WO2025030618A1 - Tactile feedback method, apparatus, and system applicable to narrow lumen surgical scene - Google Patents

Abstract

The present application provides a tactile feedback method, apparatus, and system applicable to a narrow lumen surgical scene. The method comprises: when a surgeon holds one end of a tactile grip to control a surgical instrument to perform surgery on lesion tissue in a narrow lumen, and a time-varying electromagnetic field is generated inside a cavity in a tactile sensing and generation array, acquiring, on the basis of a signal collection device, a first signal collected by a detection coil in the tactile grip; extracting a locating signal in the first signal; on the basis of the amplitude of a time domain locating signal corresponding to the locating signal, determining the distance between the detection coil and electromagnetic coils in the tactile sensing and generation array; and determining a pose of the tactile grip on the basis of the distance. According to the present application, a tactile sensing and generation array applicable to a surgical scene is designed, wherein electromagnetic coils are arranged in a symmetrical redundant mode to form a tactile cavity, for simulating real-time tactile sensation of a surgical instrument in a narrow lumen, thereby realizing tactile locating of an operation of the surgical instrument in the narrow lumen.

Description

Tactile feedback method, device and system suitable for narrow cavity surgery scenes

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent application No. 202310992442.8 filed on August 8, 2023, entitled “Tactile feedback method, device and system suitable for narrow cavity surgical scenarios”, which is incorporated herein by reference in its entirety.

Technical Field

The present application relates to the field of human-computer interaction technology, and in particular to a tactile feedback method, device and system suitable for narrow cavity surgery scenarios.

Background Art

Whether it is a narrow natural cavity or an interventional surgery, the visual information obtained by the surgeon is currently the only reliable live data of the surgery. Most surgical instruments rely on mechanical stability to achieve control accuracy. With the advancement of the automation of surgical robots and the flexible transformation of surgeons' surgical operation methods, the fusion of visual information with tactile information to provide doctors with multi-dimensional surgical perception has become a research hotspot in the next stage of the human-machine interaction part of surgical robots.

In terms of the specific implementation methods of tactile feedback, devices that use mechanical structures to generate tactile sensations, such as Force Dimension’s various force feedback operating hands, 3D Systems’ Touch series, and Haption’s multi-degree-of-freedom force feedback joysticks, have been widely used in many industries. However, due to mechanical friction and the characteristics of their own structures, these devices have not been able to gain the trust of surgeons for safe use in minimally invasive surgeries.

At present, there are also many studies focusing on this field, including: array electromagnetic coil tumor ablation technology using high-temperature superconductor materials; devices and methods for converting electromagnetic energy into mechanical energy in array form for use as tactile display; micro-electromagnetic coil arrays for touch; remote tactile feedback devices that use neural network methods to determine parameter adjustments; the use of combined electromagnets to provide users with fingertip tactile feedback; adding tactile feedback software and hardware functions to the basic configuration of the mouse; electromagnetic coil focusing arrays for eye surgery, and the optimization design of electromagnetic coils and their array arrangements is analyzed from the perspective of the workspace.

The prior art has the following disadvantages or shortcomings:

(1): Commercially, for example, the American company https://www.geeplus.com/ provides a variety of solenoid-based The tactile drivers are mainly closed drive devices, but the tactile applications they can provide are greatly limited by the structure. For example, the tactile driver developed by Cirrus Logic is a driver for LRA or VCM developed on the basis of its audio R&D Class D amplifier. For example, the linear motor developed by Nidec provides single-axis mobile touch. For example, the series of tactile exploration kits designed by Boreas. For example, the thin-film tactile actuator developed by TDK. For example, the drivers for various tactile elements developed by Texas Instruments. The tactile drivers mentioned above can be widely used in the field of consumer electronics, but in the medical field, the open-loop characteristics of the above products themselves make it impossible for patients and doctors to trust such tactile feedback devices or components in critical scenarios of patient life safety.

(2): Existing tactile generating devices based on solenoids are relatively large in size, require customized drivers that can provide high power consumption, and are relatively expensive. For example, in the article "Rendering of Virtual Volumetric Shapes Using an Electromagnetic-Based Haptic Interface", the volume of the electromagnetic coil array is not proportional to the effective range of action. If such a mechanism is used in actual minimally invasive surgery, it will first occupy valuable operating room space. An overly large operating device will make it inconvenient for doctors to multitask. In addition, if the operation matters involving MRI are taken into account, the shape and effective range of the tactile feedback device need to be designed more carefully to prevent interference with existing surgical instruments.

(3): Among the current patents for tactile feedback, there are no device inventions or software and hardware methods that are simultaneously suitable for intervention through natural cavities and blood vessels. This part of the invention is still in a relatively blank state.

(4): Currently, there is no sophisticated device that can achieve both tactile positioning and feedback functions. Various existing tactile feedback devices are not well integrated with tactile sensors. As a result, although a current closed loop is introduced within the algorithm, the feeling ultimately fed back to the human hand cannot be effectively measured. This is especially true in minimally invasive surgery scenarios, which may lead to unexpected fatal consequences.

(5): In terms of fingertip tactile sensation, other applications have not considered combining it with muscle tactile sensation. In the current operation mode of minimally invasive surgery, doctors not only lack tactile feedback from their fingertips, but also fail to effectively utilize muscle feedback from their palms, wrists, and elbows.

Summary of the invention

The present application provides a tactile feedback method, device, and system suitable for narrow cavity surgery scenarios, which are used to solve at least one of the above-mentioned problems existing in the prior art.

The present application provides a tactile feedback method suitable for narrow cavity surgery scenarios, including:

The doctor controls the surgical instrument at one end of the tactile grip in the tactile sensing and generating array to In the case where surgery is performed on the diseased tissue in the tactile sensor and generating array, and a time-varying electromagnetic field is generated inside the cavity, a first signal collected by the detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensor and generating array, and the other end of the tactile gripper extends into the area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and in the case where it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field;

extracting a positioning signal from the first signal;

Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The position and posture of the tactile grip is determined according to the distance.

According to a tactile feedback method suitable for narrow cavity surgery scenarios provided in this application,

Determining the position and posture of the tactile grip according to the distance includes:

Determining a first position and posture of the tactile grip according to a posture angle of the tactile grip, a phase and a frequency of the time domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip;

Correcting the first position and the posture according to a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined according to the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined according to the distance, and the second magnetic field strength is measured according to a Hall sensor in the tactile gripper;

The position and posture of the tactile grip is determined according to the corrected first position and posture.

According to a tactile feedback method applicable to a narrow cavity surgery scenario provided by the present application, after determining the position and posture of the tactile grip according to the corrected first position and posture, the method further includes:

Determining a current matrix according to the driving current of the tactile gripper and the number of the electromagnetic coils;

Determining a position matrix according to the corrected first position and the number of the electromagnetic coils;

Determining a posture matrix according to the corrected posture and the number of the electromagnetic coils;

Determine a first matrix according to the current matrix, the position matrix and the posture matrix;

According to the force feedback data of the tactile grip collected by the force sensor in the tactile grip and the force feedback data expected to be achieved by the tactile grip, calibrate the driving current of the tactile grip and the first matrix, and obtain the calibrated driving current and the first matrix;

According to the target tactile signal collected by the tactile sensor in the tactile grip and the tactile signal expected to be measured, number, calibrating the calibrated driving current and the first matrix to obtain a second matrix;

The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix, and the target driving current is used as a tactile feedback signal of the tactile grip.

According to a tactile feedback method applicable to a narrow cavity surgery scenario provided by the present application, the extracting of the positioning signal in the first signal includes:

Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands;

The tactile signal is filtered out based on a bandpass filter to obtain the positioning signal.

According to a tactile feedback method applicable to a narrow cavity surgery scenario provided by the present application, the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal are obtained by:

Perform the Hilbert transform on the positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal.

The present application also provides a tactile feedback device suitable for narrow cavity surgery scenarios, including the tactile sensing and generating array in any of the above-mentioned tactile feedback methods suitable for narrow cavity surgery scenarios.

A tactile feedback device suitable for narrow cavity surgery scenarios provided by the present application also includes:

The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation felt by the wrist when an outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

The present application also provides a tactile feedback system suitable for narrow cavity surgery scenarios, including:

A first acquisition module is used to control a surgical instrument when a doctor holds one end of a tactile gripper in a tactile sensing and generating array to perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array. Based on a signal acquisition device in the tactile sensing and generating array, the module acquires a first signal acquired by a detection coil in the tactile gripper, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located. The cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner. When it is determined that each electromagnetic coil is input with a tactile driving sequence signal, the cavity is used to generate the time-varying electromagnetic field.

A second acquisition module, used to extract a positioning signal from the first signal;

A third acquisition module is used to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The tactile positioning module is used to determine the position and posture of the tactile grip according to the distance.

The present application also provides an electronic device, including a processor and a memory storing a computer program, wherein when the processor executes the program, the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of the above methods is implemented.

The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of the above methods is implemented.

The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-described tactile feedback methods applicable to narrow cavity surgery scenarios.

The present application provides a tactile feedback method, device and system suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time touch of surgical instruments in a narrow cavity, and can realize tactile positioning of surgical instrument operations in a narrow cavity.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a flow chart of a tactile feedback method applicable to narrow cavity surgery scenarios provided by the present application;

FIG2 is a schematic diagram of a structural diagram of a tactile feedback device suitable for narrow cavity surgery scenarios provided by the present application;

FIG3 is one of the operation schematic diagrams of the tactile sensing and generating array provided by the present application;

FIG4 is a second schematic diagram of the operation of the tactile sensing and generating array provided by the present application;

FIG5 is a comparative diagram of the combined tactile device provided by the present application and an actual flexible surgical robot and an instrument end;

FIG6 is a schematic diagram of a surgeon or user holding a tactile grip provided by the present application;

FIG7 is a schematic diagram of tactile feedback force on the fingertips of a surgeon holding a tactile grip provided by the present application;

FIG8 is a schematic diagram of tactile feedback force on the surgeon's wrist provided by the present application;

FIG9 is a structural design logic diagram provided by the present application;

FIG10 is a schematic diagram of the overall structure of a tactile sensing and generating array provided by the present application;

FIG11 is a schematic diagram of a cavity portion of a tactile sensing and generating array provided by the present application;

FIG12 is a cross-sectional schematic diagram of a pen-shaped stylus provided in the present application;

FIG13 is a schematic diagram of a frame structure of a tactile driving sequence signal provided by the present application;

FIG14 is a schematic diagram of the algorithm design logic provided by the present application;

FIG15 is a schematic diagram of an envelope of a tactile-driven high-frequency electromagnetic positioning algorithm provided in the present application;

FIG16 is a schematic diagram of the circuit design logic corresponding to the tactile feedback device applicable to narrow cavity surgery scenarios provided by the present application;

FIG17 is a schematic diagram of the structure of the electronic circuit portion of the tactile feedback array cavity provided by the present application;

FIG18 is a schematic diagram of the structure of the electronic circuit portion of the pen-shaped touch rod provided by the present application;

FIG19 is a cross-sectional view of the structural design of the electromagnetic coil provided in the present application;

FIG20 is a schematic diagram of a test method provided in the present application;

FIG21 is a schematic diagram of the structure of a tactile feedback system suitable for narrow cavity surgery provided by the present application;

FIG. 22 is a schematic diagram of the physical structure of the electronic device provided in the present application.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

The present application provides a tactile feedback method for narrow cavity surgery scenarios. (1) A tactile sensing and actuation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical redundant form to form a tactile cavity, which is used to simulate real-time tactile sensations in the cavity, and can achieve tactile positioning and tactile generation of surgical instrument operations in narrow cavities. The array design and arrangement follow the redundancy scheme set in this patent, and the use of tactile coils adapted to the working range of human hands can produce the most efficient tactile generation space.

(2) The tactile sensing and generation array (or magneto-tactile array) and the multi-degree-of-freedom platform work together to provide surgeons with wrist muscle tactile feedback. The surgeon operates the pen-shaped stylus to adapt to the instruments used in actual surgical operations. At the same time, the multi-degree-of-freedom platform provides surgeons with muscle tactile feedback of surgical instruments, such as the outer sheath of a soft robot or other moving parts of a robot, in the form of a lift or wristband. Specific application scenarios include, for example, the pen-shaped stylus provides the subtle tactile sensation of shearing, twisting, and collision of surgical instruments, and the multi-degree-of-freedom platform provides the overall tactile sensation of friction, blockage, and resistance during entry into natural cavities or intervention.

(3) In the driving part, a fractional-order proportional differential controller PID is used to complete the closed-loop excitation of the time-varying electromagnetic field. To make up for the deficiency of the traditional superposition principle in mutual inductance calculation; in the positioning part, a multi-layer envelope extraction electromagnetic high-frequency positioning algorithm using Hilbert transform is proposed, which can make full use of frequency band resources to achieve accurate positioning. The specific implementation is as follows:

FIG1 is a flow chart of a tactile feedback method applicable to narrow cavity surgery scenarios provided by the present application. As shown in FIG1 , the method includes:

Step 110, when a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that each electromagnetic coil is input with a tactile driving sequence signal, the cavity is used to generate the time-varying electromagnetic field;

Step 120, extracting a positioning signal from the first signal;

Step 130, determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

Step 140: Determine the position and posture of the tactile grip according to the distance.

It should be noted that the execution subject of the above method may be a computer device.

Optionally, the present application uses the basic principle of magnetic driving and positioning of magnets placed in an electromagnetic field. The difficulty lies in the accuracy of using magnetism for tactile feedback and the positioning of moving magnets in a time-varying electromagnetic field. In order to solve the above two basic problems, the following solutions are proposed in principle.

First, the overall model of the tactile sensing and generating array is constructed, and the magnetic field generation follows the Biot-Savart law and Gauss law. is the magnetic induction intensity, is the displacement current vector, r ^′ is the displacement vector, is a unit vector, and μ ₀ represents the vacuum magnetic permeability constant.

Where V represents the integration of the current vector within a certain volume, and the magnetic induction intensity within the volume space is obtained. A vector representing the magnetic field strength, represents the magnetic vector potential.

For static magnetic field, it follows the linear superposition principle of magnetic field, that is, the magnetic field induction intensity at a point in space is Can be considered as multiple magnetic field strengths Vector overlay.

For time-varying electromagnetic fields, the linear superposition principle is no longer applicable. The alternating magnetic field will excite a new magnetic field, causing the magnetic force result to change. To a certain extent, the proportional integral differential controller PID can be used to converge the calculation result between the target magnetic induction intensity and the input excitation current to the preset value, as shown in the following formula.

Among them, H(s) represents the PID system function, Y(s) represents the PID system output, X(s) represents the PID system input, _Kp represents the proportional control parameter, _KI represents the integral control parameter, _KD represents the differential control parameter, s represents the Laplace domain variable, λ and μ represent the number of layers of integral and differential operations.

The force on a magnet in a magnetic field can be expressed by the following formula. Since there is no magnetic monopole, it is more accurate to use magnetic moment to express the force on an electromagnet that is approximately a magnetic dipole in a magnetic field, where τ is the magnetic moment, is the magnetic dipole moment, is the magnetic field strength.

The forward calculation method of magnetic field can obtain the analytical solution of magnetic field, but its computational complexity and the requirement of update frequency determine that in this tactile feedback application, forward calculation is suitable for the calibration and feedback verification of key modes of electromagnetic field. The reverse calculation uses the system identification of magneto-tactile array model to quickly complete the monitoring of magnetic field state, and infer the current state of magnetic field through multiple sets of real-time correspondence between input variables and output variables, including excitation and positioning.

The basic principles used in this application also include the method of mixed frequency envelope extraction, digital-to-analog converter DAC and analog-to-digital converter ADC, and the generation of sinusoidal pulse width modulation SPWM signals. The mixed frequency envelope extraction adopts the form of Hilbert transform, which can quickly calculate the envelope (i.e. amplitude), phase and instantaneous frequency, where Z(t) is a complex signal, envo(t) is the envelope of the extracted signal, is the phase and instantaneous frequency of the signal.

Among them, _Zr represents the real component, _Zi represents the imaginary component, and j represents the imaginary unit.

The implementation of DAC depends on the quantization of the input sequence bytes on the hardware resistor network, as shown in the following formula, where _Io is the output current, K is the resistor network scale factor, _IREF is the reference current value, and _Bi and N represent bytes and bits respectively.

The implementation of ADC is equivalent to the inverse process of DAC, and the final analog quantity quantization result is obtained by synthesizing the multi-point voltage values of the sampling resistor network.

The generation of SPWM signal follows the following formula, where _Vo is the output voltage, _Vref is the reference voltage, sinωt is the modulated sine wave, _Vdc is the DC reference voltage, and _qi is the linear modulation scale factor.

Optionally, FIG2 is a schematic diagram of the structure of a tactile feedback device suitable for narrow cavity surgery scenes provided by the present application. Referring to FIG2, the tactile sensing and generating array includes a tactile grip, a cavity, and a signal acquisition device, such as a signal acquisition box. A user, such as a surgeon, holds the tactile grip and places one end (such as the front end) of the tactile grip in the effective working area inside the cavity (i.e., the area where the time-varying electromagnetic field generated inside the cavity is located) to complete fine operations with tactile feedback constraints. The tactile grip contains a detection coil, a Hall sensor array, an inertial measurement unit, a tactile sensor, and various buttons (used to implement the defined surgical operation function). The cavity is an array composed of multiple electromagnetic coils arranged in a symmetrically redundant manner, which surrounds the working space in a hemispherical curved surface shape, completes the input of each electromagnet through a tactile drive sequence, and finally obtains a time-varying electromagnetic field. A signal processing board is placed inside the signal acquisition box to complete the high-speed acquisition of various analog signals and digital signals. The outer shell of the signal acquisition box is made of shielding material to keep the signal pure in the operating environment. The operation diagram of the tactile sensing and generating array is specifically shown in FIG3 and FIG4 .

As shown in FIG2 , the fingertip tactile sensation is provided by cavity ①. Meanwhile, the user can complete the muscle tactile feedback by wearing a first component such as a ring or a wristband located on the end effector of the multi-degree-of-freedom platform ② and by using a second component such as a force sensor or a tactile sensor deployed in the multi-degree-of-freedom platform ②.

FIG5 is a comparison diagram of the combined tactile device provided by the present application and the actual flexible surgical robot and the end of the instrument. As shown on the left side of FIG5, the two-stage flexible surgical robot is composed of an outer sheath ① part that plays a guiding role and a second-stage curved part ② with higher flexibility. The surgical instrument ③ can be specifically a biopsy forceps, an electric knife, and a cell brush, etc. The two-stage flexible surgical robot is extended to perform surgical operations on the diseased tissue in a narrow cavity (such as a narrow natural cavity in the human body). The force sensed by the flexible surgical robot shown in FIG5 can be divided into two parts: the first part A: is the interactive force sensed by the surgical instrument when completing various operations with the diseased tissue, which is reflected in the subtle tactile sensation of shearing, twisting, and collision of the surgical instrument; the second part B: is the overall tactile sensation of friction, blockage, and resistance sensed by the outer sheath part when it moves in the narrow cavity.

FIG. 6 is a schematic diagram of a surgeon or user holding a tactile grip provided by the present application. Referring to FIG. 6 , The surgeon or user holds the tactile gripper, wherein ① in FIG6 represents the tactile gripper, and F, T, M, and R correspond to the index finger, thumb, middle finger, and ring finger, respectively. The upper left, upper right, lower left, and lower right figures in FIG6 respectively represent the side view, top view, front view, and rear view of the surgeon's gripper.

Figure 7 is a schematic diagram of the tactile feedback force on the fingertips of the surgeon holding the tactile grip provided by the present application. Referring to Figure 7, it is a schematic diagram of the tactile feedback force on the fingertips when the surgeon is holding the tactile grip, wherein ① in Figure 7 represents the front end of the tactile grip, ② represents the rear end of the tactile grip, and Fh1/2/3 represent the forces on the index finger, thumb and base of the thumb, respectively. At the same time, the generation of the tactile feedback force of this part comes from part ① in Figure 2.

FIG8 is a schematic diagram of the tactile feedback force on the surgeon's wrist provided by the present application, as shown in FIG8 , wherein Fh4/5 respectively represent the muscle tactile feedback force generated after wearing the first component of the end effector of part ② in FIG2 .

FIG9 is a structural design logic diagram provided by the present application, in which the user (surgeon) holds one end (rear end) of a tactile grip (such as a pen-shaped touch rod) to simulate the state of a doctor holding a surgical instrument. The pen-shaped touch rod can be specifically used to provide an ergonomic grip rod for the user, with tactile feedback and positioning functions, and by extending the other end (front end) of the pen-shaped touch rod into the area where the time-varying electromagnetic field is located inside the cavity of the tactile sensing and generating array, the complex force conditions in the narrow cavity of the patient's body are simulated. FIG10 is an overall structural schematic diagram of the tactile sensing and generating array provided by the present application, as shown in FIG10, wherein ① represents a tactile grip rod held by a doctor, which can be used to simulate a surgical instrument, and its front end needs to work in the cavity ② to obtain the tactile grip rod positioning and tactile feedback effect, and ③ is a signal acquisition device, and its shell is a magnetic shielding material.

FIG11 is a schematic diagram of the cavity portion of the tactile sensing and generating array provided by the present application. As shown in FIG11 , the electromagnetic coils (or solenoids) in the tactile sensing and generating array are arranged in a symmetrical redundant manner, which can efficiently complete the rapid response to multi-directional tactile sensations. In theory, three orthogonal electromagnetic coils can complete the generation of any magnetic field in the enclosed workspace, but the excitation current required at the edge is too large and it is difficult to obtain a balanced solution. Therefore, a redundant array is a suitable design, and the number of redundancies is determined by the specific cavity size and can be flexibly changed to adapt to specific surgical operations.

Figure 12 is a cross-sectional schematic diagram of the pen-shaped touch rod provided by the present application. As shown in Figure 12, on the pen-shaped touch rod, ① represents the detection coil and the Hall sensor array; ② is placed at the ADC signal sampling circuit; ③ is the stable part closest to the user's hand, where the inertial measurement unit and the tactile sensor are placed to complete the measurement of the user's operation status and the direct results of the tactile feedback.

The tactile feedback method for narrow cavity surgery provided in the present application mainly completes three functions in algorithm implementation. The first part is the generation of tactile drive sequence signals. Its frame structure is shown in FIG13. In addition to the sequence frame header and sequence check, it also includes magnetic field excitation (the tactile sensing and generating array of the i-th electromagnetic coil). The second part is the sensor data fusion, which is composed of the detection coil of the tactile gripper, the Hall sensor array, the inertial measurement unit and the tactile sensor, to complete the signal collection of the user's handheld part, and obtain the current and voltage signals in the cavity for feedback monitoring. The third part is the tactile sensing and generation array model parameter identification. Since the efficiency of forward calculation of the magnetic field is low and the real-time performance is poor, the purpose of real-time magnetic field construction can be quickly achieved through sufficient observation of the model. The main method is to observe the dependent variables, such as the magnetic field vector of a single point combined with the current drive parameters, to obtain the basic shape of the current excitation state of the magnetic field, thereby confirming the actual position of the tactile gripper and the force it should be subjected to.

FIG14 is a logic diagram of the algorithm design provided by the present application. As shown in FIG14 , the algorithm is divided into three parts, namely, a tactile sensing and generating array part, a sensor data acquisition part, and a tactile sensing and generating array model parameter identification part. First, in the tactile sensing and generating array algorithm, the digital form of the tactile driving sequence signal is converted into two parts through a DAC, one part is applied to the high-frequency modulated envelope voltage to complete the transmission of the positioning signal, and the other part is the SPWM modulated power current to complete the generation of the tactile signal. The tactile signal is collected by the sensing part, and the collection part mainly includes a detection coil, a Hall sensor, a motion sensor, a force sensor, a current sensor and a voltage sensor, wherein the detection coil is used to receive the positioning signal, the Hall sensor is used to measure the strength of the magnetic field to correct the calculation result, the current sensor and the voltage sensor are placed in the driving board to measure the fluctuation of the output signal, and the motion sensor and the force sensor are located in the tactile gripper to measure the motion characteristics and force characteristics. The identification of the tactile sensing and generating array model parameters mainly completes the determination of the calibration matrix of the current to magnetic field and to the force quality inspector calculation.

The tactile feedback and positioning of the tactile grip are achieved through voltage and current modulation. By controlling the frequency and amplitude characteristics of the output SPWM wave, a fractional-order PID controller is used to complete the closed-loop control of the signal to achieve different magnetic field excitation effects. At the same time, a high-frequency positioning signal envelope is superimposed on the overall signal, and extraction and decoupling operations are performed on the tactile grip part, and finally the real-time positioning data of the tactile grip is obtained to achieve non-contact high-precision positioning.

In the case of mutual induction of motion and time-varying signals of the tactile grip part, that is, when the doctor holds one end of the tactile grip in the tactile sensing and generating array to control the surgical instrument and perform surgery on the diseased tissue in the narrow cavity, and a time-varying electromagnetic field is generated inside the cavity in the tactile sensing and generating array, a multi-layer envelope extraction algorithm is used to complete the simultaneous extraction of the tactile driving signal, the positioning signal and the upper tactile task signal, as shown below:

Based on the signal acquisition device in the tactile sensing and generating array, the first signal acquired by the detection coil in the tactile gripper is acquired The signal collected by the detection coil on the tactile grip can be regarded as the vector sum of the excitation voltage. The input signal is and I _Tool (t) (the current value generated by the detection coil when it is excited), thereby obtaining the resistance R _sample of the electromagnetic coil.

A positioning signal is extracted from the first signal.

Further, in one embodiment, extracting the positioning signal from the first signal may specifically include:

Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands;

The tactile signal is filtered out based on a bandpass filter to obtain the positioning signal.

Optionally, the signal By performing Fourier transform, we can obtain tactile feedback signals in different frequency bands. With positioning signal Specifically:

in, Representatives Perform Fourier transform, f _haptic is the frequency of the tactile feedback signal, and f _location is the frequency of the positioning signal.

Construct a bandpass filter _HBPF (f) to filter out the tactile signal and extract the positioning signal Specifically:

Among them, the center frequency f _centerBPF of the bandpass filter can be calculated by the following formula:

Wherein, R is a set constant, and f _H and f _L are determined by the maximum and minimum values of f _location respectively.

Optionally, construct the Hilbert transform To obtain the envelope Envo(I _Tool ) of the first signal, that is, the amplitude, which can be used to determine the amplitude information of the tactile driving signal, representing the intensity of the tactile feedback.

Construct a Hilbert transform to obtain the phase of the first signal And the instantaneous frequency (ie, frequency) f(I _Tool ), which can be used to determine the frequency of the tactile driving signal, represents the frequency domain characteristics of the tactile.

Furthermore, in one embodiment, the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal are obtained by:

Perform the Hilbert transform on the positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal.

Optionally, construct a Hilbert transform to obtain the positioning signal Corresponding time domain positioning signal The amplitude Specifically:

Wherein, d is the distance between the transmitting coil (ie, electromagnetic coil) and the receiving coil (ie, detection coil).

Similarly, for the time domain positioning signal Constructing Hilbert transform, we can obtain the time domain positioning information Phase and instantaneous frequency (i.e. frequency), represents the frequency domain characteristics of positioning. The moving speed can be further obtained through Doppler, specifically:

Among them, v _r and v _t represent the moving speed of the receiving end and the transmitting end, among which the transmitting end is fixed and can be regarded as having a speed of zero, and c is the speed of light.

Based on the amplitude of the obtained time domain positioning signal, the distance d _i between the detection coil and each electromagnetic coil in the tactile sensing and generating array is determined, and based on the phase and frequency of the obtained time domain positioning signal, the moving speed of the tactile grip represented by different frequencies _fi is determined.

Based on this distance, the position and posture of the tactile grip can be determined.

The amplitude E of the time domain positioning signal and the frequency set L of the time domain positioning signal are input to plan the tactile positioning task Task(E,L), where E = {d _i } is equivalent to the set of distances between the detection coil and each electromagnetic coil in the tactile sensing and generating array, and L = {f _i } is equivalent to the set of movement speeds of the tactile grip represented by different frequencies _fi .

It should be noted that the phase information collected in this algorithm is regarded as a constant in the frequency variable.

The distance can be determined specifically based on the amplitude of the time domain positioning signal obtained when the tactile grip is at the reference point, the calibration matrix, and the amplitude of the time domain positioning signal extracted when the doctor holds the tactile grip to perform surgery on the diseased tissue in the narrow cavity.

The calibration matrix can correspond the amplitude of the extracted time domain positioning signal to the distance from the tactile grip to each coil in the tactile sensing and generating array by setting a reference point (the center point of all electromagnetic coils can be set as the reference point) and geometric parameters, thereby calculating the error between the positioning achieved by the collected signal and the reference positioning point through the Gauss-Newton method, and forming the calibration matrix using the pseudo-inverse of the mapping matrix.

The present application provides a tactile feedback method suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time touch of surgical instruments in a narrow cavity, and can realize tactile positioning of surgical instrument operations in a narrow cavity.

Further, in one embodiment, determining the position and posture of the tactile grip according to the distance may specifically include:

The first position and posture of the tactile grip are determined according to the posture angle of the tactile grip and the phase and frequency of the time domain positioning signal, wherein the posture angle is an angle acquired by an inertial measurement unit in the tactile grip. The degree signal is determined;

Correcting the first position and the posture according to a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined according to the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined according to the distance, and the second magnetic field strength is measured according to a Hall sensor in the tactile gripper;

The position and posture of the tactile grip is determined according to the corrected first position and posture.

Optionally, the signal S_Hall collected by the Hall sensor in the tactile grip can be used to verify the accuracy of the tactile grip positioning, and the error between the calculated value and the measured value is obtained in the magnetic field calculation. The inertial measurement unit obtains the movement speed and angle information of the tactile grip, such as the azimuth, to expand the positioning data.

Collect coil detection signal The Hilbert transform method is used to achieve preliminary positioning and obtain the second position of the tactile grip.

The angle signal Data _IMU collected by the inertial measurement unit is collected by the signal collection device, and the posture angle of the tactile grip is determined according to the angle signal.

The first position and posture of the tactile grip are determined according to the posture angle of the tactile grip, the phase and the frequency of the time domain positioning signal.

The first position and posture are corrected based on the comparison result of the calculated first magnetic field strength of the time-varying electromagnetic field and the measured second magnetic field strength of the time-varying electromagnetic field. The first magnetic field strength can be specifically determined based on the second position of the tactile gripper and the driving current of the tactile gripper. The second position can be specifically determined based on the distance between the detection coil in the tactile gripper and the electromagnetic coil in the tactile sensing and generating array. The second magnetic field strength can be specifically measured based on the Hall sensor in the tactile gripper.

The position and posture of the tactile grip is determined according to the corrected first position and posture.

According to the above process, the required data is fused as shown in FIG15 and fed back to each algorithm step as input.

As shown in Figure 15, it represents the overall tactile drive and time domain positioning signals. The time domain positioning signal S1 is modulated on the tactile drive signal S2, ① represents the amplitude of the time domain positioning signal, ② represents the amplitude of the tactile feedback signal, and ③ the shaded part represents the intensity of the overall tactile feedback in this interval.

The tactile feedback method provided in the present application is suitable for narrow cavity surgery scenarios. Based on the inertial measurement unit and Hall sensor in the tactile grip, the acquired position and posture of the tactile grip can be further corrected, thereby improving the accuracy of the tactile grip positioning.

Furthermore, in one embodiment, after determining the position and posture of the tactile grip according to the corrected first position and posture, the method may further specifically include:

Determining a current matrix according to the driving current of the tactile gripper and the number of the electromagnetic coils;

Determining a position matrix according to the corrected first position and the number of the electromagnetic coils;

Determining a posture matrix according to the corrected posture and the number of the electromagnetic coils;

Determine a first matrix according to the current matrix, the position matrix and the posture matrix;

According to the force feedback data of the tactile grip collected by the force sensor in the tactile grip and the force feedback data expected to be achieved by the tactile grip, calibrate the driving current of the tactile grip and the first matrix, and obtain the calibrated driving current and the first matrix;

According to the target tactile signal collected by the tactile sensor in the tactile grip and the tactile signal expected to be measured, calibrating the calibrated driving current and the first matrix to obtain a second matrix;

The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix, and the target driving current is used as a tactile feedback signal of the tactile grip.

Optionally, according to the arrangement of the permanent magnets in the force-bearing end of the tactile grip (the end held by the doctor), the driving current I _i of each electromagnetic coil in the tactile sensing and generating array is determined, and the set ∑ _i I _i of the driving currents of all electromagnetic coils is called the driving current set.

The corrected posture obtained as above is used as the basic input parameter in the tactile feedback, and the position matrix _AP , the posture matrix _BO , and the current matrix _Cτ are determined, wherein the position matrix _AP can be determined specifically according to the corrected first position and the number of electromagnetic coils, the posture matrix _BO can be determined specifically according to the corrected posture and the number of electromagnetic coils, and the current matrix _Cτ can be determined specifically according to the driving current of the tactile grip and the number of the electromagnetic coils.

Before building the combined tactile device, a force sensor such as a six-axis force sensor is used to calibrate the above three matrices and the driving current set, where F _measure is the force feedback data collected by the six-axis force sensor, and F _set is the desired force feedback data.

Wherein, A= _AP · _BO · _Cτ is the first matrix. A and I are continuously calibrated according to the difference between _Fmeasure and _Fset until ΔF reaches a minimum value. The driving current (i.e., the calibrated driving current I1) and the first matrix A1 (i.e., the calibrated first matrix) when ΔF reaches a minimum value are obtained.

In tactile feedback applications, the tactile signals collected by the tactile sensor are collected in real time for parameter calibration. H _measure is the tactile signal collected by the tactile sensor, and H _set is the tactile signal expected to be measured.

A1 and I1 are continuously calibrated according to the difference between H _measure and H _set until ΔH reaches a minimum value, and the driving current (ie, the target driving current I2 ) and the second matrix A2 when ΔH reaches a minimum value are obtained.

The target tactile signal and the expected measured tactile signal are used as input variables of the negative feedback controller, and the target driving current is determined according to the inverse matrix of the second matrix. The target driving current is used as the tactile feedback signal of the tactile grip, and the tactile feedback signal is fed back to stabilize the effect. The controller Controller can select PID and other negative feedback controllers that are not restricted by type.
I2=A2 ^-1 ·Controller (H _measure -H _set ).

The present application provides a tactile feedback method suitable for narrow cavity surgery scenarios. A tactile sensing and actuation array suitable for surgical scenarios is designed, and electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity for simulating real-time touch in the cavity. Tactile positioning and tactile generation of surgical tool operations in narrow cavities can be achieved.

Figure 2 is a schematic diagram of the structure of a tactile feedback device suitable for narrow cavity surgery scenarios provided by the present application. As shown in Figure 2, it includes: the tactile sensing and generating array in any of the above-mentioned tactile feedback methods suitable for narrow cavity surgery scenarios.

Furthermore, in one embodiment, the method may further specifically include:

The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation felt by the wrist when an outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity.

Optionally, the DOF platform generally adopts a multi-DOF platform, which may specifically include a first component and a second component deployed on the end effector of the multi-DOF platform. The first component is used to place the doctor's wrist, which may specifically be a wristband or a finger ring. The second component may specifically be used to measure the tactile sensation sensed by the wrist when the outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in a narrow cavity. The second component may specifically be a force sensor or a tactile sensor.

It should be noted that the fineness of the tactile feedback device lies in the realization of a more accurate conversion between current drive and force effect. In this application, two methods are clearly defined to realize the drive of tactile signals, one is to use an integrated H-bridge circuit, and the other is a MOSFET H-bridge circuit. In order to improve the output accuracy of pulse width modulation PWM, current Real-time perception and closed-loop control of the underlying hardware.

In addition, other types of signal generator circuits, analog filter circuits and various ADC/DAC signal processing parts are all completed by the circuit entity.

Figure 16 is a circuit design logic diagram corresponding to the tactile feedback device suitable for narrow cavity surgery scenarios provided by the present application. Referring to Figure 16, the circuit result is driven by the code-carrying end microcontroller, which drives the field effect tube circuit, drives the tactile coil to generate a changing magnetic field, and at the same time generates a changing magnetic force for the detection coil placed in the magnetic field to form an overall tactile feedback for the tactile gripper. At the same time, the tactile gripper is equipped with Hall elements (such as Hall sensors), inertial measurement units, etc. to collect real-time magnetic field values and user operations, and finally transmits all data back to the microcontroller to complete the collection of overall algorithm data.

As shown in FIG17 , taking four electromagnetic coils as an example, the MOSFET field effect tube driver is started by external power supply and logic power supply, and the direction signal and SPWM signal are configured to complete the control of the current size and direction of a single electromagnetic coil.

As shown in FIG. 18 , in the pen-shaped touch stick (tactile grip, user operating stick, simulated surgical instrument) part, its electronic circuit includes the four parts shown in the figure.

Figure 19 is a cross-sectional view of the structural design of the electromagnetic coil provided in the present application. As shown in Figure 19, ① is a positioning screw hole, ② is an iron core, ③ is a wound multi-turn copper wire, and R1, R2, and R3 represent the internal thread, the outside of the iron core, and the outermost radius of the wound copper wire, respectively.

Two solutions are proposed for the high temperature generated by the solenoid: one is to optimize the power supply and tactile effect to meet the design conditions for actual operation; the other is to use a superconducting cooling device to achieve a wider range of tactile effects in a limited space. The outer white part in Figure 19 is the cavity for the flow of coolant, and ④⑤ are the inlet and outlet of the coolant respectively.

The packaging and testing of the overall design of this application follows the points shown in Figure 20 below. The purpose of the packaging test is to provide calibration and inspection of the device before formal use.

The tactile feedback device provided by the present application and applicable to narrow cavity surgery scenarios has the following advantages:

(1) Authenticity of tactile feedback. Guided by tactile application scenarios, combined with the front-end sensors of actual instruments used in natural cavities or interventional surgeries, tactile feedback in real operation scenarios can be achieved, giving surgeons an intuitive feeling.

(2) Accuracy of tactile feedback. It is superior to the traditional open-loop tactile feedback mechanism. It uses the data fed back by the sensor signal for correction and uses a fractional-order PID controller to complete the closed-loop control system.

(3) Applicability of tactile feedback. The tactile feedback device is not subject to external mechanical constraints and is superior to the traditional mechanical linkage structure. The core part of the electromagnetic array cavity can simultaneously complete tactile feedback and positioning.

(4) Safety of tactile feedback. By designing magnetic shielding and controllable magnetic fields, the entire tactile feedback device is made safer, and the array device does not show any magnetism to the outside when not in operation. Therefore, it can be easily carried without causing a continuous impact on the complex environment in the operating room.

The tactile feedback device provided in the present application is suitable for narrow cavity surgery scenarios. A tactile sensing and generation array suitable for surgical scenarios is designed, and the electromagnetic coils are arranged in a symmetrical and redundant form to form a tactile cavity, which is used to simulate the real-time touch of surgical instruments in a narrow cavity, and can realize the tactile positioning and tactile generation of surgical instrument operations in a narrow cavity.

The tactile feedback system applicable to narrow cavity surgery scenarios provided in the present application is described below. The tactile feedback system applicable to narrow cavity surgery scenarios described below and the tactile feedback method applicable to narrow cavity surgery scenarios described above can refer to each other.

FIG. 21 is a schematic diagram of the structure of a tactile feedback system applicable to a narrow cavity surgery scenario provided by the present application, as shown in FIG. 21 , including:

The first acquisition module 2110 is used to control the surgical instrument at one end of the tactile gripper in the tactile sensing and generating array held by the doctor to perform surgery on the diseased tissue in the narrow cavity, and a time-varying electromagnetic field is generated inside the cavity of the tactile sensing and generating array, based on the signal acquisition device in the tactile sensing and generating array, to acquire the first signal collected by the detection coil in the tactile gripper, the other end of the tactile gripper extends into the area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrical redundant manner, and when it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field;

A second acquisition module 2111 is used to extract a positioning signal from the first signal;

A third acquisition module 2112 is used to determine the distance between the detection coil and the electromagnetic coil in the tactile sensor and generation array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The tactile positioning module 2113 is used to determine the position and posture of the tactile grip according to the distance.

The tactile feedback system provided by the present application, which is suitable for narrow cavity surgery scenarios, fully considers the differences in the braking forces applied to each wheel of the train during the braking process. When a wheel slips, the problem is discovered through the abnormal difference between the wheel and the current speed reference value, and the braking force of the slipping wheel is automatically adjusted back to the optimal state through feedback adjustment, so that it obtains the best adhesion and effectively prevents the occurrence of sliding during the braking process of the train.

FIG22 is a schematic diagram of the physical structure of an electronic device provided by the present application. As shown in FIG22, the electronic device may include: a processor 2210, a communication interface 2211, a memory 2212 and a bus 2213, wherein the processor 2210, the communication interface 2211, the memory 2212 and the bus 2213. The memory 2212 communicates with each other through the bus 2213. The processor 2210 can call the logic instructions in the memory 2212 to execute the following method:

When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile driving sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field;

extracting a positioning signal from the first signal;

Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The position and posture of the tactile grip is determined according to the distance.

In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer power screen (which can be a personal computer, server, or network power screen, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Furthermore, the present application discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the tactile feedback method applicable to narrow cavity surgery scenarios provided by the above-mentioned method embodiments, for example, including:

When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile driving sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field;

extracting a positioning signal from the first signal;

Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The position and posture of the tactile grip is determined according to the distance.

On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the tactile feedback method applicable to narrow cavity surgery scenarios provided in the above embodiments is implemented, for example, including:

When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile driving sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field;

extracting a positioning signal from the first signal;

Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal;

The position and posture of the tactile grip is determined according to the distance.

The system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it; although the present application is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that: The technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features therein may be replaced by equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

A tactile feedback method suitable for narrow cavity surgery scenarios, comprising: When a doctor holds one end of a tactile gripper in a tactile sensing and generating array to control a surgical instrument and perform surgery on a diseased tissue in a narrow cavity, and a time-varying electromagnetic field is generated inside a cavity in the tactile sensing and generating array, a first signal collected by a detection coil in the tactile gripper is acquired based on a signal acquisition device in the tactile sensing and generating array, and the other end of the tactile gripper extends into an area where the time-varying electromagnetic field generated inside the cavity is located, the cavity includes a plurality of electromagnetic coils arranged in a symmetrically redundant manner, and when it is determined that a tactile driving sequence signal is input to each electromagnetic coil, the cavity is used to generate the time-varying electromagnetic field; extracting a positioning signal from the first signal; Determining the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; The position and posture of the tactile grip is determined according to the distance. According to the tactile feedback method applicable to narrow cavity surgery scenarios according to claim 1, wherein determining the position of the tactile grip according to the distance comprises: Determining a first position and posture of the tactile grip according to a posture angle of the tactile grip, a phase and a frequency of the time domain positioning signal, wherein the posture angle is determined according to an angle signal collected by an inertial measurement unit in the tactile grip; Correcting the first position and the posture according to a comparison result of a calculated first magnetic field strength of the time-varying electromagnetic field and a measured second magnetic field strength of the time-varying electromagnetic field, wherein the first magnetic field strength is determined according to the second position of the tactile gripper and a driving current of the tactile gripper, the second position is determined according to the distance, and the second magnetic field strength is measured according to a Hall sensor in the tactile gripper; The position and posture of the tactile grip is determined according to the corrected first position and posture. According to claim 2, the tactile feedback method applicable to narrow cavity surgery scenarios, wherein, after determining the position and posture of the tactile grip according to the corrected first position and posture, the method further includes: Determining a current matrix according to the driving current of the tactile gripper and the number of the electromagnetic coils; Determining a position matrix according to the corrected first position and the number of the electromagnetic coils; Determining a posture matrix according to the corrected posture and the number of the electromagnetic coils; Determine a first matrix according to the current matrix, the position matrix and the posture matrix; According to the force feedback data of the tactile grip collected by the force sensor in the tactile grip and the force feedback data expected to be achieved by the tactile grip, calibrate the driving current of the tactile grip and the first matrix, and obtain the calibrated driving current and the first matrix; According to the target tactile signal collected by the tactile sensor in the tactile grip and the tactile signal expected to be measured, calibrating the calibrated driving current and the first matrix to obtain a second matrix; The target tactile signal and the expected measured tactile signal are used as input variables of a negative feedback controller, and a target driving current is determined according to the second matrix, and the target driving current is used as a tactile feedback signal of the tactile grip. According to the tactile feedback method applicable to narrow cavity surgery scenarios according to claim 1, wherein the extracting the positioning signal in the first signal comprises: Performing Fourier transform on the first signal to obtain tactile signals and positioning signals in different frequency bands; The tactile signal is filtered out based on a bandpass filter to obtain the positioning signal. According to the tactile feedback method applicable to narrow cavity surgery scenarios according to claim 2, the amplitude, phase and frequency of the time domain positioning signal corresponding to the positioning signal are obtained by: Perform the Hilbert transform on the time domain positioning signal to obtain the amplitude, phase and frequency of the time domain positioning signal. A tactile feedback device suitable for narrow cavity surgery scenarios, comprising the tactile sensing and generating array in the tactile feedback method suitable for narrow cavity surgery scenarios as described in any one of claims 1-5. The tactile feedback device suitable for narrow cavity surgery according to claim 6, further comprising: The degree of freedom platform includes a first component and a second component deployed on the end effector of the degree of freedom platform, the first component is used to place the doctor's wrist, and the second component is used to measure the tactile sensation felt by the wrist when an outer sheath connected to the surgical instrument moves in the narrow cavity when it is determined that the doctor holds one end of the tactile grip to control the surgical instrument and performs surgery on diseased tissue in the narrow cavity. A tactile feedback system suitable for narrow cavity surgery scenarios, including: The first acquisition module is used to control the surgical instrument when the doctor holds one end of the tactile gripper in the tactile sensing and generating array to perform surgery on the diseased tissue in the narrow cavity, and when a time-varying electromagnetic field is generated inside the cavity in the tactile sensing and generating array, based on the signal acquisition device in the tactile sensing and generating array, acquire the first signal collected by the detection coil in the tactile gripper, and the other end of the tactile gripper is extended into the cavity. The time-varying electromagnetic field generated inside the body is located in the area, the cavity includes a plurality of electromagnetic coils arranged in a symmetrical redundant manner, and when it is determined that each electromagnetic coil is input with a tactile drive sequence signal, the cavity is used to generate the time-varying electromagnetic field; A second acquisition module, used to extract a positioning signal from the first signal; A third acquisition module is used to determine the distance between the detection coil and the electromagnetic coil in the tactile sensing and generating array according to the amplitude of the time domain positioning signal corresponding to the positioning signal; The tactile positioning module is used to determine the position and posture of the tactile grip according to the distance. An electronic device comprises a processor and a memory storing a computer program, wherein when the processor executes the computer program, the tactile feedback method applicable to a narrow cavity surgery scenario as claimed in any one of claims 1 to 5 is implemented. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the tactile feedback method applicable to narrow cavity surgery scenarios as described in any one of claims 1 to 5.