阅读说明：本技术 一种手术器械操作应力感知方法及系统 (Method and system for sensing operation stress of surgical instrument ) 是由 王迎智 周毅 杨猛 于 2021-11-17 设计创作，主要内容包括：本发明实施例在于提供一种手术器械操作应力感知方法及系统,属于医疗器械的技术领域。包括以下步骤：建立多个应力数值与色彩之间的第一预设对应关系,以及建立多个应力数值与反馈力度之间的第二预设对应关系；通过应力感应器,获取目标器械的当前应力数值；基于当前应力数值、第一预设对应关系以及第二预设对应关系,确定目标色彩和目标反馈力度；控制显示设备显示包含目标色彩的图像,并控制触觉反馈装置输出目标反馈力度。通过在控制设备的握持端进行触觉反馈以及显示器上进行视觉反馈,使医生在手术操作过程中能直观获得当前手术机器人末端器械的动作力度的感知,使医生通过手术机器人操作器械安全、方便。(The embodiment of the invention provides a method and a system for sensing operating stress of a surgical instrument, and belongs to the technical field of medical instruments. The method comprises the following steps: establishing a first preset corresponding relation between a plurality of stress values and colors, and establishing a second preset corresponding relation between the plurality of stress values and feedback force; acquiring a current stress value of the target instrument through the stress inductor; determining a target color and a target feedback strength based on the current stress value, the first preset corresponding relation and the second preset corresponding relation; and controlling the display equipment to display the image containing the target color and controlling the tactile feedback device to output the target feedback strength. Through carrying out tactile feedback at the holding end of the control equipment and carrying out visual feedback on the display, a doctor can intuitively obtain the perception of the action force of the current surgical robot tail end instrument in the surgical operation process, and the doctor can safely and conveniently operate the instrument through the surgical robot.)

1. A method for sensing operation stress of a surgical instrument is applied to a control device, a holding end of the control device is provided with a tactile feedback device, the tail end of the control device is connected with a target instrument, and a stress sensor is mounted on the target instrument, and the method comprises the following steps:

establishing a first preset corresponding relation between a plurality of stress values and colors, and establishing a second preset corresponding relation between the plurality of stress values and feedback force;

acquiring a current stress value of the target instrument through the stress inductor;

determining a target color based on the current stress value and the first preset corresponding relation;

determining target feedback strength based on the current stress value and the second preset corresponding relation;

and controlling a display device to display an image containing the target color, and controlling the tactile feedback device to output the target feedback strength.

2. The method of claim 1, wherein establishing a first predetermined correspondence between the plurality of stress values and the color comprises:

controlling the target instrument to execute an action, recording a plurality of stress values of the target instrument in the action executing process, and establishing a corresponding relation between the stress values and colors;

determining a target color based on the current stress value and the first preset corresponding relationship, including:

inquiring the corresponding relation between the stress values and the colors according to the current stress value, and determining the target color corresponding to the current stress value;

the target color is a single color, or the target color is a plurality of continuous colors corresponding to a plurality of continuous stress values between the minimum stress value of the target instrument and the current stress value.

3. The method of claim 2, wherein prior to controlling a display device to display an image containing the target color, the method further comprises: establishing a third preset corresponding relation between the display areas with different areas and the stress numerical values; controlling a display device to display an image containing the target color, comprising:

inquiring the third preset corresponding relation based on the current stress numerical value to obtain a display area of a target area;

controlling the display device to display an image including the target color on a display area of the target area.

4. The method of claim 3, wherein controlling the display device to display an image containing the target color on the display area of the target area comprises:

controlling the display device to sequentially display the plurality of continuous colors in a display area of the target area; or the like, or, alternatively,

and controlling the display device to fill and display the single color in the display area of the target area.

5. The method of claim 1, wherein controlling a display device to display an image containing the target color comprises:

controlling the display device to display an image containing the target instrument in a display interface, and controlling the display device to fill and display the target color in an image area of the tail end of the target instrument;

or;

controlling the display device to display the image containing the target instrument in a display interface, and controlling the display device to fill and display the target color in the boundary of the display interface.

6. The method according to any one of claims 3-5, wherein controlling a display device to display an image containing the target color comprises:

and displaying the number of the current stress numerical value with the color being the target color on a display interface of the display equipment.

7. The method of claim 1, wherein establishing a second predetermined correspondence between different stress values and different feedback forces comprises:

controlling the target instrument to execute an action, recording a plurality of stress values of the target instrument in the action executing process, and establishing a corresponding relation between the stress values and the output action of the tactile feedback device;

determining a target feedback strength based on the current stress value and the second preset corresponding relation, including:

inquiring the second preset corresponding relation according to the current stress value, determining a target output action of the tactile feedback device corresponding to the current stress value, and generating an execution signal;

controlling the haptic feedback device to output the target feedback force, including:

controlling the haptic feedback device to perform the target output action in response to the execution signal.

8. The method of claim 7, wherein determining a target output action of the haptic feedback device for the current stress value and generating an actuation signal comprises at least one of:

under the condition that a linear motor is installed at the holding end of the control equipment, determining the target output power of the linear motor according to the current stress numerical value, generating an execution signal, and enabling the linear motor to respond to the execution signal and vibrate at the target output power;

the method comprises the steps that an electromagnet is arranged at a holding end of the control equipment, under the condition that acting force is applied to an operation end of the control equipment through the electromagnet, a first target value of current passing through the electromagnet is determined according to the current stress value, and the acting force is applied to the operation end of the control equipment through the electromagnet by inputting the current of the first target value to the electromagnet;

under the condition that an electrode contact is arranged at a holding end of the control equipment and is reliably contacted with a user, determining a second target value of the current input to the electrode contact according to the current stress value, and inputting the current of the second target value through the electrode contact to stimulate the muscle nerve of the user through the electrode contact;

and under the condition that the holding end of the control equipment is provided with the air cylinder and acting force is applied to the operating end of the control equipment through the air cylinder, determining a target flow state of air flow in an air source interface end of the air cylinder according to the current stress numerical value, and enabling the output end of the air cylinder to move and applying acting force to the operating end of the control equipment based on the target flow state.

9. The method of claim 6, comprising at least one secondary menu on a display interface of the display device, the method further comprising:

controlling the display device to display an image containing the target instrument on a display interface, and detecting the duration of the instrument position staying at the position of the secondary menu when detecting that the instrument position of the target instrument displayed on the display interface is the position of the secondary menu;

and triggering the menu function of the secondary menu when the duration exceeds a first preset duration.

10. The method of claim 6, wherein the display device comprises navigation coordinates on a display interface thereof, wherein the display device comprises a main menu associated with at least one secondary menu, and wherein the method further comprises:

controlling the display device to display an image containing the target instrument on a display interface, and detecting the duration of the instrument position staying at the position of the main menu when detecting that the instrument position of the target instrument displayed on the display interface is the position of the main menu;

when the duration exceeds a second preset duration, displaying the at least one secondary menu on the display interface; the position of the main menu is hidden in the position of the navigation coordinate, or the position of the main menu is different from the position of the navigation coordinate.

11. The method of claim 9 or 10, wherein the at least one secondary menu comprises: the method further includes:

and when the instrument position is detected to be the position of the sensing force display mode switching menu, and the duration of the position of the sensing force display mode switching menu exceeds a third preset duration, switching the display mode of the target color pattern on the display interface.

12. A surgical instrument operation stress sensing system comprises a control device and a display device, wherein the control device comprises a device main body and a processor, the display device is electrically connected with the processor, and the tail end of the device main body is connected with a target instrument;

the target instrument is provided with a stress inductor which is electrically connected with the processor and used for inducing stress of the target instrument in the action executing process;

the equipment body is provided with a tactile feedback device which is electrically connected with the processor;

the processor is configured to perform the method of any one of claims 1-11.

13. The system of claim 12, wherein the surgical instrument operational stress sensing system includes a plurality of the control devices, and wherein the display area of the display interface of the display device includes sub-areas in one-to-one correspondence with the plurality of the control devices, each of the sub-areas being configured to display an image containing the target color corresponding to the current stress value of one of the control devices.

14. The system of claim 12, further comprising an image capture device electrically coupled to the processor, the image capture device configured to capture an image containing a target instrument.

Technical Field

The embodiment of the invention relates to the technical field of medical instruments, in particular to a method and a system for sensing operation stress of a surgical instrument.

Background

Minimally invasive surgery is a surgical technique that uses an elongated rod-shaped surgical instrument to perform a surgical operation inside the human body through a tiny incision in the surface of the human body and by means of a laparoscope. Compared with the traditional open type operation, the minimally invasive operation can reduce the wound, the bleeding amount and the complication, further shorten the recovery time of a patient, relieve the pain of the patient and the like. These advantages of minimally invasive surgery are appreciated by a wide range of patients and physicians.

At present, in clinical operation application, aiming at single-port laparoscopic minimally invasive surgery, the application of a surgical robot is realized. The surgical robot usually adopts a master-slave control mode, namely, a slave-end mechanical arm of a slave hand and a surgical instrument are controlled to operate through a master hand control end. The doctor controls the slave hand by operating the master hand at the master control end of the minimally invasive surgery robot, and performs surgery operation by means of the focus visual field of the patient observed by the laparoscope.

However, when a doctor performs a surgical operation through a surgical robot, the doctor cannot easily sense the actual movement force of a terminal instrument of the surgical robot, and the situation that too much force is applied to the instrument during movement to cause injury to body tissues of a patient or too little force is applied to cause loosening of an object clamped in the surgery exists, so that potential safety hazards exist.

Disclosure of Invention

The embodiment of the invention provides a method and a system for sensing operation stress of a surgical instrument, and aims to solve the problem that a doctor is difficult to sense the actual action strength of a terminal instrument when operating the surgical instrument through a surgical robot.

The first aspect of the embodiments of the present invention provides a method for sensing operating stress of a surgical instrument, which is applied to a control device, wherein a holding end of the control device is provided with a tactile feedback device, a target instrument is connected to a tail end of the control device, and a stress sensor is installed on the target instrument, and the method includes:

establishing a first preset corresponding relation between a plurality of stress values and colors, and establishing a second preset corresponding relation between the plurality of stress values and feedback force;

acquiring a current stress value of the target instrument through the stress inductor;

determining a target color based on the current stress value and a first preset corresponding relation;

determining target feedback strength based on the current stress value and a second preset corresponding relation;

and controlling the display equipment to display the image containing the target color and controlling the tactile feedback device to output the target feedback strength.

Optionally, establishing a first preset corresponding relationship between a plurality of stress values and colors includes:

controlling a target instrument to execute actions, recording a plurality of stress values of the target instrument in the action executing process, and establishing corresponding relations between the stress values and colors;

determining a target color based on the current stress value and a first preset corresponding relation, including:

inquiring the corresponding relation between a plurality of stress values and colors according to the current stress value, and determining the target color corresponding to the current stress value;

the target color is a single color, or the target color is a plurality of continuous colors corresponding to a plurality of continuous stress values between the minimum stress value of the target instrument and the current stress value.

Optionally, before controlling the display device to display the image containing the target color, the method further comprises: establishing a third preset corresponding relation between the display areas with different areas and the stress numerical values; controlling a display device to display an image containing the target color, comprising:

inquiring the third preset corresponding relation based on the current stress numerical value to obtain a display area of a target area;

controlling the display device to display an image including the target color on a display area of the target area.

Optionally, controlling the display device to display an image containing the target color on the display area of the target area includes:

controlling a display device to sequentially display a plurality of continuous colors in a display area of a target area; or the like, or, alternatively,

and controlling the display device to fill and display a single color in the display area of the target area.

Optionally, controlling the display device to display an image containing the target color comprises:

controlling the display device to display an image containing the target instrument in the display interface, and controlling the display device to fill and display a target color in an image area of the tail end of the target instrument;

or;

and controlling the display device to display the image containing the target instrument in the display interface, and filling and displaying the target color in the boundary of the display interface.

Optionally, controlling a display device to display an image containing the target color comprises:

and displaying the number of the current stress numerical value with the color being the target color on a display interface of the display equipment.

Optionally, establishing a second preset corresponding relationship between different stress values and different feedback forces includes:

controlling a target instrument to execute actions, recording a plurality of stress values of the target instrument in the action executing process, and establishing a corresponding relation between the plurality of stress values and the output action of the tactile feedback device;

determining a target feedback force based on the current stress value and a second preset corresponding relation, including:

inquiring a second preset corresponding relation according to the current stress numerical value, determining a target output action of the tactile feedback device corresponding to the current stress numerical value, and generating an execution signal;

controlling a haptic feedback device to output a target feedback force, comprising:

and controlling the tactile feedback device to execute the target output action in response to the execution signal.

Optionally, determining a target output action of the haptic feedback device corresponding to the current stress value, and generating an execution signal, including at least one of:

under the condition that a linear motor is installed at a holding end of the control equipment, determining the target output power of the linear motor according to the current stress value, generating an execution signal, and enabling the linear motor to respond to the execution signal and vibrate at the target output power;

the method comprises the steps that an electromagnet is arranged at a holding end of control equipment, under the condition that acting force is applied to an operation end of the control equipment through the electromagnet, a first target numerical value of current passing through the electromagnet is determined according to a current stress numerical value, and the acting force is applied to the operation end of the control equipment through the electromagnet by inputting the current of the first target numerical value;

under the condition that the holding end of the control equipment is provided with the electrode contact and the electrode contact is reliably contacted with the user, determining a second target value of the current input to the electrode contact according to the current stress value, and inputting the current of the second target value through the electrode contact so as to stimulate the muscular nerve of the user through the electrode contact;

the method comprises the steps that an air cylinder is arranged at a holding end of the control equipment, under the condition that acting force is applied to an operation end of the control equipment through the air cylinder, a target flowing state of air flow in an air source interface end of the air cylinder is determined according to a current stress numerical value, and based on the target flowing state, an output end of the air cylinder moves and applies acting force to the operation end of the control equipment.

Optionally, the display interface of the display device includes at least one secondary menu, and the method further includes:

controlling display equipment to display an image containing a target instrument on a display interface, and detecting the duration of the instrument position staying at the position of a secondary menu under the condition that the instrument position of the target instrument displayed on the display interface is detected to be the position of the secondary menu;

and triggering the menu function of the secondary menu when the duration exceeds the first preset duration.

Optionally, the display interface of the display device includes navigation coordinates, the display interface of the display device includes a main menu, and the main menu is associated with at least one secondary menu, and the method further includes:

controlling a display device to display an image containing a target instrument on a display interface, and detecting the duration of the instrument position staying at the position of a main menu when detecting that the instrument position of the target instrument displayed on the display interface is the position of the main menu;

when the duration exceeds a second preset duration, displaying at least one secondary menu on a display interface; the position of the main menu is hidden in the position of the navigation coordinate, or the position of the main menu is different from the position of the navigation coordinate.

Optionally, the at least one secondary menu comprises: the method for sensing the stress display mode switching menu further comprises the following steps:

and when the instrument position is detected to be the position of the sensing force display mode switching menu, and the duration of the position of the sensing force display mode switching menu exceeds a third preset duration, switching the display mode of the target color pattern on the display interface.

A second aspect of the embodiment of the present invention provides a system for sensing operating stress of a surgical instrument, including a control device and a display device, where the control device includes a device main body and a processor, the display device is electrically connected to the processor, and a target instrument is connected to a terminal of the device main body;

the target instrument is provided with a stress inductor which is electrically connected with the processor and used for inducing the stress of the target instrument in the action executing process;

the equipment body is provided with a tactile feedback device which is electrically connected with the processor;

the processor is configured to perform the method as provided by the first aspect of the embodiments of the present invention.

Optionally, the system for sensing the operating stress of the surgical instrument includes a plurality of control devices, and a display area of a display interface of the display device includes sub-areas corresponding to the plurality of control devices one to one, and each sub-area is used for displaying an image including a target color corresponding to a current stress value of one control device.

Optionally, the system further comprises an image acquisition device, the image acquisition device is electrically connected with the processor, and the image acquisition device is used for acquiring an image containing the target instrument.

The invention has at least the following advantages:

the embodiment of the invention provides a method and a system for sensing operating stress of a surgical instrument, which are applied to control equipment, wherein a holding end of the vacant equipment is provided with a tactile feedback device, the tail end of the control equipment is connected with a target instrument, and a stress sensor is arranged on a label laying instrument, and the sensing method comprises the following steps: establishing a first preset corresponding relation between a plurality of stress values and colors, and establishing a second preset corresponding relation between the plurality of stress values and feedback force; acquiring a current stress value of the target instrument through the stress inductor; determining a target color and a target feedback strength based on the current stress value, the first preset corresponding relation and the second preset corresponding relation; and controlling the display equipment to display the image containing the target color and controlling the tactile feedback device to output the target feedback strength.

Through carrying out tactile feedback at the holding end of the control equipment and carrying out visual feedback on the display, a doctor can intuitively obtain the perception of the action force of the current surgical robot tail end instrument in the surgical operation process, and the doctor can safely and conveniently operate the instrument through the surgical robot.

Drawings

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

FIG. 1 is a flowchart illustrating steps of a method for sensing stress during operation of a surgical instrument according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the structure of the device body and the haptic feedback device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an apparatus body and a haptic feedback device according to another embodiment of the present invention;

fig. 4 is a schematic structural view of an apparatus body and a haptic feedback device according to still another embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an apparatus body and a haptic feedback device according to yet another embodiment of the present invention;

FIG. 6 is a diagram illustrating a display mode of a pattern including a target color on a display interface according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating a display mode of a pattern including a target color on a display interface according to another embodiment of the present invention;

FIG. 8 is a diagram illustrating a display mode of a pattern including a target color on a display interface according to another embodiment of the present invention;

FIG. 9 is a diagram illustrating a display mode of a pattern including a target color on a display interface according to still another embodiment of the present invention;

FIG. 10 is a merged display mode of a pattern including a target color on a display interface according to yet another embodiment of the present invention;

FIG. 11 is a diagram illustrating a normal display status of a secondary menu on a display interface according to an embodiment of the present invention;

FIG. 12 is a diagram illustrating a secondary menu frequently hidden and a primary menu frequently displayed on a display interface according to an embodiment of the present invention;

FIG. 13 is a schematic diagram illustrating a primary menu hovering over a target instrument to display secondary menus according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of a target instrument hovering navigation rectangular coordinate system displaying secondary dishes on a display interface according to an embodiment of the present invention.

Reference numerals: 42. a target instrument; 51. an apparatus main body; 511. a holding end; 512. an operation end; 513. A linear motor; 514. an electromagnet; 515. an electrode contact; 516. a cylinder; 52. a display area; 53. a number; 54. a second level menu; 55. a main menu; 56. and (4) navigating the coordinates.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the related art, a doctor electrically controls the operation of the tail end instrument of the surgical robot through the surgical robot, but in the operation mode, the doctor cannot easily perceive the action force of the tail end instrument during action, the tail end of the instrument is over-stressed to cause injury to animal tissues, or the clamped object falls off due to over-stress, and the operation is inconvenient in the operation process.

In view of this, the embodiment of the present invention provides a method and a system for sensing operating stress of a surgical instrument, which are applied to a control device, wherein a holding end 511 of the control device is provided with a tactile feedback device, a target instrument 42 is connected to an end of the control device, and a stress sensor is installed on the target instrument 42, and the sensing method includes the following steps: establishing a first preset corresponding relation between a plurality of stress values and colors, and establishing a second preset corresponding relation between the plurality of stress values and feedback force; obtaining a current stress value of the target instrument 42 through the stress sensor; determining a target color and a target feedback strength based on the current stress value, the first preset corresponding relation and the second preset corresponding relation; and controlling the display equipment to display the image containing the target color and controlling the tactile feedback device to output the target feedback strength. Through tactile feedback at the holding end 511 of the control device and visual feedback on the display, a doctor can intuitively obtain the perception of the action force of the current surgical robot tail end instrument in the surgical operation process, and the doctor can safely and conveniently operate the instrument through the surgical robot.

Example one

Referring to fig. 2, which shows a schematic structural diagram of an apparatus body and a tactile feedback device according to an embodiment of the present invention, as shown in fig. 2, an embodiment of the present invention discloses a system for sensing operational stress of a surgical instrument, which includes a control apparatus and a display apparatus, the control apparatus includes an apparatus body 51 and a processor, the display apparatus is electrically connected to the processor, and a target instrument 42 is in contact with a distal end of the apparatus body 51.

The apparatus main body 51 may be a surgical robot, and in this embodiment, the target instrument 42 may be a surgical instrument such as a forceps, a tweezers, or a scissors, which can be used for holding, cutting, or the like.

The target instrument 42 is provided with a stress sensor electrically connected to the processor for sensing stress of the target instrument 42 during performance of the action.

The sensor may be a strain gauge placed between the jaws of target instrument 42 to capture the clamping force during the action of target instrument 42. In other embodiments, the target instrument 42 may be other operable instruments, and the sensor is used to obtain the force magnitude of the instrument during the operation.

The display device may be a separate display, and an image capable of feeding back the magnitude of the clamping force of the target instrument 42 may be displayed on the display interface of the display device.

The device body 51 is provided with tactile feedback means, which are electrically connected to the processor.

The haptic feedback device may be a linear motor 513 in one embodiment of the invention. The linear motor 513 is installed at the holding end 511 of the device main body 51, and by controlling the output power of the linear motor 513, the force feedback of different magnitudes output to the hand of the operator holding the holding end 511 is changed.

Referring to fig. 3, there is shown a schematic structural view of a device body 51 and a tactile feedback device according to another embodiment of the present invention, and as shown in fig. 3, in another embodiment of the present invention, the tactile feedback device may include an electromagnet 514. Rotate on the equipment main part 51 and install the handle as controlgear operation end 512, the electro-magnet 514 sets up on holding the end 511, is fixed with the connecting rod that can be adsorbed by magnetic field on the handle, through to the not electric current of equidimension of electro-magnet 514 input, just steerable electro-magnet 514 sends not magnetic field of equidimension to produce not equidimension adsorption affinity to connecting rod and handle, thereby to the dynamics feedback of the not equidimension of operating personnel operating handle's hand output.

Referring to fig. 4, there is shown a schematic structural view of the apparatus body 51 and the tactile feedback device according to another embodiment of the present invention, and as shown in fig. 4, in another embodiment of the present invention, the tactile feedback device may also be an air cylinder 516. The device main body 51 is rotatably provided with a handle serving as a control device operation end 512, the main body of the air cylinder 516 is arranged on the holding end 511, the movable end of the air cylinder 516 is connected to the handle, and the electromagnetic valve of the control air cylinder 516 controls the air flow entering and releasing in the origin interface end of the air cylinder 516, so that the movable end of the air cylinder 516 is controlled to stretch and contract, and force feedback with different magnitudes is output to the hand of an operator operating the handle.

Referring to fig. 5, there is shown a schematic structural view of a device body 51 and a haptic feedback device according to still another embodiment of the present invention, and as shown in fig. 5, in yet another embodiment of the present invention, the haptic device may further include an electrode contact 515. The electrode contacts 515 may be mounted on the control device at a location such as a grip end that contacts the operator's hand. By inputting medium and low frequency pulse currents of different magnitudes to the electrode contacts 515, the currents stimulate the muscular nerves of the human body, thereby contracting the muscles of the hand to feed back the force of different magnitudes to the operator.

The processor is used for executing the method for sensing the operation stress of the surgical instrument provided by the embodiment of the invention.

In an embodiment of the present invention, the surgical instrument stress sensing system further comprises an image capturing device electrically connected to the processor, the image capturing device being configured to capture an image containing the target instrument 42.

The image acquisition equipment can be an endoscope, the image acquisition equipment is also electrically connected with the display equipment, and images acquired by the image acquisition equipment can be displayed on a display interface of the display equipment.

Further, the system for sensing the operation stress of the surgical instrument comprises a plurality of control devices, and the display area 52 of the display interface of the display device comprises sub-areas corresponding to the plurality of control devices one by one, wherein each sub-area is used for displaying an image containing a target color corresponding to the current stress value of one control device. By correspondingly displaying the image of the target color corresponding to the current stress value of the control equipment on each sub-area, visual feedback of the action strength of a plurality of instruments can be intuitively acquired through one display equipment when the instruments are operated to act simultaneously in an operation.

Example two

Referring to fig. 1, which is a flowchart illustrating steps of a method for sensing operational stress of a surgical instrument according to an embodiment of the present invention, as shown in fig. 1, based on the same inventive concept, another embodiment of the present invention provides a method for sensing operational stress of a surgical instrument, which is applied to a control device. The method may include the following steps.

S101: and establishing a first preset corresponding relation between a plurality of stress values and the color, and establishing a second preset corresponding relation between a plurality of stress values and the feedback force.

In an embodiment of the present invention, the first preset correspondence is established by the following steps: controlling the target instrument 42 to execute the action, recording a plurality of stress values of the target instrument 42 in the process of executing the action, and corresponding the plurality of stress values to the colors, specifically, corresponding different stress values to different colors one by one, thereby establishing the corresponding relationship between the plurality of stress values and the colors.

Wherein the second predetermined correspondence may be established by: controlling the target instrument 42 to execute the action, recording a plurality of stress values of the target instrument 42 in the action executing process, and corresponding the plurality of stress values to a plurality of output actions of the tactile feedback device in a one-to-one manner, so as to establish a corresponding relation between the plurality of stress values and the output actions of the tactile feedback device.

S102: through the stress sensor, a current stress value of the target instrument 42 is obtained.

The stress sensor may be a stress sheet installed in the target instrument 42, and is used for sensing action force such as clamping force of the forceps head of the target instrument 42 in real time during the action process.

S103: and determining the target color based on the current stress value and the first preset corresponding relation.

On the basis of obtaining the current stress value of the target instrument 42, a first preset corresponding relationship between a plurality of stress values and colors is queried according to the current stress value, and a target color corresponding to the current stress value is determined.

Optionally, in this embodiment of the present invention, the first preset correspondence between the stress value and the color may be understood as a data record including the stress value and a color identifier for indicating the color. Therefore, in the implementation process, the data record containing the current stress value can be inquired based on the current stress value, and the color indicated by the color identifier in the inquired data record is the target color.

The target color may be a single color, or the target color may be a plurality of continuous colors corresponding to a plurality of continuous stress values between the minimum stress value of the target instrument 42 and the current stress value.

In a plurality of continuous colors corresponding to the plurality of continuous stress values, the plurality of continuous stress values can be arranged according to the magnitude sequence, and the plurality of continuous colors are arranged in a sequencing mode corresponding to the stress values, so that the color gradient effect can be presented.

S104: and determining the target feedback strength based on the current stress value and the second preset corresponding relation.

After the current stress value of the target instrument 42 is obtained, the second preset corresponding relationship is queried according to the current stress value, the target output action of the tactile feedback device corresponding to the current stress value is determined, and the execution signal is generated.

Optionally, in this embodiment of the present invention, the second preset correspondence between the stress value and the feedback strength may be understood as a data record including the stress value and a control signal for instructing the tactile feedback device to output the feedback strength. Therefore, in the implementation process, the data record containing the current stress value can be inquired based on the current stress value, and the feedback strength output by the tactile feedback device indicated by the control signal in the inquired data record is the target feedback strength.

Wherein, determining the target output action of the haptic feedback device corresponding to the current stress value and generating the execution signal may include at least one of:

in the case where the linear motor 513 is mounted on the grip end 511 of the control apparatus, a target output power of the linear motor 513 is determined according to the current stress value, and an execution signal is generated such that the linear motor 513 is vibrated at the target output power in response to the execution signal;

when the holding end 511 of the control device is provided with the electromagnet 514 and acting force is applied to the operation end 512 of the control device through the electromagnet 514, a first target value of current passing through the electromagnet 514 is determined according to the current stress value, and the acting force is applied to the operation end 512 of the control device by the electromagnet 514 by inputting the current of the first target value into the electromagnet 514;

under the condition that the holding end 511 of the control device is provided with the electrode contact 515 and the electrode contact 515 is reliably contacted with the body of the user, determining a second target value of the current input to the electrode contact 515 according to the current stress value, and inputting the current of the second target value through the electrode contact 515 to stimulate the muscular nerve of the user through the electrode contact 515;

in the case that the holding end 511 of the control device is provided with the air cylinder 516, and the acting force is applied to the operating end 512 of the control device through the air cylinder 516, the target flow state of the air flow in the air source interface end of the air cylinder 516 is determined according to the current stress value, and based on the target flow state, the output end of the air cylinder 516 is enabled to move and the acting force is applied to the operating end 512 of the control device.

It is understood that, in the embodiment of the present invention, the determining of the target output action of the haptic feedback device corresponding to the current stress value and the generating of the execution signal may also be implemented based on two or more of the above steps.

In the embodiment of the present invention, there is no necessary sequential execution order between step S103 and step S104, and both the target color and the target feedback strength may be determined in advance, or may be determined at the same time, as long as they are executed before step S105.

S105: and controlling the display equipment to display the image containing the target color and controlling the tactile feedback device to output the target feedback strength.

The control of the haptic feedback device to output the target feedback force is to respond to the execution signal through the processor, and control the input of current or air flow with proper magnitude to the haptic feedback device according to the execution signal, so as to control the haptic feedback device to execute the target output action, so that the body parts such as the hands of the operator feel the feedback with proper force.

Referring to fig. 6, which illustrates a display mode of a pattern including a target color on a display interface according to an embodiment of the present invention, as shown in fig. 6, in an embodiment of the present invention, before controlling a display device to display an image including the target color, by establishing a third preset corresponding relationship between display areas 52 with different areas on the display interface of the display device and stress values in advance, after obtaining a current stress value, controlling the display device to display the image including the target color includes: and inquiring a third preset corresponding relation to obtain a display area 52 with a target area, and displaying an image containing a target color in the display area 52 with the display equipment.

In an implementation manner of the embodiment of the present invention, the third preset corresponding relationship may be understood as a data record including a stress value and a region identifier for indicating a region occupied by a certain area of the display region on the display interface. Therefore, in the implementation process, a data record including the current stress value may be queried based on the current stress value, and a region occupied by a certain area of a display region (for example, the display region 52) indicated by the region identifier in the queried data record on the display interface is the display region 52 of the target area.

In another implementation manner of the embodiment of the present invention, the third preset corresponding relationship may be understood as a data record, where the data record includes a stress value and a boundary position, and the boundary position may be used to define a display area with a certain area. It should be noted that, in this case, the areas of the display regions defined by the boundary positions in the different third predetermined corresponding relationships are different. In the implementation process, based on the current stress value, a data record including the current stress value may be queried, and a display region defined by a boundary position in the queried data record is the display region 52 of the target area corresponding to the current stress value.

In another implementation manner of the embodiment of the present invention, the third predetermined corresponding relationship may be understood as a data record, and the data record includes a stress value, an initial display area of the display area, a predetermined expansion rule, and the first area. In the implementation process, the data record including the current stress value may be queried based on the current stress value, so that an initial display region, a preset expansion rule and a first area in the queried data record may be obtained, the initial display region is expanded along the preset expansion rule, and a display region of the first area (i.e., the first area in the queried data record) may be formed, that is, the display region 52 of the target area. For example, if the initial display region is a rectangular region of the second area, the preset expansion rule may be to expand the initial display region along the length direction of the initial display region without changing the width until the area of the formed display region reaches the first area. It will be appreciated that the first area is here larger than the second area. In the third preset corresponding relationship, the initial display area may be represented by a boundary position of the initial display area in the display interface.

By displaying the image in the display area 52 with the corresponding area on the display interface according to the stress values with different sizes, the proportion of the image in the display area 52 to the display interface can be improved when the stress is increased, the image is made to be striking, and the feedback received by the operator visually is made to be more intuitive.

In an embodiment of the present invention, the image having the target color displayed in the display area 52 of the target area may be that a single color is filled and displayed in the display area 52 of the target area, and the color is the target color corresponding to the current stress value.

By associating the stress value with a color, an operator can obtain the magnitude of the current stress value through the current image color. Further, as the stress value is changed from small to large, the color can be changed from blue to red, and when the stress value is too large, the color close to red can provide visual tension for the operator, so that the feedback feeling visually received by the operator is further enhanced.

In another embodiment of the present invention, the image containing the target color displayed in the display area 52 of the target area may be a gradient color image in which the display device sequentially arranges the plurality of continuous colors in the display area 52 of the target area in the arrangement order of the plurality of continuous colors in the display area 52 of the target area.

By simultaneously displaying a plurality of sequential colors corresponding to the plurality of stress values from the minimum stress value to the current stress value in the display area 52, the operator can obtain the visual difference between the current stress value and the minimum stress value through the image of the current gradient color, thereby facilitating the operator to adjust the execution action strength of the target instrument 42.

Referring to fig. 7, a display mode of a pattern including a target color on a display interface according to another embodiment of the present invention is shown, as shown in fig. 7, in another embodiment of the present invention, an image of the target color displayed by a display device may be: controlling the display device to display an image containing the target instrument 42 in the display interface, and controlling the display device to fill in and display the target color in an image area of the tip of the target instrument 42.

The image including the target instrument 42 is acquired by an image acquisition device, and the processor processes the image acquired by the image acquisition device to identify the region where the target instrument 42 is located in the image and a specific identification region on the target instrument 42, where the specific identification region can be obtained by coloring the surface of the target instrument 42, making the surface convex or concave, marking a special pattern, and the like, and the specific identification region is an image region at the end of the target instrument 42 and is also a display region 52 of a target color. And then, covering the target color at the position of the specific identification area on the image, so that an operator can intuitively obtain visual feedback of the relationship between the instrument and the current execution action strength of the operator from a display interface of the display equipment.

Referring to fig. 8, a display mode of a pattern including a target color on a display interface according to another embodiment of the present invention is shown, as shown in fig. 8, in another embodiment of the present invention, an image of the target color displayed by a display device may be: controlling the display device to display the image containing the target instrument 42 in the display interface, and controlling the display device to fill in the display target color in the boundary of the display interface. By using the edge area of the display interface as the display area 52 of the target color and filling the display target color, the display interface of the display device can be used to display the image containing the target instrument 42, thereby effectively reducing the interference with the image containing the target instrument 42.

Referring to fig. 9, a display mode of a pattern including a target color on a display interface according to still another embodiment of the present invention is shown, as shown in fig. 9, in yet another embodiment of the present invention, an image of the target color displayed by a display device may further be: and displaying the number 53 of the current stress numerical value with the color being the target color on the display interface. The magnitude of the stress value can be directly displayed to the operator in the form of a number 53, and different colors can play a warning role for the operator.

Referring to fig. 11, a schematic diagram illustrating a normally-displayed state of the secondary menu 54 on the display interface according to an embodiment of the present invention is shown, as shown in fig. 11, further, at least one secondary menu 54 is included on the display interface of the display device, and the secondary menu 54 is triggered by:

controlling the display device to display an image containing the target instrument 42 on the display interface, and detecting the duration of the instrument position staying at the position of the secondary menu 54 under the condition that the instrument position of the target instrument 42 displayed on the display interface is detected to be the position of the secondary menu 54; the menu function of the secondary menu 54 is triggered when the duration exceeds a first preset duration.

The first preset time can be 1-2 seconds, the menu function option corresponding to the preset position can be triggered by moving the target instrument 42 to the preset position in the secondary menu 54 and hovering at the preset position for a period of time, the operator can conveniently and independently open the menu function option through contactless operation, and the operation is convenient and sanitary.

Referring to fig. 12, a schematic diagram illustrating a secondary menu 54 hidden and a primary menu 55 displayed frequently on a display interface according to an embodiment of the present invention is shown, referring to fig. 13, a schematic diagram illustrating a secondary menu displayed by hovering the target instrument 42 over the primary menu 55 on the display interface according to an embodiment of the present invention is shown, as shown in fig. 12 and 13, in another embodiment of the present invention, the display interface includes the primary menu 55, and the primary menu 55 is associated with at least one triggerable secondary menu 54. The triggering method of the function options of the secondary menu 54 comprises the following steps: when the instrument position of the target instrument 42 displayed on the display interface is detected to be the position of the main menu 55, detecting the duration of the instrument 42 position staying at the position of the main menu 55; displaying at least one secondary menu 54 on the display interface when the duration exceeds a second preset duration; the position of the main menu 55 is hidden in the position of the navigation coordinate 56, or the position of the main menu 55 is a position different from the position of the navigation coordinate 56.

The second preset time period may be 1-2 seconds, the second-level menu 54 is hidden in the display interface, and the second-level menu 54 is displayed in the display interface by triggering the main menu 55, so that when the number of the second-level menus 54 is large, the occupied area of the second-level menus 54 on the display interface is reduced, the display interface is simplified, and a user can observe a more complete spatial image conveniently.

Referring to fig. 14, a schematic diagram of a secondary menu displayed by the target instrument 42 hovering the main menu 55 on the display interface according to an embodiment of the present invention is shown, as shown in fig. 14, and further, the position of the main menu 55 is hidden in the position of the navigation coordinate 56. The navigational coordinates 56 may enable the operator to directly move the target instrument 42 to the location of the navigational coordinates 56 and hover for a second preset length of time to trigger the secondary menu 54 on the display interface.

In the embodiment of the present invention, the secondary menu 54 may include: the sensing force display mode switches the menu.

And when the instrument position is detected to be the position of the sensing force display mode switching menu, and the duration of the position of the sensing force display mode switching menu exceeds a third preset duration, switching the display mode of the target color pattern on the display interface.

Referring to fig. 10, a fused display mode of a pattern including a target color on a display interface according to still another embodiment of the present invention is shown, as shown in fig. 10, where the display mode of the pattern includes the following: the display area 52 with different areas is filled with a single color, the display area 52 with different areas displays a plurality of continuous colors, the image containing the target color is displayed on the target instrument 42 in the image, the image containing the target color is displayed at the edge of the display interface, the number 53 of the current stress value with the color being the target color is displayed on the display interface, and the display mode is a fused combination of the plurality of modes.

In the embodiment of the present invention, the first preset time period, the second preset time period, and the third preset time period may be the same time period, for example, 1 to 2 seconds. In other embodiments, the first preset time period, the second preset time period and the third preset time period may be different time periods.

In the embodiment of the invention, the action stress of the target instrument 42 in the action executing process is obtained, the stress is fed back to the display interface in an image mode, and the stress is fed back to the holding end 511 of the equipment main body 51 in a tactile feedback mode, so that the operation experience of a doctor in the operation process is greatly improved, the operation performed by the surgical robot in the display interface has the direct instrument manipulation and is personally on the scene, the fine advantage of the robot operation is ensured, the doctor obtains better operation experience, and the risk of injury to a patient due to misoperation of the doctor in the operation process is greatly reduced.

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.