CN114343854B

CN114343854B - Clamping force control method of clamping instrument, robot system, equipment and medium

Info

Publication number: CN114343854B
Application number: CN202210134559.8A
Authority: CN
Inventors: 请求不公布姓名; 王家寅; 何超; 李自汉; 何裕源
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-02-14
Filing date: 2022-02-14
Publication date: 2024-01-23
Anticipated expiration: 2042-02-14
Also published as: CN114343854A

Abstract

The invention provides a clamping force control method of a clamping instrument, a robot system, electronic equipment and a storage medium, wherein the control method comprises the following steps: acquiring instruction position information of the first opening and closing piece and instruction position information of the second opening and closing piece according to the received operation instruction; the first transmission module is controlled to drive the first opening and closing piece to move correspondingly according to the instruction position information of the first opening and closing piece, and the second transmission module is controlled to drive the second opening and closing piece to move correspondingly according to the instruction position information of the second opening and closing piece, so that the first opening and closing piece and the second opening and closing piece can clamp a target clamping object. The invention can realize stable clamping without the need of an operator to keep the clamping action after the clamping device enters the operation state, thereby effectively preventing the unstable clamping caused by hand fatigue caused by the continuous force of the hand of the operator and even the falling-off problem of the clamping device caused by the continuous force of the hand of the operator in the prior art.

Description

Clamping force control method of clamping instrument, robot system, equipment and medium

Technical Field

The present invention relates to the field of surgical robots, and in particular, to a clamping force control method for a clamping apparatus, a robot system, an electronic device, and a storage medium.

Background

The surgical robot is designed to accurately implement complex surgical operations in a minimally invasive manner. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitations of human eyes, and a stereoscopic imaging technology is adopted to clearly present internal organs to an operator. In the area that original hand is not stretched into, 360 degrees rotations, move, swing, centre gripping can be accomplished to the robot to avoid the shake. The wound is small, the bleeding is less, the recovery is quick, the postoperative hospitalization time of a patient is greatly shortened, the postoperative survival rate and the recovery rate can be obviously improved, the wound is deeply favored by vast doctors and patients, and the wound is widely applied to various clinical operations as a high-end medical instrument.

During a surgical procedure, the surgical robot provides the surgeon with mechanical actuation and control of a variety of surgical instruments having various functions to perform, for example, clamping or manipulating needles, wires, clips, etc., in response to manipulation of a primary input command.

For the existing robotic surgery, after the surgical instrument (such as a clamp) enters a clamping state during the operation, an operator is required to manually keep the operation, otherwise, the surgical instrument can exit the clamping state and cannot keep the clamping state. When an operator performs operation for a long time, the hands are easy to fatigue due to continuous exertion of the hands, so that the hands are easy to shake to cause unstable clamping and even falling off in the operation process.

It should be noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a clamping force control method for clamping an instrument, a robot system, electronic equipment and a storage medium, which can realize stable clamping of the instrument after the instrument enters an operation state.

In order to achieve the above-mentioned object, the present invention provides a clamping force control method for a clamping apparatus, where the clamping apparatus includes a transmission structure and an apparatus end, the transmission structure includes a first transmission module and a second transmission module, the apparatus end includes an end effector, the end effector includes a first opening and closing piece and a second opening and closing piece hinged to each other, the first transmission module is used for driving the first opening and closing piece to move, and the second transmission module is used for driving the second opening and closing piece to move.

The control method comprises the following steps:

acquiring the instruction position information of the first opening and closing piece and the instruction position information of the second opening and closing piece according to the received operation instruction;

the first transmission module is controlled to drive the first opening and closing piece to move correspondingly according to the instruction position information of the first opening and closing piece, and the second transmission module is controlled to drive the second opening and closing piece to move correspondingly according to the instruction position information of the second opening and closing piece, so that the first opening and closing piece and the second opening and closing piece can clamp a target clamping object.

Optionally, the control method further includes:

judging whether to enter a clamping force maintaining state;

if yes, the first transmission module and the second transmission module are controlled to perform corresponding movement, so that the first opening and closing piece and the second opening and closing piece can continuously clamp the target clamping object.

Optionally, the controlling the first transmission module and the second transmission module to perform corresponding movements includes:

and acquiring the target clamping force information of the first opening and closing piece and the target clamping force information of the second opening and closing piece, controlling the corresponding movement of the first transmission module according to the target clamping force information of the first opening and closing piece, and controlling the corresponding movement of the second transmission module according to the target clamping force information of the second opening and closing piece.

Optionally, the obtaining the target clamping force information of the first opening and closing piece and the target clamping force information of the second opening and closing piece includes:

and acquiring target clamping force information of the first opening and closing piece and target clamping force information of the second opening and closing piece according to the corresponding relation between the clamping angle of the opening and closing piece and the clamping force which are acquired in advance and the clamping angle between the first opening and closing piece and the second opening and closing piece.

Optionally, the controlling the corresponding movement of the first transmission module according to the target clamping force information of the first opening and closing piece includes:

acquiring target position deviation information of the first opening and closing piece according to a corresponding relation between the position deviation of the opening and closing piece and the clamping force, which are acquired in advance, and the target clamping force information of the first opening and closing piece;

according to the target position deviation information of the first opening piece, the first transmission module is controlled to perform corresponding movement, so that the first transmission module can output clamping moment corresponding to the target clamping force of the first opening piece;

the controlling the second transmission module to perform corresponding movement according to the target clamping force information of the second opening and closing piece includes:

Acquiring target position deviation information of the second opening and closing piece according to the corresponding relation between the position deviation of the opening and closing piece and the clamping force and the target clamping force information of the second opening and closing piece, which are acquired in advance;

and controlling the second transmission module to perform corresponding movement according to the target position deviation information of the second opening sheet, so that the second transmission module can output a clamping moment corresponding to the target clamping force of the second opening sheet.

Optionally, the instrument end further includes a proximal end portion, the end effector further includes an effector support seat, the first opening and closing piece and the second opening and closing piece are rotatably connected with the effector support seat, the effector support seat is rotatably connected with the proximal end portion, the transmission structure further includes a third transmission module, the third transmission module is used for driving the effector support seat to perform a yaw motion relative to the proximal end portion, and the operation instruction includes a clamping operation instruction and a yaw operation instruction;

and controlling the first transmission module to perform corresponding movement according to the target position deviation information of the first opening, including:

acquiring instruction deflection angle information of the actuator supporting seat relative to the proximal part according to the received deflection operation instruction;

Calculating target instruction position information of the first opening and closing piece according to the current position information of the first opening and closing piece, the target position deviation information of the first opening and closing piece and the instruction deflection angle information of the actuator supporting seat relative to the near end part;

according to the target instruction position information of the first opening and closing piece, controlling the first transmission module to perform corresponding movement;

and controlling the second transmission module to perform corresponding movement according to the target position deviation information of the second opening, including:

calculating target instruction position information of the second opening and closing piece according to the current position information of the second opening and closing piece, the target position deviation information of the second opening and closing piece and the instruction deflection angle information of the actuator supporting seat relative to the near end part;

and controlling the second transmission module to perform corresponding movement according to the target instruction position information of the second opening and closing piece.

Optionally, the first transmission module includes a first driving piece, according to the target instruction position information of the first opening and closing piece, control the corresponding motion of first transmission module includes:

acquiring target output torque information of the first driving piece according to target instruction position information of the first opening and closing piece;

Controlling the first driving piece to perform corresponding movement according to the target output torque information of the first driving piece; and/or

The second transmission module comprises a second driving piece, and the second transmission module is controlled to perform corresponding movement according to the target instruction position information of the second opening and closing piece, and the second transmission module comprises:

acquiring target output torque information of the second driving piece according to the target instruction position information of the second opening and closing piece;

and controlling the second driving piece to perform corresponding movement according to the target output torque information of the second driving piece.

Optionally, the first transmission module comprises at least one first driving piece and two first traction bodies, the second transmission module comprises at least one second driving piece and two second traction bodies, the first traction bodies can drive the first opening and closing piece to move under the action of the first driving piece, and the second traction bodies can drive the second opening and closing piece to move under the action of the second driving piece;

the controlling the corresponding movement of the first transmission module according to the target clamping force information of the first opening and closing piece comprises the following steps:

acquiring target tension information of the first traction body according to the target clamping force information of the first opening and closing piece;

Controlling the first driving piece to perform corresponding movement according to the target tension information of the first traction body;

the controlling the corresponding movement of the second transmission module according to the target clamping force information of the second opening and closing piece comprises the following steps:

acquiring target tension information of the second traction body according to the target clamping force information of the second opening and closing piece;

and controlling the second driving piece to perform corresponding movement according to the target tension information of the second traction body.

Optionally, the controlling the first driving member to perform corresponding movement according to the target tension information of the first traction body includes:

acquiring target tension deviation information of the first traction body according to the target tension information of the first traction body and the current tension information of the first traction body;

calculating target position deviation information of the first driving piece according to the target tension deviation information of the first traction body;

controlling the first driving piece to perform corresponding movement according to the target position deviation information of the first driving piece;

and controlling the second driving piece to perform corresponding movement according to the target tension information of the second traction body, wherein the method comprises the following steps:

Acquiring target tension deviation information of the second traction body according to the target tension information of the second traction body and the current tension information of the second traction body;

calculating target position deviation information of the second driving piece according to the target tension deviation information of the second traction body;

and controlling the second driving piece to perform corresponding movement according to the target position deviation information of the second driving piece.

Optionally, if the clamping force is not kept, the instruction position information of the first opening and closing piece and the second opening and closing piece is updated in real time according to the received new operation instruction, and the first opening and closing piece and the second opening and closing piece are controlled to perform corresponding movement according to the updated instruction position information.

To achieve the above object, the present invention also provides a robot system comprising a robot and a controller in communication connection, the robot comprising at least one mechanical arm, the end of the mechanical arm being mounted with a clamping instrument, a transmission structure in the surgical clamping instrument being in communication connection with the controller, the controller being configured to implement the method of controlling a clamping force as described above.

Optionally, the robotic system further comprises a display device communicatively connected to the controller, the display device being configured to display a control procedure of the gripping force of the gripping instrument.

In order to achieve the above object, the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the method for controlling the clamping force of the clamping apparatus.

To achieve the above object, the present invention further provides a readable storage medium having a computer program stored therein, which when executed by a processor, implements the clamping force control method of clamping a clamping instrument as described above.

Compared with the prior art, the clamping force control method, the robot system, the electronic equipment and the storage medium for the clamping instrument have the following advantages: the clamping device comprises a transmission structure and a device tail end, wherein the transmission structure comprises a first transmission module and a second transmission module, the device tail end comprises an end effector, the end effector comprises a first opening and closing piece and a second opening and closing piece which are mutually hinged, the first transmission module is used for driving the first opening and closing piece to move, and the second transmission module is used for driving the second opening and closing piece to move: the control method comprises the following steps: acquiring the instruction position information of the first opening and closing piece and the instruction position information of the second opening and closing piece according to the received operation instruction; the first transmission module is controlled to drive the first opening and closing piece to move correspondingly according to the instruction position information of the first opening and closing piece, and the second transmission module is controlled to drive the second opening and closing piece to move correspondingly according to the instruction position information of the second opening and closing piece, so that the first opening and closing piece and the second opening and closing piece can clamp a target clamping object. Therefore, after the clamping device enters an operation state, stable clamping can be realized without the need of an operator to keep the clamping action, so that the problems of unstable clamping and even falling of the clamping device caused by hand fatigue due to continuous force of the hand of the operator in the prior art can be effectively prevented.

Because the robot system, the electronic device and the storage medium provided by the invention belong to the same conception as the clamping force control method of the clamping apparatus, the robot system, the electronic device and the storage medium provided by the invention have all the advantages of the clamping force control method of the clamping apparatus, and therefore, the description thereof is omitted.

Drawings

FIG. 1 is a schematic view of the overall structure of a clamping apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the gripping apparatus shown in FIG. 1;

FIG. 3 is a schematic diagram of a specific structure of the first transmission module;

FIG. 4 is a schematic diagram of a specific structure of a second transmission module;

FIG. 5 is a flow chart of a method for controlling a clamping force of a clamping apparatus according to an embodiment of the present invention;

fig. 6a is a schematic diagram showing the positions of the first opening and closing piece and the second opening and closing piece when the deflection angle is 0 and the clamping angle is 2θ1;

fig. 6b is a schematic diagram of the positions of the first opening and closing piece and the second opening and closing piece when the deflection angle is not 0 and the clamping angle is 2θ1;

fig. 7a is a schematic diagram illustrating a correspondence between a clamping angle and a clamping force of an opening and closing sheet according to an embodiment of the present invention;

Fig. 7b is a schematic diagram showing a correspondence between a clamping angle and a clamping force of an opening and closing sheet according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of a clamping force control based on position deviation according to a first embodiment of the present invention;

FIG. 9a is a schematic diagram of a control principle of a static clamping force based on position deviation according to an embodiment of the present invention;

FIG. 9b is a schematic diagram illustrating a control principle of a dynamic clamping force based on a position deviation according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a clamping force control strategy based on position deviation according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a clamping force control principle based on a tension force according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a clamping force control strategy based on tension provided by an embodiment of the present invention;

fig. 13 is a schematic view of an application scenario of a surgical robot system according to a second embodiment of the present invention;

fig. 14 is a schematic block diagram of an electronic device according to a third embodiment of the present invention;

wherein, the reference numerals are as follows:

-100 of a transmission structure; a first transmission module-110; a second transmission module 120; a third transmission module-130; a first driving member-111; a first traction body-112; a first guide wheel-113; a second driving member-121; a second traction body-122; a second guide wheel-123; a third driver-131; a third traction body-132;

Instrument tip-200; an end effector-210; a first opening and closing sheet-211; a second shutter sheet-212; an actuator support base-213; a proximal portion-220;

an instrument bar-300; target holder-400;

an operating end-10; a base-11; a mechanical arm-12; control end-20; a controller-30; a display device-40; an instrument table-50;

a processor-1; a communication interface-2; a memory-3; communication bus-4.

Detailed Description

The clamping force control method, the robot system, the electronic device and the storage medium of the clamping instrument according to the present invention are further described in detail below with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Furthermore, in the description herein, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described in this specification and the features of the various embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The invention provides a clamping force control method, a robot system, electronic equipment and a storage medium for clamping an instrument, which can realize stable clamping of the instrument after the instrument enters an operation state, so as to solve the problems of unstable clamping and even falling-off of the clamping instrument caused by hand fatigue due to continuous force application of the hand of an operator when the operator keeps clamping action in the prior art.

It should be noted that, the method for controlling the clamping force of the clamping apparatus according to the embodiment of the present invention may be applied to the electronic device according to the embodiment of the present invention, which may be configured on the robot system (e.g., the surgical robot system) according to the embodiment of the present invention, where the electronic device may be a computer, a mobile terminal, etc., and the mobile terminal may be a hardware device with various operating systems, such as a mobile phone, a tablet computer, etc. In addition, the proximal end refers to an end close to the operator, and the distal end refers to an end far from the operator, that is, an end close to the object to be clamped.

Example 1

To achieve the above-described idea, the present embodiment provides a clamping force control method of a clamping apparatus. For easy understanding, before describing the method for controlling the clamping force of the clamping apparatus provided by this embodiment, the clamping apparatus in this embodiment is described first, referring to fig. 1 and fig. 2, where fig. 1 schematically shows an overall structure schematic diagram of the clamping apparatus provided by an implementation manner of this embodiment; fig. 2 schematically shows a partial structural view of the clamping device shown in fig. 1. As shown in fig. 1 and 2, the clamping device comprises a transmission structure 100 and a device end 200, wherein the transmission structure 100 comprises a first transmission module 110 and a second transmission module 120, the device end 200 comprises an end effector 210, the end effector 210 comprises a first opening and closing piece 211 and a second opening and closing piece 212 which are hinged with each other, the first transmission module 110 is used for driving the first opening and closing piece 211 to move, and the second transmission module 120 is used for driving the second opening and closing piece 212 to move. Preferably, as shown in fig. 1, the clamping device further comprises a device rod 300, and the transmission structure 100 is connected to the device end 200 through the device rod 300.

Further, as shown in fig. 1 and 2, the instrument tip 200 further includes a proximal portion 220, the end effector 210 further includes an effector support 213, the first opening and closing piece 211 and the second opening and closing piece 212 are rotatably connected to the effector support 213, the effector support 213 is rotatably connected to the proximal portion 220, and the transmission structure 100 further includes a third transmission module 130, where the third transmission module 130 is configured to drive the effector support 213 to perform a yaw motion relative to the proximal portion 220.

Specifically, the actuator support 213 is rotatably connected to the distal end of the proximal portion 220 about a first rotation axis (not shown), and the first and second opening/closing pieces 211 and 212 are rotatably connected to the actuator support 213 about a second rotation axis (not shown). Thus, the rotation of the actuator support 213 relative to the proximal portion 220 forms one swinging degree of freedom, and the rotation of the first and second shutter pieces 211, 212 relative to the actuator support 213 forms two opening and closing degrees of freedom. Preferably, the axis of the instrument end 200, the axis of the first rotation shaft and the axis of the second rotation shaft are perpendicular to each other.

With continued reference to fig. 2 to 4, fig. 3 schematically illustrates a specific structure of the first transmission module 110; fig. 4 schematically shows a specific structure of the second transmission module 120. As shown in fig. 2 to 4, the first transmission module 110 includes at least one first driving member 111 and two first traction bodies 112, a proximal end of the first traction body 112 is connected to the first driving member 111, a distal end of the first traction body 112 is connected to the first opening and closing piece 211, and under the action of the first driving member 111, the first traction body 112 can drive the first opening and closing piece 211 to move. The second transmission module 120 includes at least one second driving member 121 and two second traction bodies 122, a proximal end of the second traction body 122 is connected to the second driving member 121, a distal end of the second traction body 122 is connected to the second opening and closing piece 212, and under the action of the second driving member 121, the second traction body 122 can drive the second opening and closing piece 212 to move. The third transmission module 130 includes at least one third driving member 131 and two third traction bodies 132, a proximal end of the third traction body 132 is connected to the third driving member 131, a distal end of the third traction body 132 is connected to the actuator support 213, and under the action of the third driving member 131, the third traction body 132 can drive the actuator support 213 to rotate.

Specifically, the two first traction bodies 112 in the first transmission module 110 are configured to move in opposite directions under the driving of the corresponding first driving piece 111, and the movement variation amounts are equal. For example, when the first transmission module 110 includes a first driving member 111, the proximal ends of the two first traction bodies 112 are wound around the output shaft of the first driving member 111 in opposite directions, so that the first driving member 111 can be rotated, one first traction body 112 is shortened, and the other first traction body 112 is lengthened, so that the first opening and closing piece 211 is rotated.

Similarly, the two second traction bodies 122 in the second transmission module 120 are configured to move in opposite directions under the driving of the corresponding second driving member 121, and the movement variation amounts are equal. For example, when the second transmission module 120 includes a second driving member 121, the proximal ends of the two second traction bodies 122 are wound around the output shaft of the second driving member 121 in opposite directions, so that the second driving member 121 can rotate, one of the second traction bodies 122 is shortened, and the other second traction body 122 is lengthened, so that the second opening/closing plate 212 rotates.

Similarly, the two third traction bodies 132 in the third transmission module 130 are configured to move in opposite directions under the driving of the corresponding third driving member 131, and the movement variation amounts are equal. For example, when the third transmission module 130 includes a third driving member 131, the proximal ends of the two third traction bodies 132 are wound around the output shaft of the third driving member 131 in opposite directions, so that the third driving member 131 can be rotated, one third traction body 132 is shortened, and the other third traction body 132 is lengthened, so that the actuator supporting seat 213 is rotated.

In an exemplary embodiment, the first driving member 111, the second driving member 121, and the third driving member 131 are motors. Thus, by adopting the motor as the first driving member 111, the second driving member 121, and the third driving member 131 in the present embodiment, the overall structure of the gripping instrument can be further simplified. It should be noted that, as those skilled in the art will appreciate, in other embodiments, the first driving member 111 may be other driving devices, such as a cylinder, capable of extending or shortening the length of the corresponding first traction body 112; likewise, the second driving member 121 may be other driving devices, such as an air cylinder, capable of extending or shortening the length of the corresponding second traction body 122; the third driving member 131 may be another driving device capable of extending or shortening the length of the corresponding third traction body 132.

Further, as shown in fig. 1, the transmission structure 100 further includes a base 140 (only a part of the base 140 is shown in the figure), and the first driving member 111, the second driving member 121, and the third driving member 131 are mounted on the base 140. Thus, by providing the base 140, the mounting of the first driving member 111, the second driving member 121, and the third driving member 131 can be more facilitated.

Referring to fig. 3 and fig. 4, as shown in fig. 3 and fig. 4, the first transmission module 110 further includes two first guide wheels 113, two first traction bodies 112 are disposed in one-to-one correspondence with the two first guide wheels 113, and the second transmission module 120 further includes two second guide wheels 123, and two second traction bodies 122 are disposed in one-to-one correspondence with the two second guide wheels 123. Thus, the first traction body 112 can be guided by the first guide wheel 113, and the second traction body 122 can be guided by the second guide wheel 123.

Similarly, the third transmission module 130 further includes two third guide wheels (not shown in the drawing), and the two third traction bodies 132 are disposed in one-to-one correspondence with the two third guide wheels. The third traction body 132 can thus be guided by the third wire guide wheel.

Further, the instrument rod 300 is coaxially arranged with the axis of the instrument end 200, and the instrument rod 300 has a cavity therethrough for the first traction body 112, the second traction body 122 and the third traction body 132 to pass through. Specifically, a majority of the first traction body 112, the second traction body 122, and the third traction body 132 are located within the instrument bar 300, and a minority of the first traction body 112, the second traction body 122, and the third traction body 132 extend out of the instrument bar 300 to connect with the corresponding first guide wheel 113, second guide wheel 123, and third guide wheel.

With continued reference to fig. 5, a schematic flow chart of a method for controlling a clamping force of a clamping apparatus according to an embodiment of the present invention is provided, where the clamping apparatus is the clamping apparatus described above. As shown in fig. 5, the clamping force control method of the clamping apparatus includes the steps of:

step S100, acquiring the instruction position information of the first opening and closing piece 211 and the instruction position information of the second opening and closing piece 212 according to the received operation instruction.

Step S200, according to the instruction position information of the first opening and closing piece 211, the first transmission module 110 is controlled to drive the first opening and closing piece 211 to perform corresponding movement, and according to the instruction position information of the second opening and closing piece 212, the second transmission module 120 is controlled to drive the second opening and closing piece 212 to perform corresponding movement, so that the first opening and closing piece 211 and the second opening and closing piece 212 can clamp the target clamp 400.

Therefore, after the clamping device enters the operation state, stable clamping can be realized without the need of an operator to keep the clamping action, so that the problems of unstable clamping and even falling-off of the clamping device caused by hand fatigue due to continuous force application of the hand of the operator in the prior art can be effectively prevented.

Further, as shown in fig. 5, the control method further includes:

step S300, judging whether the clamping force maintaining state is entered.

If yes, step S400 is executed:

step S400, controlling the first transmission module 110 and the second transmission module 120 to perform corresponding movements, so that the first opening and closing piece 211 and the second opening and closing piece 212 can continuously clamp the target clamp 400.

Therefore, after the clamping force maintaining state is entered, the first transmission module 110 and the second transmission module 120 are controlled to perform corresponding movements, so that the first opening and closing piece 211 and the second opening and closing piece 212 can continuously clamp the target clamping object 400, and the clamping apparatus can further realize stable clamping without the need of an operator to maintain the clamping action after entering the clamping force maintaining state, thereby effectively preventing the occurrence of the problems of unstable clamping and even falling of the clamping apparatus caused by hand fatigue caused by continuous force of the hand of the operator when the clamping action is maintained by the operator in the prior art.

Still further, as shown in fig. 5, the control method further includes: if the clamping force maintaining state is not entered, step S500 is executed:

step S500, updating the instruction position information of the first opening and closing piece 211 and the second opening and closing piece 212 in real time according to the received new operation instruction, and controlling the first opening and closing piece 211 and the second opening and closing piece 212 to perform corresponding movement according to the updated instruction position information.

Specifically, the received operation instructions include a clamp operation instruction and a yaw operation instruction, which are specifically instructions input from a main end (doctor control end) operator through an operation handle. Referring to fig. 6a and 6b, fig. 6a schematically shows the positions of the first opening and closing plate 211 and the second opening and closing plate 212 when the swing angle is 0 and the clamping angle is 2θ1; fig. 6b schematically shows the positions of the first opening and closing piece 211 and the second opening and closing piece 212 when the deflection angle is not 0 and the clamping angle is 2θ1. As shown in fig. 6a, when the yaw operation command is a yaw angle α=0 and the clamping operation command is a clamping angle (an angle between the first opening and closing piece 211 and the second opening and closing piece 212) gripa=2θ1, the first opening and closing piece 211 needs to be moved to a position of p1=θ1 (i.e. the command position of the first opening and closing piece 211 is p1=θ1), and the second opening and closing piece 212 needs to be moved to a position of p2=θ1 (i.e. the command position of the second opening and closing piece 212 is p2=θ1) to match the operation command; when the yaw operation command is a yaw angle α+.0 and the clamping operation command is a clamping angle (an angle between the first opening and closing piece 211 and the second opening and closing piece 212) gripa=2θ1, the first opening and closing piece 211 needs to move to a position of p1=α - θ1 (i.e., the command position of the first opening and closing piece 211 is p1=α - θ1), and the second opening and closing piece 212 needs to move to a position of p2=α+θ1 (i.e., the command position of the second opening and closing piece 212 is p2=α+θ1) to match the operation command, so as to realize the clamping angle 2θ1. The first transmission module 110 drives the first opening and closing piece 211 to perform corresponding movement according to the instruction position information of the first opening and closing piece 211, so that the first opening and closing piece 211 can move to the instruction position, and the second transmission module 120 drives the second opening and closing piece 212 to perform corresponding movement according to the instruction position information of the second opening and closing piece 212, so that the second opening and closing piece 212 can move to the instruction position until the first opening and closing piece 211 and the second opening and closing piece 212 can clamp the target clamp 400. After the first opening and closing piece 211 and the second opening and closing piece 212 clamp the object clamp 400, if an instruction for triggering to enter the clamp force maintaining state, such as a button, a pedal, or some combination action, is received, the clamp force maintaining state is entered, at this time, the clamp operation instruction input by the main end operator is no longer valid, but the yaw operation instruction input by the main end operator is still valid, and the real-time clamp operation instruction input by the main end operator is not executed until the clamp force maintaining instruction is released. It should be noted that, as those skilled in the art can understand, the first opening and closing piece 211 and the second opening and closing piece 212 are always moved symmetrically with respect to the axis of the actuator supporting seat 213, that is, the included angle between the first opening and closing piece 211 and the axis of the actuator supporting seat 213 is always equal to the included angle between the second opening and closing piece 212 and the axis of the actuator supporting seat 213.

In an exemplary embodiment, the step S400 of controlling the first transmission module 110 and the second transmission module 120 to perform corresponding movements includes:

the target clamping force information of the first opening and closing piece 211 and the target clamping force information of the second opening and closing piece 212 are obtained, the corresponding movement of the first transmission module 110 is controlled according to the target clamping force information of the first opening and closing piece 211, and the corresponding movement of the second transmission module 120 is controlled according to the target clamping force information of the second opening and closing piece 212.

In an exemplary embodiment, the acquiring the target clamping force information of the first opening and closing piece 211 and the target clamping force information of the second opening and closing piece 212 includes:

and acquiring target clamping force information of the first opening and closing piece 211 and target clamping force information of the second opening and closing piece 212 according to the pre-acquired corresponding relation between the opening and closing piece clamping angle and the clamping force and the clamping angle between the first opening and closing piece 211 and the second opening and closing piece 212.

Specifically, please refer to fig. 7a and fig. 7b, which schematically illustrate a correspondence between the clamping angle and the clamping force of the opening and closing sheet in an embodiment of the present invention; fig. 7b schematically shows a correspondence between the clamping angle and the clamping force of the opening and closing sheet in another embodiment of the present embodiment. As shown in fig. 7a, in the present embodiment, the clamping force does not change with the change of the opening and closing sheet clamping angle, that is, in the present embodiment, the clamping force is a constant clamping force; in another embodiment, as shown in fig. 7b, the clamping force is changed with the change of the clamping angle of the opening and closing sheet, i.e. in the embodiment shown in fig. 7b, the clamping force is a changing clamping force. In actual operation, the choice of whether to use a constant clamping force as shown in fig. 7a or a variable clamping force as shown in fig. 7b may be made according to the specific target clamp 400, for example, when the target clamp 400 is a tissue that cannot withstand too much clamping force, such as a blood vessel, a constant clamping force that does not vary with the change in clamping angle may be used. When the target clip 400 is not a significant tissue, then a varying clip force that varies with the clip angle may be used. Thus, the magnitude of the target clamping force of the first opening and closing piece 211 (i.e., the target clamping force information of the first opening and closing piece 211) and the magnitude of the target clamping force of the second opening and closing piece 212 (i.e., the target clamping force information of the second opening and closing piece 212) can be determined according to the corresponding relation between the opening and closing piece clamping angle and the clamping force obtained in advance and the clamping operation instruction (i.e., the clamping angle) in the received operation instruction. It should be noted that, as those skilled in the art can understand, the target clamping force of the first opening and closing piece 211 is equal to the target clamping force of the second opening and closing piece 212. In addition, it should be noted that, as those skilled in the art can understand, the correspondence between the clamping angle and the clamping force of the opening and closing sheet can be obtained through experiments.

In an exemplary embodiment, the controlling the corresponding movement of the first transmission module 110 according to the target clamping force information of the first opening and closing piece 211 includes:

acquiring target position deviation information of the first opening and closing piece 211 according to a corresponding relation between the pre-acquired opening and closing piece position deviation and clamping force and target clamping force information of the first opening and closing piece 211;

according to the target position deviation information of the first opening piece, the first transmission module 110 is controlled to perform corresponding movement, so that the first transmission module 110 can output a clamping moment corresponding to the target clamping force of the first opening and closing piece 211.

The controlling the second transmission module 120 to perform corresponding movement according to the target clamping force information of the second opening and closing piece 212 includes:

acquiring target position deviation information of the second opening and closing piece 212 according to the pre-acquired corresponding relation between the opening and closing piece position deviation and the clamping force and the target clamping force information of the second opening and closing piece 212;

according to the target position deviation information of the second opening piece, the second transmission module 120 is controlled to perform corresponding movement, so that the second transmission module 120 can output a clamping moment corresponding to the target clamping force of the second opening and closing piece 212.

Specifically, please refer to fig. 8, which schematically illustrates a schematic diagram of the present embodiment for implementing clamping force control based on position deviation. As shown in fig. 8, taking the first opening and closing piece 211 as an example, when the command position of the first opening and closing piece 211 is θ1, it is actually possible to reach only the θ2 position because it is blocked by the target clamp 400 during clamping. At this time, a positional deviation Δθ=θ occurs between the commanded position and the actual position ₂ -θ ₁ The first driving member 111 (for example, the first driving member 111) for driving the first opening and closing piece 211 continuously outputs a moment to try to reduce the position deviation, the clamping moment is positively related to the position deviation, when the position deviation is unchanged, the clamping moment is kept unchanged (that is, the clamping force is kept unchanged), and the position deviation cannot be reduced due to the fact that the target clamping object 400 blocks the movement of the first opening and closing piece 211 in the clamping process, that is, the position deviation always exists, so that the clamping moment can be continuously and stably output, and therefore, by setting the target position deviation consistent with the target clamping force of the first opening and closing piece 211 for the first opening and closing piece 211, stable clamping force output can be realized for the first opening and closing piece 211. Similarly, by providing the second opening and closing piece 212 with a target positional deviation that matches the target holding force of the second opening and closing piece 212, stable holding force output can be achieved for the second opening and closing piece 212. It should be noted that, as understood by those skilled in the art, since the magnitude of the target holding force of the first opening and closing piece 211 is equal to the magnitude of the target holding force of the second opening and closing piece 212, the magnitude of the target positional deviation of the first opening and closing piece 211 is equal to the magnitude of the second opening and closing piece 212 The magnitude of the target position deviation, that is, the clamping angle between the first opening and closing piece 211 and the second opening and closing piece 212 is always kept unchanged in the process of realizing the clamping force control based on the position deviation. In addition, as will be understood by those skilled in the art, the correspondence between the deviation of the opening and closing sheet position and the clamping force can be obtained through experiments.

Further, the controlling the first transmission module 110 to perform corresponding movement according to the target position deviation information of the first opening and closing piece 211 includes:

acquiring instruction yaw angle information of the actuator support base 213 relative to the proximal portion 220 according to the received yaw operation instruction;

calculating target instruction position information of the first opening and closing piece 211 according to the current position information of the first opening and closing piece 211, the target position deviation information of the first opening and closing piece 211 and the instruction deflection angle information of the actuator supporting seat 213 relative to the proximal end portion 220;

according to the target instruction position information of the first opening and closing piece 211, the first transmission module 110 is controlled to perform corresponding movement;

the controlling the second transmission module 120 to perform corresponding movement according to the target position deviation information of the second opening includes:

Calculating target instruction position information of the second opening and closing piece 212 according to the current position information of the second opening and closing piece 212, the target position deviation information of the second opening and closing piece 212 and the instruction deflection angle information of the actuator supporting seat 213 relative to the proximal end portion 220;

and controlling the second transmission module 120 to perform corresponding movement according to the target instruction position information of the second opening and closing piece 212.

Specifically, please refer to fig. 9a, which schematically illustrates a schematic diagram of a control principle of the static clamping force based on the positional deviation according to an embodiment of the present invention. As shown in fig. 9a, when the main end (doctor control end) triggers the clamping force maintaining command, the clamping action is already formed, and the clamping force maintaining state is entered, after the clamping force maintaining state is entered, the clamping operation command input by the main end operator is no longer valid, but the yaw operation command input by the main end operator is still valid, and if the yaw operation command input by the main end operator is that the yaw angle α remains unchanged, that is, during the clamping force maintaining state, the yaw operation is not required to be executed, the target command position P1cmd of the first opening and closing piece 211 is calculated according to the following formula (1), and the target command position P2cmd of the second opening and closing piece 212 is calculated according to the following formula (2):

P1cmd＝α-θ2+Δθ (1)

P2cmd＝α+θ2-Δθ (2)

In the formula (1), (α - θ2) represents the current position of the first opening and closing piece 211, Δθ represents the target position deviation of the first opening and closing piece 211, and in the formula (2), (α+θ2) represents the current position of the second opening and closing piece 212, - Δθ represents the target position deviation of the second opening and closing piece 212, where Δθ=θ2- θ1.

As can be seen from the formulas (1) and (2), when the yaw angle α of the yaw operation command input by the operator at the main end is kept unchanged, the target command position of the first opening and closing piece 211 and the target command position of the second opening and closing piece 212 are also kept unchanged, and the included angle between the first opening and closing piece 211 and the second opening and closing piece 212 can be kept unchanged all the time, and since the target command position of the first opening and closing piece 211 is kept unchanged, the first transmission module 110 can still (i.e., the position of the first driving piece 111 in the first transmission module 110 is kept unchanged, i.e., the position of the first opening and closing piece 211 is kept unchanged) to output a clamping moment corresponding to the target clamping force of the first opening and closing piece 211. Similarly, since the target command position of the second opening and closing piece 212 remains unchanged, the second transmission module 120 can still (i.e., the position of the second driving member 121 in the second transmission module 120 remains unchanged, i.e., the position of the second opening and closing piece 212 remains unchanged) output a clamping moment corresponding to the target clamping force of the second opening and closing piece 212. It should be noted that, as will be understood by those skilled in the art, θ is as shown in FIG. 9a ₁ ＝θ ₂ -Δθ。

Please continue to refer to fig. 9b, which schematically illustrates a schematic diagram of the control principle of the dynamic clamping force based on the positional deviation according to an embodiment of the present invention. As shown in fig. 9b, if the yaw operation command input by the master end operator is that the yaw angle is changed from α1 to α2 after the holding state is performed, that is, if the yaw operation is required during the holding state, the target command position P1cmd of the first opening and closing piece 211 is calculated according to the following formula (3), and the target command position P2cmd of the second opening and closing piece 212 is calculated according to the following formula (4):

P1cmd＝α1-θ2+Δθ+(α2-α1) (3)

P2cmd＝α1+θ2-Δθ+(α2-α1) (4)

in the formula (3), α1 is a current yaw angle, α2 is a command yaw angle, (α1- θ2) represents a current position of the first opening and closing piece 211, Δθ represents a target position deviation of the first opening and closing piece 211, and in the formula (4), (α1+θ2) represents a current position of the second opening and closing piece 212, and- Δθ represents a target position deviation of the second opening and closing piece 212, where Δθ=θ2- θ1.

As can be seen from the formulas (3) and (4), when the yaw angle of the yaw operation command inputted by the operator of the main end is changed from α1 to α2, the target command position of the first opening and closing piece 211 and the target command position of the second opening and closing piece 212 are also changed, and the included angle between the first opening and closing piece 211 and the second opening and closing piece 212 is always maintained at 2θ ₂ The target command position of the first opening and closing piece 211 is unchanged, so that the first transmission module 110 can dynamically (i.e. the position of the first driving piece 111 in the first transmission module 110 is changed, i.e. the position of the first opening and closing piece 211 is changed) output a clamping moment corresponding to the target clamping force of the first opening and closing piece 211. Similarly, since the target command position of the second opening and closing piece 212 is changed, the second transmission module 120 can dynamically (i.e. the position of the second driving member 121 in the second transmission module 120 is changed), i.e. the position of the second opening and closing piece 212 is changed, output the sameThe second opening and closing piece 212 has a clamping moment corresponding to the target clamping force.

Further, the controlling the first transmission module 110 to perform corresponding movement according to the target command position information of the first opening/closing piece 211 includes:

acquiring target output torque information of the first driving piece 111 according to target instruction position information of the first opening and closing piece 211;

controlling the first driving piece 111 to perform corresponding movement according to the target output torque information of the first driving piece 111; and/or

The second transmission module 120 includes a second driving member 121, and controls the second transmission module 120 to perform corresponding movement according to the target command position information of the second opening and closing piece 212, including:

acquiring target output torque information of the second driving member 121 according to the target instruction position information of the second opening and closing piece 212;

and controlling the second driving member 121 to perform corresponding movement according to the target output torque information of the second driving member 121.

Specifically, please refer to fig. 10, which schematically illustrates a schematic diagram of a clamping force control strategy based on positional deviation according to an embodiment of the present disclosure. As shown in fig. 10, taking the first opening and closing piece 211 as an example, assuming that the command position of the first opening and closing piece 211 is P1, and the target position deviation of the first opening and closing piece 211 is Δθ, if the target command position of the first opening and closing piece 211 is p1+Δθ, the controller for controlling the first driving piece 111 can calculate the target output torque of the first driving piece 111 according to the target command position p1+Δθ of the first opening and closing piece 211, and issue a corresponding torque command to the first driving piece 111 to control the first driving piece 111 to perform corresponding movement, and the actual position of the first driving piece 111 (i.e., the actual position of the first opening and closing piece 211) can be measured by a position sensor mounted on the first driving piece 111, so that the first driving piece 111 can be controlled by a closed loop control method of the position deviation, thereby realizing the control of the clamping force of the first opening and closing piece 211. Similarly, if the command position of the second opening and closing piece 212 is P2, and the target position deviation of the second opening and closing piece 212 is- Δθ, if the target command position of the second opening and closing piece 212 is P2- Δθ, the controller for controlling the second driving piece 121 can calculate the target output torque of the second driving piece 121 according to the target command position P2- Δθ of the second opening and closing piece 212, and issue a corresponding torque command to the second driving piece 121 to control the second driving piece 121 to perform corresponding movement, and the actual position of the second driving piece 121 (i.e., the actual position of the second opening and closing piece 212) can be measured by a position sensor mounted on the second driving piece 121, so that the second driving piece 121 is controlled by a closed loop control method of the position deviation, thereby realizing the control of the clamping force of the second opening and closing piece 212.

In another exemplary embodiment, the controlling the corresponding movement of the first transmission module 110 according to the target clamping force information of the first opening and closing piece 211 includes:

acquiring target tension information of the first traction body 112 according to the target clamping force information of the first opening and closing piece 211;

controlling the first driving part 111 to perform corresponding movement according to the target tension information of the first traction body 112;

the controlling the corresponding movement of the second transmission module 120 according to the target clamping force information of the second opening and closing piece 212 includes:

acquiring target tension information of the second traction body 122 according to the target clamping force information of the second opening and closing piece 212;

the second driving member 121 is controlled to perform a corresponding movement according to the target tension information of the second traction body 122.

Specifically, please refer to fig. 11, which schematically illustrates a schematic diagram of clamping force control principle based on the tension force according to an embodiment of the present embodiment. As shown in fig. 11, taking the second opening and closing piece 212 as an example, the power of the second opening and closing piece 212 is derived from the second transmission module 120 and is transmitted through the second traction body 122 in the second transmission module 120 The second opening and closing piece 212 is led to the tail end, if the tension of the second traction body 122 is F _t When the radius of the guide wheel of the second traction body 122 is r, the torque τ output to the second traction body 122 is τ=f _t * r, assuming that the friction torque of the second traction body 122 during power transmission is τ _f The distance between the guide wheel axis and the contact point of the second opening and closing piece 212, which contacts the target fixture 400, is d, and the clamping force F applied by the second opening and closing piece 212 to the target fixture 400 is:

F＝(τ-τ _f )/d＝(F _t *r-τ _f )/d (5)

due to friction torque tau _f The distance d between the axial center of the guide wheel and the contact point of the second opening and closing piece 212 with the object 400 and the radius r of the guide wheel are all known, so that the object clamping force of the second opening and closing piece 212 is substituted into the above formula (5), the object tensioning force of the second traction body 122 can be obtained, and the second driving piece 121 can be controlled to correspondingly move according to the obtained object tensioning force of the second traction body 122, so as to realize the control of the clamping force on the second opening and closing piece 212.

Similarly, according to the friction torque of the first traction body 112 during the power transmission process, the radius of the guide wheel of the first traction body 112, and the distance between the axis of the guide wheel of the first traction body 112 and the contact point on the first opening and closing piece 211, which contacts the target clamping object 400, and by combining the above formula (5), the target tensioning force of the first traction body 112 can be obtained, and according to the obtained target tensioning force of the first traction body 112, the first driving piece 111 can be controlled to perform corresponding movement, so as to realize the control of the clamping force on the first opening and closing piece 211.

Further, the controlling the first driving member 111 to perform corresponding movement according to the target tension information of the first traction body 112 includes:

acquiring target tension deviation information of the first traction body 112 according to the target tension information of the first traction body 112 and the current tension information of the first traction body 112;

calculating target positional deviation information of the first driving member 111 based on the target tension deviation information of the first traction body 112;

controlling the first driving part 111 to perform corresponding movement according to the target position deviation information of the first driving part 111;

the controlling the second driving member 121 to perform corresponding movement according to the target tension information of the second traction body 122 includes:

acquiring target tension deviation information of the second traction body 122 according to the target tension information of the second traction body 122 and the current tension information of the second traction body 122;

calculating target positional deviation information of the second driving member 121 based on the target tension deviation information of the second traction body 122;

and controlling the second driving member 121 to perform corresponding movement according to the target position deviation information of the second driving member 121.

With continued reference to fig. 12, a schematic diagram of a clamping force control strategy based on tension according to an embodiment of the present invention is schematically shown. As shown in fig. 12, taking the first opening and closing piece 211 as an example, assuming that the target tension of the first traction body 112 is F1cmd, the measured actual tension of the first traction body 112 is F1, and the target tension deviation of the first traction body 112 is F1cmd-F1; the controller for controlling the first driving member 111 may calculate the target length deviation information of the first traction member 112 according to the target tension deviation information of the first traction member 112, further may calculate the target position deviation information of the first driving member 111, and may send a corresponding position command to the first driving member 111 according to the calculated target position deviation information of the first driving member 111, so as to enable the first driving member 111 to perform corresponding movement until the tension on the first traction member 112 reaches the target tension F1cmd. In the process of controlling the clamping force of the first opening and closing piece 211, the actual tensioning force on the first traction body 112 is fed back in real time, and the deviation between the actual tensioning force and the target tensioning force of the first traction body 112 is compared in real time, so that the target position deviation of the first driving piece 111 is updated in real time, and the tensioning force on the first traction body 112 can be accurately controlled. Similarly, assuming that the target tension of the second traction body 122 is F2cmd, the measured actual tension of the second traction body 122 is F2, and the target tension deviation of the second traction body 122 is F2cmd-F2; the controller for controlling the second driving member 121 may calculate the target length deviation information of the second traction body 122 according to the target tension deviation information of the second traction body 122, further may calculate the target position deviation information of the second driving member 121, and may send a corresponding position command to the second driving member 121 according to the calculated target position deviation information of the second driving member 121, so as to enable the second driving member 121 to perform corresponding movement until the tension on the second traction body 122 reaches the target tension F2cmd. In the process of controlling the clamping force of the second opening and closing piece 212, the actual tensioning force on the second traction body 122 is fed back in real time, and the deviation between the actual tensioning force of the second traction body 122 and the target tensioning force is compared in real time, so that the target position deviation of the second driving piece 121 is updated in real time, and the tensioning force on the second traction body 122 can be determined to be accurately controllable.

It should be noted that, as will be understood by those skilled in the art, when the first driving member 111 is a motor, the actual tensioning force of the first traction body 112 may be calculated by the current on the first driving member 111, and detailed description thereof will be omitted herein with reference to the prior art. Similarly, when the second driving member 121 is a motor, the actual tension of the second traction body 122 may be calculated by the current on the first driving member 111, and the details of how to calculate the actual tension may be referred to in the prior art and will not be described herein. In addition, as will be understood by those skilled in the art, the magnitude of the tension of the first traction body 112 is related to the length of the first traction body 112, and the relationship between the magnitude and the length can be measured through experiments, so that the target length deviation of the first traction body 112, and thus the target position deviation of the first driving member 111, can be calculated according to the target tension deviation of the first traction body 112. Similarly, the magnitude of the tension of the second traction body 122 is related to the length of the second traction body 122, and the relationship between the magnitude and the length of the second traction body 122 can be measured through experiments, so that the target length deviation of the second traction body 122 can be calculated according to the target tension deviation of the second traction body 122, and the target position deviation of the second driving member 121 can be calculated.

Example two

Based on the same inventive concept, the present embodiment provides a robot system, the robot system including a robot and a controller which are in communication connection, the robot including at least one mechanical arm, a gripping apparatus being mounted at a distal end of the mechanical arm, the gripping apparatus being the gripping apparatus described above, a transmission structure in the gripping apparatus being in communication connection with the controller, the controller being configured to implement the gripping force control method of the gripping apparatus described above. Due to the fact that the robot system provided by the embodiment can achieve the clamping force control method of the clamping device, after the clamping device enters the operation state, stable clamping can be achieved without the need of an operator to keep clamping action, and therefore the problems that clamping is unstable and even the clamping device falls off due to hand fatigue caused by continuous force of an operator hand in the prior art when the operator keeps clamping action can be effectively prevented, and stability of the robot system in the use process is effectively improved.

In an exemplary embodiment, the robotic system further comprises a display device in communication with the controller, the display device for displaying the control procedure of the gripping force. Therefore, by arranging the display device in communication connection with the controller, an operator can be prompted in a visual icon, sound and light mode, a text mode and the like when the clamping force is maintained, so that the safety in the clamping force maintaining process is further improved.

The robot system provided in the present embodiment will be further described with reference to a surgical robot system as an example, and as will be understood by those skilled in the art, the present embodiment is described with reference to a surgical robot system, and the surgical gripping device is not limited to this example, but the robot system in the present invention may be a robot system in a field other than a surgical robot system, and the gripper may be used to perform operations in a field other than a surgical operation, and the present invention is not limited to this.

Please continue to refer to fig. 13, which schematically illustrates an application scenario of the surgical robot system provided in one embodiment of the present invention. As shown in fig. 13, the surgical robot system includes an operation end 10 (i.e., a slave end, i.e., a robot) adjacent to a surgical object for performing a surgery, a control end 20 (i.e., a master end) for a doctor to issue instructions to the operation end 10 (i.e., the robot), a controller 30, and a display device 40 for displaying, the operation end 10 including a base 11 and at least one robot arm 12 mounted on the base 11, and the clamping instrument being mounted at a distal end of one of the robot arms 12. The control end 20 has a master-slave control relationship with the operating end 10 and controls the operation of the gripping apparatus mounted on the robotic arm 12. The controller 30 may be provided in conjunction with any one or more of the devices in the surgical robotic system, such as at the control end 20, at the operator end 10, at the display device 40, etc.; in other embodiments, the controller 30 may also be provided separately; and the controller 30 may be a specific hardware or software unit, or may be a combination of hardware and software, and the specific setting of the controller 30 is not limited in the present invention.

Further, as shown in fig. 13, the surgical robot system further includes an instrument table 50 for placing surgical instruments such as gripping instruments. During the actual surgical procedure, the medical staff transfers the surgical instrument to be used from the instrument table 50 to the operating end 10 so that the operating end 10 can perform the relevant operation using the surgical instrument.

Example III

Based on the same inventive concept, this embodiment provides an electronic device, please refer to fig. 14, which schematically shows a block structure schematic diagram of the electronic device provided in one implementation manner of this embodiment. As shown in fig. 14, the electronic device comprises a processor 1 and a memory 3, the memory 3 having stored thereon a computer program which, when executed by the processor 1, implements the clamping force control method of the clamping instrument described above. Because the electronic device provided in the embodiment and the method for controlling the clamping force of the clamping apparatus provided by the embodiment belong to the same inventive concept, the electronic device provided in the embodiment has all the advantages of the method for controlling the clamping force of the clamping apparatus described above, and therefore the beneficial effects thereof will not be described again.

As shown in fig. 14, the electronic device further comprises a communication interface 2 and a communication bus 4, wherein the processor 1, the communication interface 2, and the memory 3 communicate with each other via the communication bus 4. The communication bus 4 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry StandardArchitecture, EISA) bus, among others. The communication bus 4 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface 2 is used for communication between the electronic device and other devices.

The processor 1 in the present invention may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 1 is a control center of the electronic device, and connects various parts of the entire electronic device using various interfaces and lines.

The memory 3 may be used to store the computer program, and the processor 1 implements various functions of the electronic device by running or executing the computer program stored in the memory 3 and invoking data stored in the memory 3.

The memory 3 may comprise non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

Example IV

Based on the same inventive concept, the present embodiment provides a readable storage medium having stored therein a computer program which, when executed by a processor, can implement the clamping force control method of the clamping instrument described above. Since the readable storage medium provided in the embodiment and the method for controlling the clamping force of the clamping apparatus provided in the embodiment belong to the same inventive concept, the readable storage medium provided in the embodiment has all the advantages of the method for controlling the clamping force of the clamping apparatus described above, and therefore the beneficial effects thereof will not be described again.

The readable storage medium of the present embodiment may employ any combination of one or more computer readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing.

It should be noted that computer program code for carrying out operations of the present invention may be written in one or more programming languages, or combinations thereof. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network or may be connected to external computers.

In summary, compared with the prior art, the clamping force control method, the robot system, the electronic device and the storage medium for the clamping apparatus provided by the invention have the following advantages: the clamping device comprises a transmission structure and a device tail end, wherein the transmission structure comprises a first transmission module and a second transmission module, the device tail end comprises an end effector, the end effector comprises a first opening and closing piece and a second opening and closing piece which are mutually hinged, the first transmission module is used for driving the first opening and closing piece to move, and the second transmission module is used for driving the second opening and closing piece to move: the control method comprises the following steps: acquiring the instruction position information of the first opening and closing piece and the instruction position information of the second opening and closing piece according to the received operation instruction; the first transmission module is controlled to drive the first opening and closing piece to move correspondingly according to the instruction position information of the first opening and closing piece, and the second transmission module is controlled to drive the second opening and closing piece to move correspondingly according to the instruction position information of the second opening and closing piece, so that the first opening and closing piece and the second opening and closing piece can clamp a target clamping object. Therefore, after the clamping device enters an operation state, stable clamping can be realized without the need of an operator to keep the clamping action, so that the problems of unstable clamping and even falling of the clamping device caused by hand fatigue due to continuous force of the hand of the operator in the prior art can be effectively prevented.

It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention is intended to include such modifications and alterations insofar as they come within the scope of the invention or the equivalents thereof.

Claims

1. The clamping force control method for the clamping device is characterized in that the clamping device comprises a transmission structure and a device tail end, the transmission structure comprises a first transmission module and a second transmission module, the device tail end comprises an end effector, the end effector comprises a first opening and closing piece and a second opening and closing piece which are mutually hinged, the first transmission module is used for driving the first opening and closing piece to move, and the second transmission module is used for driving the second opening and closing piece to move.

The control method comprises the following steps:

the first transmission module is controlled to drive the first opening and closing piece to move correspondingly according to the instruction position information of the first opening and closing piece, and the second transmission module is controlled to drive the second opening and closing piece to move correspondingly according to the instruction position information of the second opening and closing piece, so that the first opening and closing piece and the second opening and closing piece can clamp a target clamping object;

judging whether to enter a clamping force maintaining state;

2. The method of claim 1, wherein the controlling the first and second transmission modules to perform corresponding movements comprises:

3. The method of claim 2, wherein the obtaining the target clamping force information of the first open-close piece and the target clamping force information of the second open-close piece includes:

4. The method of claim 2, wherein the controlling the corresponding movement of the first transmission module according to the target clamping force information of the first opening and closing piece includes:

according to the target position deviation information of the first opening and closing piece, the first transmission module is controlled to perform corresponding movement, so that the first transmission module can output a clamping moment corresponding to the target clamping force of the first opening and closing piece;

and controlling the second transmission module to perform corresponding movement according to the target position deviation information of the second opening and closing piece, so that the second transmission module can output a clamping moment corresponding to the target clamping force of the second opening and closing piece.

5. The method of claim 4, wherein the instrument tip further comprises a proximal end portion, the end effector further comprises an effector support, the first and second open-close tabs are rotatably coupled to the effector support, the effector support is rotatably coupled to the proximal end portion, the transmission structure further comprises a third transmission module for driving the effector support to perform a yaw motion relative to the proximal end portion, the operational instructions comprising a clamp operational instruction and a yaw operational instruction;

The controlling the first transmission module to perform corresponding movement according to the target position deviation information of the first opening and closing piece comprises the following steps:

and controlling the second transmission module to perform corresponding movement according to the target position deviation information of the second opening and closing piece, including:

6. The method of claim 5, wherein the first transmission module includes a first driving member, and the controlling the first transmission module to perform the corresponding movement according to the target command position information of the first opening and closing piece includes:

7. The method according to claim 2, wherein the first transmission module comprises at least one first driving member and two first traction bodies, the second transmission module comprises at least one second driving member and two second traction bodies, the first traction bodies can drive the first opening and closing piece to move under the action of the first driving member, and the second traction bodies can drive the second opening and closing piece to move under the action of the second driving member;

8. The method of claim 7, wherein controlling the first driver to perform a corresponding movement based on the target tension information of the first traction body comprises:

9. The method according to claim 1, wherein if the clamping force is not maintained, the command position information of the first and second open/close pieces is updated in real time according to the received new operation command, and the first and second open/close pieces are controlled to perform the corresponding movement according to the updated command position information.

10. A robotic system comprising a communicatively coupled robot and a controller, the robot comprising at least one robotic arm, a gripping instrument mounted at a distal end of the robotic arm, a transmission in the gripping instrument communicatively coupled to the controller, the controller configured to implement the gripping force control method of the gripping instrument of any one of claims 1-9.

11. The robotic system of claim 10, further comprising a display device communicatively coupled to the controller, the display device configured to display a control procedure of the clamping force.

12. An electronic device comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements the clamping force control method of the clamping instrument of any of claims 1 to 9.

13. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when executed by a processor, implements the clamping force control method of the clamping instrument of any one of claims 1 to 9.