3. The movement trend detection method of claim 1, wherein the split surgical device further comprises a motor controller coupled to the motor assembly, and the processing system is communicatively coupled to the motor controller.
4. The motion trend detection method according to claim 3, wherein after determining the operating parameters of the motor assembly in response to the target motion according to the motion parameter information of the target motion, the method further comprises:
inputting the operating parameters to the motor controller so that the motor controller adjusts the torque of the motor assembly to a target torque matching the operating parameters;
when the motor assembly operates to a target position from an original position according to the target torque, the motor controller receives the target position fed back by the motor assembly, and when the motor controller does not receive a position instruction sent when the handle mechanism executes the target action, the motor assembly operates to the original position from the target position; when the motor controller receives the position instruction, the motor controller controls the motor assembly to operate according to the position instruction to drive the instrument to follow the handle mechanism to execute the action matched with the target action.
5. The movement tendency detection method according to claim 4, wherein after the operating parameters are input to the motor controller, the method further comprises:
within a preset time, if target action execution information representing that the handle mechanism executes the target action is acquired, a first control instruction is sent to the motor controller to instruct the motor controller to control the motor assembly to operate to drive the instrument to execute an action matched with the target action;
wherein the processing system obtains target motion execution information characterizing the target motion executed by the handle mechanism based on the communication connection with the split surgical device.
6. The movement tendency detection method according to claim 4, wherein after the operating parameters are input to the motor controller, the method further comprises:
within preset time, if target action execution information representing that the handle mechanism executes the target action is not acquired, sending a second control instruction to the motor controller to instruct the motor controller to adjust the torque of the motor assembly from the target torque to an initial torque;
wherein the processing system obtains target motion execution information characterizing the target motion executed by the handle mechanism based on the communication connection with the split surgical device.
7. The motion trend detection method according to claim 3, wherein after determining the operating parameters of the motor assembly in response to the target motion according to the motion parameter information of the target motion, the method further comprises:
sending a torque control instruction to the motor controller to enable the motor controller to adjust the torque of the motor assembly to a preset torque, wherein the motor assembly operates when the torque is larger than the preset torque;
when the motor controller receives a position instruction sent when the handle mechanism executes the target action, the motor controller controls the torque of the motor assembly to be increased from the preset torque to a target torque corresponding to the operation parameters, and controls the instrument to follow the handle mechanism to execute an action matched with the target action according to the position instruction.
8. The motion trend detection method according to claim 3, wherein after determining the operating parameters of the motor assembly in response to the target motion according to the motion parameter information of the target motion, the method further comprises:
inputting the operating parameters to the motor controller to cause the motor controller to store the operating parameters;
when the motor controller receives a position instruction sent by the handle mechanism when the target action is executed, the motor controller adjusts the torque of the motor assembly to a target torque matched with the operation parameters, and the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the position instruction.
9. The motion trend detection method according to claim 1, wherein the target action includes: one of a pull-back action, a push-forward action, a tilt-left action, a tilt-right action, and a clamping action;
the plurality of pressure sensors includes: at least two first pressure sensors for determining a pull-back motion and a push-forward motion to be performed by a user, at least two second pressure sensors for determining a tilt-left motion and a tilt-right motion to be performed by a user, and at least two third pressure sensors for determining a pinch-in motion to be performed by a user, the first pressure sensors, the second pressure sensors, and the third pressure sensors being distributed differently on the handle mechanism;
the determining, according to the change of the pressure value, a target action to be performed by the user and action parameter information of the target action includes one of:
determining a target action to be executed by the user as the pull-back action or the push-forward action according to the change of the pressure values of the at least two first pressure sensors, and determining action parameter information of the target action;
determining a target action to be executed by the user as the leftward leaning action or the rightward leaning action according to the change of the pressure values of the at least two second pressure sensors, and determining action parameter information of the target action;
and determining a target action to be executed by the user as the clamping action according to the change of the pressure values of the at least two third pressure sensors, and determining action parameter information of the target action.
10. A movement tendency detection device is applied to a processing system, the processing system is used for carrying out movement tendency detection on a split type operation device, the split type operation device comprises a handle mechanism, an instrument and a motor assembly, a plurality of pressure sensors are arranged on the handle mechanism, and the device comprises:
the acquisition module is used for acquiring the pressure value change of the pressure sensors when a user operates the handle mechanism;
the first determination module is used for determining a target action to be executed by the user and action parameter information of the target action according to the change of the pressure value;
and the second determination module is used for determining the operating parameters of the motor assembly when responding to the target action according to the action parameter information of the target action, so that when the handle mechanism executes the target action, the motor assembly controls the instrument to follow the handle mechanism to execute the action matched with the target action according to the operating parameters.
11. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the movement tendency detection method according to any of claims 1 to 9.
12. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the movement tendency detection method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111589423.8A CN114326921B (en) | 2021-12-23 | 2021-12-23 | Motion trend detection method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111589423.8A CN114326921B (en) | 2021-12-23 | 2021-12-23 | Motion trend detection method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114326921A CN114326921A (en) | 2022-04-12 |
| CN114326921B true CN114326921B (en) | 2022-05-20 |
Family
ID=81055320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111589423.8A Active CN114326921B (en) | 2021-12-23 | 2021-12-23 | Motion trend detection method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114326921B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1791440A (en) * | 2003-03-18 | 2006-06-21 | 阿特佳有限公司 | Medical devices with enhanced ultrasonic visibility |
| CN101232848A (en) * | 2005-04-25 | 2008-07-30 | 奈拉·哈菲兹 | A remote controlled tubular implant device and implanting apparatus |
| CN208916404U (en) * | 2018-08-31 | 2019-05-31 | 合肥美亚光电技术股份有限公司 | Pipeline delivery system |
Family Cites Families (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1240725A (en) * | 1986-03-20 | 1988-08-16 | Stephen A. Joyce | Multi-dimensional force-torque hand controller having force feedback |
| AU642638B2 (en) * | 1989-12-11 | 1993-10-28 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
| US5720742A (en) * | 1994-10-11 | 1998-02-24 | Zacharias; Jaime | Controller and actuating system for surgical instrument |
| US7901400B2 (en) * | 1998-10-23 | 2011-03-08 | Covidien Ag | Method and system for controlling output of RF medical generator |
| DE10216317A1 (en) * | 2002-04-12 | 2003-10-23 | Bayerische Motoren Werke Ag | Vehicle speed control device for a motor vehicle |
| US8066629B2 (en) * | 2005-02-24 | 2011-11-29 | Ethicon Endo-Surgery, Inc. | Apparatus for adjustment and sensing of gastric band pressure |
| US20080078390A1 (en) * | 2006-09-29 | 2008-04-03 | Nellcor Puritan Bennett Incorporated | Providing predetermined groups of trending parameters for display in a breathing assistance system |
| EP2247235B1 (en) * | 2008-02-22 | 2016-04-13 | Koninklijke Philips N.V. | A system and kit for stress and relaxation management |
| WO2014031800A1 (en) * | 2012-08-22 | 2014-02-27 | Energize Medical Llc | Therapeutic energy systems |
| CN203235087U (en) * | 2012-12-06 | 2013-10-16 | 王刚 | Fully-automatic two-channel infusion pump |
| IN2014MU00245A (en) * | 2014-01-23 | 2015-09-11 | Shivani Scient Ind Private Ltd | |
| US20160069760A1 (en) * | 2014-09-10 | 2016-03-10 | Grip Plus Inc | Interactive pressure control system |
| US9808246B2 (en) * | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
| KR20170022192A (en) * | 2015-08-19 | 2017-03-02 | 삼성전자주식회사 | Electronic device having the touch sensor |
| US10695123B2 (en) * | 2016-01-29 | 2020-06-30 | Covidien Lp | Surgical instrument with sensor |
| FR3056470B1 (en) * | 2016-09-28 | 2018-12-07 | Dav | INTERFACE FOR MOTOR VEHICLE AND CONTROL METHOD |
| US10694857B2 (en) * | 2017-04-10 | 2020-06-30 | Nike, Inc. | Sport chair with game integration |
| US20190201146A1 (en) * | 2017-12-28 | 2019-07-04 | Ethicon Llc | Safety systems for smart powered surgical stapling |
| US20190201027A1 (en) * | 2017-12-28 | 2019-07-04 | Ethicon Llc | Surgical instrument with acoustic-based motor control |
| CN111512388B (en) * | 2017-12-28 | 2024-01-30 | 爱惜康有限责任公司 | Safety system for intelligent electric surgical suture |
| CN111542894B (en) * | 2017-12-28 | 2024-01-30 | 爱惜康有限责任公司 | Safety system for intelligent electric surgical suture |
| US11617682B2 (en) * | 2018-05-18 | 2023-04-04 | Alcon Inc. | Surgical foot pedal device having force feedback |
| CN111839614B (en) * | 2019-09-10 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device for mechanical arm of surgical robot |
| US20210177532A1 (en) * | 2019-12-13 | 2021-06-17 | Intuitive Surgical Operations, Inc. | Systems and methods for inserting an elongate flexible instrument into an environment |
| WO2021168467A2 (en) * | 2020-02-18 | 2021-08-26 | Blue Goji Llc | A system and method for evaluation, detection, conditioning, and treatment of neurological functioning and conditions |
-
2021
- 2021-12-23 CN CN202111589423.8A patent/CN114326921B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1791440A (en) * | 2003-03-18 | 2006-06-21 | 阿特佳有限公司 | Medical devices with enhanced ultrasonic visibility |
| CN101232848A (en) * | 2005-04-25 | 2008-07-30 | 奈拉·哈菲兹 | A remote controlled tubular implant device and implanting apparatus |
| CN208916404U (en) * | 2018-08-31 | 2019-05-31 | 合肥美亚光电技术股份有限公司 | Pipeline delivery system |
Non-Patent Citations (1)
| Title |
|---|
| 影响制品重量重复精度主要工艺参数实验分析;张强等;《塑料》;20161218(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114326921A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11020165B2 (en) | Touch free operation of ablator workstation by use of depth sensors | |
| EP0706111B1 (en) | Apparatus and method for user interface | |
| AU2013200054B2 (en) | Touch free operation of devices by use of depth sensors | |
| JP5546582B2 (en) | Stylus, pressure detection system and driving method thereof | |
| KR100995461B1 (en) | Information processing apparatus, kvm switch, server and recording medium | |
| JP2015185168A (en) | Automatic tuning of haptic effects | |
| TW201202878A (en) | Device for controlling a motor | |
| WO2022121003A1 (en) | Robot control method and device, computer-readable storage medium, and robot | |
| US20240017407A1 (en) | Control method, apparatus, and system of a composite robot | |
| US20200175827A1 (en) | Systems and Methods for Controlling Actuator Drive Signals for Improving Transient Response Characteristics | |
| CN114326921B (en) | Motion trend detection method and device, electronic equipment and storage medium | |
| JP6706173B2 (en) | Control device, control method, and control program | |
| JP2020004080A (en) | Output device, control device, and method of outputting evaluation function value | |
| JPH096537A (en) | Peripheral device of computer | |
| CN104636068B (en) | The operating method and touch control terminal of application icon | |
| CN113489405A (en) | Motor control method and device and storage medium | |
| JP2019148632A (en) | camera | |
| CN108132741A (en) | A kind of information processing method and electronic equipment | |
| US11806610B2 (en) | Computer system and gaming mouse | |
| JP2015032128A (en) | Information processing device, information processing program, information processing system, and information processing method | |
| CN112614332B (en) | Terminal control method and device and electronic equipment | |
| JP2002259042A (en) | A/d conversion speed control method for touch panel, program for a/d conversion speed control, and storage medium with the program stored | |
| WO2023154083A1 (en) | Methods, systems, apparatuses, and devices for facilitating controlling operation of a content capturing device | |
| JP3300569B2 (en) | Host controller | |
| CN115045769A (en) | Engine load control system, method, electronic terminal and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |