CN115887014A - Instrument clamping force control method, minimally invasive surgery robot and readable storage medium - Google Patents
Instrument clamping force control method, minimally invasive surgery robot and readable storage medium Download PDFInfo
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- CN115887014A CN115887014A CN202211257036.9A CN202211257036A CN115887014A CN 115887014 A CN115887014 A CN 115887014A CN 202211257036 A CN202211257036 A CN 202211257036A CN 115887014 A CN115887014 A CN 115887014A
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Abstract
The invention belongs to the field of surgical instrument control, and particularly relates to an instrument clamping force control method, a minimally invasive surgical robot and a readable storage medium, wherein the instrument clamping force control method comprises the following steps: receiving a first input signal indicating that a device having an implement requires emergency stop; and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received first input signal. When the minimally invasive surgery robot suddenly stops in an unexpected situation, the clamping force of the terminal instrument is controlled, so that the clamping force is weakened as soon as possible, and even the clamp is directly released, and the accidental injury or further damage to the patient is prevented.
Description
Technical Field
The invention relates to the field of surgical instrument control, in particular to an instrument clamping force control method, a minimally invasive surgery robot and a readable storage medium.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, in the minimally invasive medical field, is produced.
A common minimally invasive surgical robot consists of a surgeon console, a patient side cart, and a display device, where the surgeon operates input devices and transmits inputs to the patient side cart connected to a remotely operated surgical instrument. The physician's console is also referred to as the master hand, which is usually provided with two robotic arms on the left and right for satisfying the freedom of movement requirements of the operating input device. The patient side cart is also referred to as a slave hand, which typically has a plurality of arm holders on which surgical instruments are mounted and a scope holder. Surgical instruments are used to perform surgical procedures on patient tissue, one of the most common of which is clamping, and control of the clamping force is critical, particularly when special circumstances such as sudden stops occur.
In the prior art, after the emergency stop device is in an accident situation, the instrument is generally manually released by a clamp release wrench, i.e. the clamp (jaws) is manually opened. On the one hand, when inserting a clip release wrench, opening the jaws, clearing tissue from the jaws, and removing the instrument from the system, it is necessary to use an image of the surgical site, which is not necessarily available, and if the wrench is rotated in the wrong direction, it may cause the accidental movement of the instrument to harm the patient or the clip release mechanism to be damaged. On the other hand, in this case, it is necessary to release the clamp as soon as possible in order to avoid further injury to the patient, whereas manual release of the clamp requires many steps (wrenching, aligning, inserting, rotating) and generally takes a long time.
The above problems are currently in need of solution.
Disclosure of Invention
The invention aims to provide an instrument clamping force control method, a minimally invasive surgery robot and a readable storage medium.
In order to solve the above technical problem, the present invention provides an instrument clamping force control method, including:
receiving a first input signal indicating that a device having an implement requires emergency stop;
and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received first input signal.
Further, the clamping force of the control instrument clamp tip is reduced, namely:
the clamping force is controlled to drop and not drop to zero.
Further, the clamping force of the control instrument clamp tip is reduced, namely:
the clamping force is controlled to drop to zero.
Further, the clamping force of the control instrument clamp tip is reduced, namely:
the clamping force is controlled to be reduced, and the tail end of the instrument clamp is controlled to be opened reversely.
Further, the step of controlling the clamping force of the distal end of the instrument clamp to decrease is performed by controlling the instrument drive motor to decrease the torque or to provide a counter torque.
Further, the method also comprises the following steps: and stopping receiving the master control clamping input signal and/or the closing/cutting input signal according to the received first input signal.
Further, the method also comprises the following steps: controlling the received master control clamping input signal and/or the closing/cutting input signal to become zero according to the received first input signal and the received first input signal.
The present invention also provides a minimally invasive surgical robot, comprising: a slave hand, the slave hand comprising: the surgical instrument clamping force control method includes a base and a slave manipulator detachably mounted with a surgical instrument, and the surgical instrument is controlled by the instrument clamping force control method.
The invention also provides a computer-readable storage medium having stored therein at least one instruction which, when executed by a processor, implements an instrument grip control method as described above.
The invention also provides an electronic device, comprising a memory and a processor; the memory having stored therein at least one instruction; the processor is used for realizing the instrument clamping force control method by loading and executing the instructions.
The invention has the beneficial effects that the invention provides an instrument clamping force control method, a minimally invasive surgery robot and a readable storage medium, wherein the instrument clamping force control method comprises the following steps: receiving a first input signal indicating that a device having an implement requires emergency stop; and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received first input signal. When the minimally invasive surgery robot suddenly stops in an unexpected situation, the clamping force of the terminal instrument is controlled, so that the clamping force is weakened as soon as possible, and even the clamp is directly released, and the accidental injury or further damage to the patient is prevented.
Drawings
The invention is further illustrated by the following examples in conjunction with the drawings.
FIG. 1 is a schematic view of the configuration of the distal end of an instrument clip provided by the present invention.
Fig. 2 is a flowchart of a method for controlling instrument clamping force according to the present invention.
Fig. 3 is a schematic diagram of the signal inputs of the various devices during the start of clamping when the emergency stop provided by the present invention occurs.
Fig. 4 is a schematic diagram of the signal inputs to the various devices after the sealing/cutting is completed for the emergency stop provided by the present invention.
Fig. 5 is a schematic diagram of the signal inputs of the various components of the present invention when the scram occurs at the beginning of clamping.
Fig. 6 is a schematic diagram of signal inputs for performing a falling process on signals of each device when the emergency stop provided by the present invention occurs in the sealing/cutting process.
Fig. 7 is a schematic structural diagram of the slave hand provided by the invention.
Fig. 8 is a partial structural schematic diagram of the slave hand provided by the invention when in use.
Fig. 9 is a schematic structural view of a surgical instrument provided by the present invention.
Fig. 10 is a schematic view of a partial structure of an electronic device provided in the present invention.
In the figure: 100. an instrument clip tip; 110. a wrist portion; 120. a palm portion; 130. a finger portion; 200. a slave hand; 210. a base; 220. a slave cell manipulator; 221. a surgical instrument; 501. a processor; 502. a memory.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The clamping control principle of the surgical instrument 221 is as follows:
referring to fig. 1, the distal end 100 of the instrument clamp includes a wrist portion 110, a palm portion 120 and a finger portion 130. Taking the finger portion 130 as an example of the instrument, the two forceps heads open and close under the control of the surgeon to clamp the tissue of the patient. Specifically, the doctor operates the open-close clamp of the master hand to control the opening and closing of the forceps heads and the clamping force.
When the emergency stop signal is sent, the emergency stop button of the surgical robot is different from other mechanical equipment, and is not only stopped by power failure, but also stopped after a series of preset commands are executed, and the power failure is avoided in the process.
After the doctor or the assistant presses the emergency stop button, the controller receives the emergency stop signal, executes a corresponding command according to a preset program and stops various actions of the surgical robot.
Example 1
Referring to fig. 2, the present invention provides a method for controlling the clamping force of an instrument, which is used to control the clamping force of the instrument at the end of a minimally invasive surgical robot when the robot suddenly stops in accident, so as to reduce the clamping force as soon as possible and to release the clamp directly, thereby preventing the accidental injury to the patient.
Specifically, the instrument clamping force control method comprises the following steps:
s110: receiving a first input signal indicating that a device having an implement requires emergency stop;
specifically, after the physician or assistant presses the emergency stop button, the controller receives a first input signal, and the instrument may be in several stages: sudden stop occurs at the beginning of clamping, during sealing/cutting, and after sealing/cutting.
S120: and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received first input signal.
Specifically, the step of controlling the clamping force of the instrument clamp tip 100 to decrease is performed by controlling the torque of the instrument drive motor, i.e., the time t taken for the torque of the motor to decrease to zero reflects the response speed, which is related to the initial value of the torque, the preset value of the program, and the performance of the motor. Theoretically, the smaller the time t, the better, but the cost of the motor increases. Of course, motor refers to the end of the robot arm, the mounted instrument driving the drive motor in the cartridge. The motor provides torque to the jaw at the end of the instrument clamp, thereby driving the jaw to open and close and maintaining the clamping force of the jaw.
Example 2
Referring to fig. 3, in the present embodiment, the clamping force control method of the instrument clamp provided in embodiment 1 is adopted to control the clamping force during the process of starting clamping when sudden stop occurs, and the clamping force of the instrument clamp end 100 in step S120 in embodiment 1 is controlled to decrease, that is: the clamping force is controlled to drop to zero.
Specifically, the doctor inputs the main control clamping of the opening and closing clamp in the ascending stage, that is, the force applied to the opening and closing clamp is gradually increased. There is no seal/cut input, and the synchronized, driven clamping force is also in the rising phase. When the scram signal is generated, the controller controls the torque speed of the motor to be reduced to zero, so that the clamping force of the tail end (such as a forceps head) of the instrument clamp is weakened to zero. The time t taken for the motor torque to drop to zero reflects the response speed, which is related to the initial value of the torque, the preset value of the program and the performance of the motor. Theoretically, the smaller the time t, the better, but the cost of the motor increases. Of course, motor refers to the end of the robot arm, the mounted instrument driving the drive motor in the cartridge. The motor provides torque to the jaw at the distal end of the instrument clamp, thereby driving the jaw to open and close and maintaining the clamping force of the jaw.
It will be appreciated that in other embodiments the clamping force may not drop directly to zero, but may instead simply drop to reduce accidental injury to the patient.
In other embodiments, the clamping force drop of the control instrument clip tip 100 may also be: the clamping force is controlled to be reduced, and the tail end of the instrument clamp is controlled to be opened reversely. At this point, the controller controls the motor torque to ramp down to zero and create a torque reversal, thereby reducing the clamping force of the instrument clamp tip (e.g., the jawarms) to zero and also actively opening the jawarms, releasing the clamped patient tissue.
It should be noted that the reverse direction in controlling the reverse opening of the distal end of the instrument holder refers to a direction opposite to the direction of travel of the distal end of the instrument holder when holding tissue of a patient.
Example 3
Referring to fig. 4, in the present embodiment, the clamping force control method of the instrument clamp provided in embodiment 1 is adopted, the clamping force control is performed after the sealing/cutting is completed for the sudden stop, and the clamping force of the instrument clamp end 100 is controlled to decrease in step S120 in embodiment 1, that is: the clamping force is controlled to be reduced, and the tail end of the instrument clamp is controlled to be opened reversely. It should be noted that the reverse direction in controlling the reverse opening of the distal end of the instrument holder refers to a direction opposite to the direction of travel of the distal end of the instrument holder when holding tissue of a patient.
Specifically, the master clamping input of the open-close clamp by the doctor is still in a basically unchanged stage, and the forceps head does not execute the closing/cutting action, and synchronously, the slave clamping force of the forceps head is also in a basically unchanged stage. When the scram signal is generated, the controller controls the torque of the motor to decrease to zero at a very high speed and form a reverse torque, so that the clamping force of the end (such as a forceps head) of the instrument clamp is weakened to zero and the forceps head is also actively opened to release clamped patient tissue.
In other embodiments, the clamping force of the control instrument clip tip 100 in step S120 in embodiment 1 is decreased by: the clamping force is controlled to drop to zero. At this point, the instrument clip tip 100 will release the clamped patient tissue completely, thereby avoiding accidental injury to the patient when the instrument is withdrawn.
In other embodiments, the clamping force of the control instrument clamp tip 100 in step S120 in embodiment 1 is decreased by: the clamping force is controlled to be reduced and not reduced to zero, so that the accidental injury to the patient can be reduced.
Example 4
Referring to fig. 5, in the present embodiment, the clamping force control method of the instrument provided in embodiment 1 is adopted to control the clamping force when the clamping is started when the sudden stop occurs, and the clamping force of the instrument clamp end 100 in step S120 in embodiment 1 is controlled, that is: the clamping force is controlled to drop and not drop to zero.
Specifically, the physician is in the ascending phase of the master clamping input to the clamp (i.e., the force applied to the clamp is gradually increased), and is not yet closed/cut, and the slave clamping force is also in the ascending phase. When the scram signal is generated, the controller controls the torque of the motor to be reduced at a very fast speed, so that the clamping force of the tail end (such as a forceps head) of the instrument clamp is weakened, and the accidental injury to a patient can be reduced.
In other embodiments, the clamping force of the control instrument clip tip 100 in step S120 in embodiment 1 is decreased by: the clamping force is controlled to drop to zero. At this point, the instrument holder distal end 100 releases the clamped patient tissue completely, thereby preventing accidental injury to the patient during instrument withdrawal.
In other embodiments, the clamping force drop of the control instrument clip tip 100 may also be: the clamping force is controlled to be reduced, and the tail end of the instrument clamp is controlled to be opened reversely. At this point, the controller controls the motor torque to ramp down to zero and create a torque reversal, thereby reducing the clamping force of the instrument clamp tip (e.g., the jawarms) to zero and also actively opening the jawarms, releasing the clamped patient tissue.
Example 5
Referring to fig. 6, the present embodiment provides an instrument clamping force control method, which further includes, based on the instrument clamping force control method provided in embodiment 1:
s130: and stopping receiving the master control clamping input signal and/or the closing/cutting input signal according to the received first input signal.
And the emergency stop occurs in the sealing/cutting process as an example, when the emergency stop occurs, the master clamping input signal and the sealing/cutting input signal are stopped to be received, the slave clamping signal is all rapidly reduced to zero, that is, the master clamping input signal and the sealing/cutting input signal are stopped to be received besides the slave clamping signal is processed. In the mode, no matter what force is applied to the opening and closing clamp or what control is applied to the pedal, the corresponding signals cannot be changed (are all zero), processes of processing, calculating and the like of the corresponding signals are avoided, the control process is simplified, and the operation cost is reduced.
In other embodiments, the clamping force may not be directly reduced to zero, but may be reduced to reduce accidental injury to the patient.
In other embodiments, the controlled decrease in the clamping force of instrument clip tip 100 may also be controlled decrease in the clamping force and controlled reverse opening of the instrument clip tip. At this point, the controller controls the motor torque to ramp down to zero and create a torque reversal, thereby reducing the clamping force of the instrument clamp tip (e.g., the jaw) to zero and also actively opening the jaw, releasing the clamped patient tissue.
It should be noted that, in this embodiment, the emergency stop is only described as an example in the process of closing/cutting, and in other embodiments, the emergency stop may also occur at the beginning of clamping or after closing/cutting, which is within the protection scope of the present invention.
In other embodiments, step S130 may also be: and controlling the received master control clamping input signal and/or the closing/cutting input signal to become zero according to the received first input signal. Specifically, the system still normally receives the master clamping input signal and the closing/cutting input signal, and changes the signals into zero only when the signals are received, and the complex processing and calculating processes are avoided as the result of not receiving the signals.
Example 6
Referring to fig. 7-9, the present embodiment provides a minimally invasive surgical robot, a master hand and a slave hand 200, where the slave hand 200 includes: a base 210 and a slave robot arm 220, the slave robot arm 220 having a surgical instrument 221, the surgical instrument 221 controlling a gripping force using an instrument gripping force control method as provided in any one of embodiments 1 to 5.
Example 7
The present embodiments provide a computer-readable storage medium having stored therein at least one instruction that when executed by a processor implements a method for instrument clamping force control as described in any of embodiments 1-5.
The instrument clamping force control method comprises the following steps: receiving an emergency stop signal; and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received emergency stop signal. When the minimally invasive surgery robot suddenly stops in an unexpected situation, the clamping force of the terminal instrument is controlled, so that the clamping force is weakened as soon as possible, and even the clamp is directly released, and the accidental injury to a patient is prevented.
Example 8
Referring to fig. 10, the present embodiment provides an electronic device, including: a memory 502 and a processor 501; the memory 502 has at least one program instruction stored therein; the processor 501, by loading and executing the at least one program instruction, implements the instrument grip force control method as provided in embodiments 1-5.
The memory 502 and the processor 501 are coupled by a bus, which may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 501 and the memory 502 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 501 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 501.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
In summary, the present invention provides an instrument clamping force control method, a minimally invasive surgical robot and a readable storage medium, wherein the instrument clamping force control method includes: receiving an emergency stop signal; and controlling the clamping force of the tail end of the instrument clamp to be reduced according to the received emergency stop signal. When the minimally invasive surgery robot suddenly stops in an unexpected situation, the clamping force of the terminal instrument is controlled, so that the clamping force is weakened as soon as possible, and even the clamp is directly released, and the accidental injury to a patient is prevented.
The components selected for use in the present application (components not illustrated for specific structures) are all common standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimentation. Moreover, the software programs referred to in the present application are all prior art, and the present application does not relate to any improvement of the software programs.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. An instrument clamping force control method, the method comprising:
receiving a first input signal indicating that a device having an implement requires emergency stop;
controlling the clamping force of the distal end of the instrument clamp to decrease according to the received first input signal.
2. The instrument clamping force control method of claim 1,
the clamping force of the control instrument clamp tip is reduced, i.e.:
the clamping force is controlled to drop and not drop to zero.
3. The instrument gripping force control method of claim 1,
the clamping force of the control instrument clamp tip is reduced, i.e.:
the clamping force is controlled to drop to zero.
4. The instrument clamping force control method of claim 1,
the clamping force of the control instrument clamp tip is reduced, i.e.:
the clamping force is controlled to be reduced, and the tail end of the instrument clamp is controlled to be opened reversely.
5. The instrument clamping force control method of any one of claims 1 to 4,
the step of controlling the clamping force of the distal end of the instrument clamp to decrease is performed by controlling an instrument drive motor to decrease torque or provide a counter torque.
6. The instrument clamping force control method of any one of claims 1 to 4,
further comprising:
and stopping receiving the master control clamping input signal and/or the sealing/cutting input signal according to the received first input signal.
7. The instrument clamping force control method of any one of claims 1 to 4,
further comprising:
and controlling the received master control clamping input signal and/or the closing/cutting input signal to become zero according to the received first input signal.
8. A minimally invasive surgical robot comprising: a slave hand, the slave hand comprising: a base and a slave robotic arm to which a surgical instrument is detachably attached, wherein the surgical instrument is controlled by the instrument gripping force control method according to any one of claims 1 to 7.
9. A computer-readable storage medium having stored therein at least one instruction, wherein the instruction when executed by a processor implements the instrument grip force control method of any of claims 1 to 7.
10. An electronic device comprising a memory and a processor; at least one instruction is stored in the memory; the processor, by loading and executing the instructions, to implement the instrument gripping force control method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211257036.9A CN115887014A (en) | 2022-10-14 | 2022-10-14 | Instrument clamping force control method, minimally invasive surgery robot and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211257036.9A CN115887014A (en) | 2022-10-14 | 2022-10-14 | Instrument clamping force control method, minimally invasive surgery robot and readable storage medium |
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| CN115887014A true CN115887014A (en) | 2023-04-04 |
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| CN202211257036.9A Pending CN115887014A (en) | 2022-10-14 | 2022-10-14 | Instrument clamping force control method, minimally invasive surgery robot and readable storage medium |
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