CN111641291A - Method for controlling surgical instrument transmission device and computer readable storage medium - Google Patents
Method for controlling surgical instrument transmission device and computer readable storage medium Download PDFInfo
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- CN111641291A CN111641291A CN201910664148.8A CN201910664148A CN111641291A CN 111641291 A CN111641291 A CN 111641291A CN 201910664148 A CN201910664148 A CN 201910664148A CN 111641291 A CN111641291 A CN 111641291A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
- A61B50/24—Stands
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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Abstract
The invention discloses a control method of a surgical instrument transmission device and a computer readable storage medium. The method comprises the following steps: acquiring the revolution of an output shaft of a driving motor in the process that a sliding block moves from the initial position of a sliding table to the specified position of the sliding table; controlling a driving motor to rotate reversely according to the revolution number so as to drive the sliding block to return to the initial position; and controlling the driving motor to rotate forwards according to the revolution number so as to drive the sliding block to reach the designated position again. The invention can enable medical personnel to quickly and accurately find the operating point before the surgical instrument is replaced after the surgical instrument is replaced, thereby quickly putting the medical personnel into the interrupted surgical operation before the surgical instrument is replaced, effectively improving the surgical efficiency and the surgical quality and simultaneously reducing the life risk of patients.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control method of a surgical instrument transmission device and a computer readable storage medium.
Background
With the development of scientific technology, the concept of "minimally invasive" has been advanced into various fields of surgical operation. The minimally invasive surgery refers to surgery performed by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Minimally invasive surgery is widely used in various fields of surgical operations because of its advantages of small trauma, light pain, quick recovery, etc.
In minimally invasive surgery, medical personnel need to change surgical instruments in real time as the surgery progresses. However, after the surgical instrument is replaced, the medical staff cannot quickly and accurately find the operating point before the surgical instrument is replaced, so that the medical staff cannot quickly put into the interrupted surgical operation before the surgical instrument is replaced, the surgical efficiency and the surgical quality are greatly reduced, and the life risk of a patient is increased.
In order to solve the above technical problems, the present invention provides a method for controlling a surgical instrument transmission device and a computer readable storage medium.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: medical personnel can not find the operating point before changing surgical instruments fast, accurately after changing surgical instruments to can not drop into the operation of interrupting before changing surgical instruments fast, greatly reduced operation efficiency and operation quality, also increased patient's life danger simultaneously.
In order to solve the technical problem, the invention provides a control method of a surgical instrument transmission device, wherein the surgical instrument transmission device comprises a driving motor, and the driving motor is used for driving a sliding block bearing a surgical instrument to move on a sliding table; the method comprises the following steps:
acquiring the revolution of an output shaft of the driving motor in the process that the sliding block moves from the initial position of the sliding table to the designated position of the sliding table;
controlling the driving motor to rotate reversely according to the revolution number so as to drive the sliding block to return to the initial position;
and controlling the driving motor to rotate forwards according to the revolution number so as to drive the sliding block to reach the specified position again.
In a preferred embodiment of the present invention, acquiring the number of rotations of the output shaft of the driving motor during the movement of the slider from the starting position of the sliding table to the specified position of the sliding table includes:
after a first control signal is acquired, controlling the output shaft of the driving motor to rotate in the forward direction according to the first control signal, so that the driving motor drives the sliding block and a first surgical instrument arranged on the sliding block to move downwards along the axial direction of the transmission shaft from the initial position of the sliding table through the transmission mechanism with the transmission shaft;
after a second control signal is acquired, controlling the driving motor to stop working according to the second control signal so as to enable the sliding block and a first surgical instrument arranged on the sliding block to reach the designated position of the sliding table;
reading, as the number of rotations, a reading of an encoder for detecting the number of rotations of an output shaft of the drive motor during movement of the slider and the first surgical instrument provided thereon from the start position of the slide table to a specified position of the slide table.
In a preferred embodiment of the present invention, the method further comprises:
obtaining a distance corresponding to the revolution number according to the mapping relation between the revolution number and the distance, and using the distance as the distance between the initial position and the designated position;
and displaying the distance.
In a preferred embodiment of the present invention, controlling the driving motor to rotate reversely according to the number of rotations to drive the slider to return to the initial position includes:
after a third control signal is obtained, the output shaft of the driving motor is controlled to rotate reversely for the number of revolutions according to the third control signal, so that the driving motor drives the sliding block and the first surgical instrument arranged on the sliding block to move upwards to the initial position along the axial direction of the transmission shaft through the transmission mechanism.
In a preferred embodiment of the present invention, controlling the driving motor to rotate forward according to the number of rotations to drive the sliding block to reach the designated position again includes:
after the first surgical instrument is replaced by a second surgical instrument and a fourth control signal is acquired, controlling the output shaft of the driving motor to rotate in the forward direction according to the fourth control signal, so that the driving motor drives the sliding block and the second surgical instrument arranged on the sliding block to move downwards from the initial position along the axial direction of the transmission shaft through the transmission mechanism;
and after the output shaft of the driving motor rotates forwards for the number of revolutions, controlling the driving motor to stop working so as to enable the sliding block and a second surgical instrument arranged on the sliding block to reach the specified position.
In a preferred embodiment of the invention, the encoder is an incremental encoder.
Accordingly, the present invention also provides a computer-readable storage medium storing a program that causes a processor to execute the control method of the surgical instrument transmission as described above.
In a preferred embodiment of the present invention, the computer readable storage medium is one of a magnetic surface memory, an optical disk memory, and a semiconductor memory.
In a preferred embodiment of the present invention, the processor is one of a central processing unit, a programmable logic controller, an embedded processor, and a field programmable gate array.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the control method of the surgical instrument transmission device provided by the embodiment of the invention, the number of revolutions of the output shaft of the driving motor in the process that the sliding block and the replaced surgical instrument arranged on the sliding block move to the specified position of the sliding table from the initial position of the sliding table is recorded by using the encoder, the driving motor is controlled to rotate reversely according to the number of revolutions to drive the sliding block and the replaced surgical instrument arranged on the sliding block to return to the initial position of the sliding table, and the driving motor is controlled to rotate forwards to drive the sliding block and the replaced surgical instrument arranged on the sliding block to reach the specified position of the sliding table again. The invention can enable medical personnel to quickly and accurately find the operating point before the surgical instrument is replaced after the surgical instrument is replaced, thereby quickly putting the medical personnel into the interrupted surgical operation before the surgical instrument is replaced, effectively improving the surgical efficiency and the surgical quality and simultaneously reducing the life risk of patients.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of a surgical instrument transmission according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method of controlling a surgical instrument actuator in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the detailed process of step S101 in FIG. 2;
fig. 4 is a schematic specific flowchart of step S103 in fig. 2.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In order to solve the technical problems that in the prior art, after surgical instruments are replaced, nursing staff in traditional Chinese medicine cannot quickly and accurately find an operation point before the surgical instruments are replaced, so that the operation point cannot be quickly put into interrupted surgical operation before the surgical instruments are replaced, the surgical efficiency and the surgical quality are greatly reduced, and meanwhile, the life risk of a patient is increased, the embodiment of the invention provides a control method of a surgical instrument transmission device.
Fig. 1 is a schematic structural view of a surgical instrument transmission according to an embodiment of the present invention.
As shown in fig. 1, the transmission device for a surgical instrument according to the embodiment of the present invention mainly includes a drive motor 101 and a transmission mechanism 102. The driving motor 101 drives a slide block 103 for carrying a surgical instrument to move on the slide table 104 along the axial direction of the transmission shaft via a transmission mechanism 102 having the transmission shaft.
Specifically, the initial position of the slider 103 is at the upper end of the slide table 104 (i.e., the starting position of the slide table 104). In use, the output shaft of the driving motor 101 is controlled to rotate in the forward direction, so that the driving motor 101 drives the sliding block 103 and the first surgical instrument arranged on the sliding block to move downwards along the axial direction of the transmission shaft from the starting position of the sliding table 104 through the transmission mechanism 102 with the transmission shaft. In addition, in the whole operation process, the medical staff can control the output shaft of the driving motor 101 to rotate forward or reversely for corresponding revolutions according to the operation requirement, so that the driving motor 101 drives the sliding block 103 and the first surgical instrument arranged on the sliding block 103 to move downwards or upwards for multiple times along the axial direction of the transmission shaft through the transmission mechanism 102 with the transmission shaft, and the sliding block 103 and the first surgical instrument arranged on the sliding block 103 can be parked at any position of the sliding table 104, wherein the parked position is the designated position of the sliding table 104.
When the first surgical instrument needs to be replaced, first, a reading of an encoder for detecting the number of rotations of the output shaft of the drive motor 101 during the movement of the slider 103 and the first surgical instrument provided thereon from the start position of the slide table 104 to the specified position of the slide table 104 is read as the number of rotations. Then, the output shaft of the driving motor 101 is controlled to rotate reversely for the number of revolutions, so that the driving motor 101 drives the slide block 103 and the first surgical instrument arranged thereon to move upwards along the axial direction of the transmission shaft to the initial position of the sliding table 104 through the transmission mechanism 102. After the first surgical instrument is replaced by the second surgical instrument, the output shaft of the driving motor 101 is controlled to rotate in the forward direction, so that the driving motor 101 drives the slide block 103 and the second surgical instrument arranged on the slide block to move downwards along the axial direction of the transmission shaft from the initial position of the slide table 104 through the transmission mechanism 102. After the output shaft of the driving motor 101 rotates forward for the number of revolutions, the driving motor 101 is controlled to stop working, so that the slide block 103 and the second surgical instrument arranged on the slide block reach the designated position of the sliding table 104.
Fig. 2 is a flowchart illustrating a control method of the surgical instrument transmission according to an embodiment of the present invention.
As shown in fig. 2, the method for controlling the transmission device of the surgical instrument according to the embodiment of the present invention mainly includes the following steps S101 to S103.
In step S101, the number of rotations of the output shaft of the drive motor 101 during the movement of the slider 103 from the start position of the slide table 104 to the specified position of the slide table 104 is acquired. The specific process is shown in fig. 3.
First, step S1011 is performed. After the first control signal is obtained, the output shaft of the driving motor 101 is controlled to rotate in the forward direction according to the first control signal, so that the driving motor 101 drives the slide block 103 and the first surgical instrument arranged on the slide block 103 to move downward from the initial position of the slide table 104 along the axial direction of the transmission shaft via the transmission mechanism 102 having the transmission shaft.
Next, step S1012 is performed. After the second control signal is acquired, the driving motor 101 is controlled to stop working according to the second control signal, so that the slide block 103 and the first surgical instrument arranged on the slide block reach the designated position of the sliding table 104.
Finally, step S1013 is performed. As the number of rotations, a reading of an encoder for detecting the number of rotations of the output shaft of the drive motor 101 during the movement of the slider 103 and the first surgical instrument provided thereon from the start position of the slide table 104 to the designated position of the slide table 104 is read.
Preferably, the encoder is an incremental encoder.
In a preferred embodiment of the present invention, the method further comprises:
step 1014, obtaining a distance corresponding to the number of revolutions according to the mapping relationship between the number of revolutions and the distance, as a distance between the initial position of the sliding table 104 and the designated position of the sliding table 104; and
in step S1015, the distance is displayed.
In step S102, the driving motor 101 is controlled to rotate reversely according to the number of rotations, so as to drive the slider 103 to return to the initial position of the sliding table 104.
Specifically, after the third control signal is obtained, the output shaft of the driving motor 101 is controlled to rotate in the reverse direction for the number of revolutions according to the third control signal, so that the driving motor 101 drives the sliding block 103 and the first surgical instrument arranged thereon to move upwards to the starting position of the sliding table 104 along the axial direction of the transmission shaft via the transmission mechanism 102.
Note that, in this step, the spatial position of the slide table 104 mounted on the robot arm should be ensured to be constant by keeping the robot arm stationary.
In step S103, the driving motor 101 is controlled to rotate forward according to the number of rotations, so as to drive the slide block 103 to reach the designated position of the slide table 104 again. The specific process is shown in fig. 4.
First, step S1031 is executed. After the first surgical instrument is replaced by a second surgical instrument and a fourth control signal is acquired, the output shaft of the driving motor 101 is controlled to rotate in the forward direction according to the fourth control signal, so that the driving motor 101 drives the sliding block 103 and the second surgical instrument arranged on the sliding block 103 to move downwards along the axial direction of the transmission shaft from the initial position of the sliding table 104 through the transmission mechanism 102.
Next, step S1032 is executed. After the output shaft of the driving motor 101 rotates forward for the number of revolutions, the driving motor 101 is controlled to stop working, so that the slide block 103 and the second surgical instrument arranged on the slide block reach the designated position of the sliding table 104.
Accordingly, embodiments of the present invention also provide a computer-readable storage medium storing a program that causes a processor to execute the control method of the surgical instrument transmission as described above.
Preferably, the computer readable storage medium is one of a magnetic surface memory, an optical disk memory, and a semiconductor memory.
Preferably, the processor is one of a central processing unit, a programmable logic controller, an embedded processor and a field programmable gate array.
By applying the control method of the surgical instrument transmission device provided by the embodiment of the invention, the number of revolutions of the output shaft of the driving motor in the process that the sliding block and the replaced surgical instrument arranged on the sliding block move to the specified position of the sliding table from the initial position of the sliding table is recorded by using the encoder, the driving motor is controlled to rotate reversely according to the number of revolutions to drive the sliding block and the replaced surgical instrument arranged on the sliding block to return to the initial position of the sliding table, and the driving motor is controlled to rotate forwards to drive the sliding block and the replaced surgical instrument arranged on the sliding block to reach the specified position of the sliding table again. The invention can enable medical personnel to quickly and accurately find the operating point before the surgical instrument is replaced after the surgical instrument is replaced, thereby quickly putting the medical personnel into the interrupted surgical operation before the surgical instrument is replaced, effectively improving the surgical efficiency and the surgical quality and simultaneously reducing the life risk of patients.
It will be appreciated by those skilled in the art that the steps of the present invention described above may be implemented by a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, or alternatively, by program code executable by a computing device, such that the steps may be stored in a memory device and executed by a computing device, or may be separately fabricated into various integrated circuit modules, or may be implemented by fabricating various modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The control method of the surgical instrument transmission device is characterized in that the surgical instrument transmission device comprises a driving motor, wherein the driving motor is used for driving a sliding block carrying a surgical instrument to move on a sliding table; the method comprises the following steps:
acquiring the revolution of an output shaft of the driving motor in the process that the sliding block moves from the initial position of the sliding table to the designated position of the sliding table;
controlling the driving motor to rotate reversely according to the revolution number so as to drive the sliding block to return to the initial position;
and controlling the driving motor to rotate forwards according to the revolution number so as to drive the sliding block to reach the specified position again.
2. The method of claim 1, wherein obtaining the number of rotations of the output shaft of the drive motor during the movement of the slide block from the start position of the slide table to the designated position of the slide table comprises:
after a first control signal is acquired, controlling the output shaft of the driving motor to rotate in the forward direction according to the first control signal, so that the driving motor drives the sliding block and a first surgical instrument arranged on the sliding block to move downwards along the axial direction of the transmission shaft from the initial position of the sliding table through the transmission mechanism with the transmission shaft;
after a second control signal is acquired, controlling the driving motor to stop working according to the second control signal so as to enable the sliding block and a first surgical instrument arranged on the sliding block to reach the designated position of the sliding table;
reading, as the number of rotations, a reading of an encoder for detecting the number of rotations of an output shaft of the drive motor during movement of the slider and the first surgical instrument provided thereon from the start position of the slide table to a specified position of the slide table.
3. The method of controlling a surgical instrument transmission of claim 2, further comprising:
obtaining a distance corresponding to the revolution number according to the mapping relation between the revolution number and the distance, and using the distance as the distance between the initial position and the designated position;
and displaying the distance.
4. The method of claim 2, wherein controlling the drive motor to rotate in reverse according to the number of revolutions to bring the slide back to the starting position comprises:
after a third control signal is obtained, the output shaft of the driving motor is controlled to rotate reversely for the number of revolutions according to the third control signal, so that the driving motor drives the sliding block and the first surgical instrument arranged on the sliding block to move upwards to the initial position along the axial direction of the transmission shaft through the transmission mechanism.
5. The method for controlling the transmission device of the surgical instrument according to claim 4, wherein controlling the driving motor to rotate forward according to the number of rotations to drive the slide block to reach the designated position again comprises:
after the first surgical instrument is replaced by a second surgical instrument and a fourth control signal is acquired, controlling the output shaft of the driving motor to rotate in the forward direction according to the fourth control signal, so that the driving motor drives the sliding block and the second surgical instrument arranged on the sliding block to move downwards from the initial position along the axial direction of the transmission shaft through the transmission mechanism;
and after the output shaft of the driving motor rotates forwards for the number of revolutions, controlling the driving motor to stop working so as to enable the sliding block and a second surgical instrument arranged on the sliding block to reach the specified position.
6. The method of claim 2, wherein the encoder is an incremental encoder.
7. A computer-readable storage medium storing a program for causing a processor to execute the control method of the surgical instrument transmission according to any one of claims 1 to 6.
8. The computer-readable storage medium of claim 7, wherein the computer-readable storage medium is one of a magnetic surface memory, an optical disk memory, and a semiconductor memory.
9. The computer-readable storage medium of claim 7 or 8, wherein the processor is one of a central processing unit, a programmable logic controller, an embedded processor, and a field programmable gate array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664148.8A CN111641291A (en) | 2019-07-23 | 2019-07-23 | Method for controlling surgical instrument transmission device and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664148.8A CN111641291A (en) | 2019-07-23 | 2019-07-23 | Method for controlling surgical instrument transmission device and computer readable storage medium |
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| CN111641291A true CN111641291A (en) | 2020-09-08 |
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| CN201910664148.8A Pending CN111641291A (en) | 2019-07-23 | 2019-07-23 | Method for controlling surgical instrument transmission device and computer readable storage medium |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205418867U (en) * | 2015-12-14 | 2016-08-03 | 苏州索力旺新能源科技有限公司 | Step -by -step conveyor of conducting strip |
| WO2017180432A2 (en) * | 2016-04-15 | 2017-10-19 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
| CN109303609A (en) * | 2018-10-09 | 2019-02-05 | 成都博恩思医学机器人有限公司 | A kind of slide unit positioning device |
| CN109528307A (en) * | 2018-12-29 | 2019-03-29 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robotic surgery instrument replacement equipment and replacing options |
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2019
- 2019-07-23 CN CN201910664148.8A patent/CN111641291A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205418867U (en) * | 2015-12-14 | 2016-08-03 | 苏州索力旺新能源科技有限公司 | Step -by -step conveyor of conducting strip |
| WO2017180432A2 (en) * | 2016-04-15 | 2017-10-19 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
| CN109303609A (en) * | 2018-10-09 | 2019-02-05 | 成都博恩思医学机器人有限公司 | A kind of slide unit positioning device |
| CN109528307A (en) * | 2018-12-29 | 2019-03-29 | 苏州康多机器人有限公司 | A kind of laparoscopic surgery robotic surgery instrument replacement equipment and replacing options |
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Application publication date: 20200908 |