The application relates to a patent division application with the application date of 2024, 4, 1, the application number of 202410382048.7 and the name of 'an automatic water knife optimal control method and device'.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a water jet system according to the present application. The water jet system comprises a guide sheath, an actuating device and an optional integral device consisting of an endoscope mechanism, wherein the guide sheath, the actuating device and the optional endoscope mechanism are axially arranged in parallel, and the actuating device comprises a water jet rod body and a hole for radially spraying water jet. Wherein the sheath is used to provide a surgical pathway and support. When the traditional water jet scalpel works, a guide sheath is usually inserted into an operation area in advance, the guide sheath comprises a linear motion range of MN, and the linear motion range of an execution instrument is maximum to WN.
The water jet system also comprises an implement instrument movement module, an integral instrument movement module and optionally a sheath movement module and an endoscope movement module. The actuating device movement module is used for driving the actuating device to spin by taking the axial direction of the water cutter bar body as the center and driving the actuating device to move linearly along the axial direction of the water cutter bar body. The guide sheath movement module is used for driving the guide sheath to move linearly along the axial direction of the water cutter bar body, and the endoscope movement module can be at least used for driving the endoscope to move linearly along the axial direction of the water cutter bar body.
When the constraint of the working range in the straight line direction is met, the working range of the executing instrument in the rotating direction is limited by the guide sheath, as shown in fig. 3, the guide sheath is positioned at the upper side of the executing instrument, S, E is the boundary positions of the two sides of the guide sheath, O is the axial center of the water cutter rod body, the energy acting range of the executing instrument is a sector SOE area downward, the sector SOE area upward is shielded by the guide sheath, and the energy cannot be released to the acted cut object.
Based on the prior art, the application adds a whole instrument movement module which comprises a module for controlling the whole instrument (namely the whole instrument at least comprising a guide sheath and an executive instrument) to at least perform rotary movement, and preferably, the whole instrument movement module can drive the whole instrument to spin by taking the axial direction of a water cutter bar body as the center.
The water knife system can further comprise a motion control module, and the motion control module is used for responding to the rotary motion starting position and/or the rotary motion stopping position in any motion step size and controlling the whole instrument to rotate by taking the axial direction of the water knife rod body as the center in the covering range of the guide sheath, so that the shielding of the guide sheath relative to the rotary motion starting position and/or the rotary motion stopping position of the water knife rod body is eliminated.
Fig. 2 is a flow chart of an embodiment of the method of the present application. The embodiment of the application provides an automatic water jet optimizing control method, which is used for a water jet system and comprises the following steps of 10-40:
step 10, determining a planned movement track and planning parameters of the water jet, wherein the planning parameters comprise a linear movement starting position, a linear movement stopping position, a linear movement speed, a rotary movement starting position, a rotary movement stopping position and a rotary movement speed of each movement step.
The planned movement track of the water sword is obtained and converted into a movement control position track, and the movement control position track is defined by planning parameters, and can be expressed by the following formula for example:
[{stepNO,line_start,line_stop,line_vel,rotate_start,rotate_end,rotate_vel,depth}]
Wherein stepNO is a step number, line_start is a linear motion start position of the execution instrument in the step, line_stop is a linear motion end position of the execution instrument in the step, rotation_start is a rotational motion start position of the execution instrument in the step, rotation_end is a rotational motion stop position of the execution instrument in the step, line_vel is a linear motion speed, rotation_vel is a rotational motion speed, and depth is a cutting depth.
Step 20, in one embodiment of the application, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned.
In one embodiment of the application, in response to the planned rotational movement speed being greater than a set threshold value, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned within any one movement step, and the rotational movement speed is made smaller than the set threshold value within any one partition. The position of the linear movement and the speed of the linear movement within a step determines the length of time for which the step is performed, and therefore, the speed of the rotational movement can be determined from the length of time within the range of the rotational movement of the ablation track. After the partitioning, the step is performed in each partition in accordance with the time length, and since the partition reduces the rotational movement range, the rotational movement speed in the partition is reduced.
In one embodiment of the application, the partitioning is speed independent, with or without partitioning at any speed. The effect of speed is: when the planned speed is greater than the maximum rotational speed achievable by the overall apparatus, step 30C described below is not recommended to ensure that the water jet is able to complete the planned trajectory at the planned speed.
In one embodiment of the application, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned, and there is an overlap angle between adjacent partitions to ensure complete cutting of the critical portions of the partitions when each partition is performed separately.
It should be noted that, step 20 is not required, and in other embodiments, the solution of step 30 is directly performed.
And 30, in any movement step length, responding to the rotary movement starting position and/or the rotary movement stopping position within the coverage range of the guide sheath relative to the water cutter rod body, and controlling the whole instrument to rotate by taking the axial direction of the water cutter rod body as the center so as to eliminate the shielding of the guide sheath on the rotary movement starting position and/or the rotary movement stopping position.
Generating an optimized and achievable motion control position track according to the cutting angle in each motion step length (step) and the maximum cutting range of the water jet in the planned motion track: [ { stepNO, line_start, line_stop, line_vel, rotation_start ', rotation_end', base_rotation, rotation_vel, depth } ], wherein the calculation method of rotation_start ', rotation_end', base_rotation is specifically as in the embodiments of fig. 4 to 7:
The base_rotation is taken as a basic angle, the angle of the whole instrument motion module for controlling the whole instrument to rotate is indicated, and the initial default value is 0, namely a vertical line CF which passes through the axial center O of the water jet rod body.
The axial center O of the water cutter bar body is taken as an original point, the ray OC is taken as a starting edge, the anticlockwise rotation angle is taken as a positive angle, and the clockwise rotation angle is taken as a negative angle.
The rotation_start 'and the rotation_end' are rotation start angle and rotation end angle of the water jet with respect to the base_rotation. The counterclockwise rotation angle is a relatively positive angle, and the clockwise rotation angle is a relatively negative angle.
In one embodiment of the application, rotating the unitary instrument, the covering of the sheath from the rotational movement start position and/or rotational movement stop position, further comprises: a base angle is determined, and the whole instrument is rotated according to the base angle.
In one embodiment of the application, the method further comprises the steps of: the rotation angle of the implement is further determined relative to the base angle such that the water jet action range covers the rotational movement start position and the rotational movement stop position.
In one embodiment of the application, the cutting range between the rotary motion starting position and the rotary motion stopping position is partitioned, and the whole instrument is rotated in one or more partitions by taking the axial direction of the water cutter bar body as the center, so that the shielding of the partition by the guide sheath is eliminated.
The whole instrument and the executing instrument can rotate by taking the axial direction of the water cutter bar body as the center, and the two rotary motions are independently controlled. Specifically, the overall instrument and implement may be rotated synchronously as in step 30A, or asynchronously as in step 30B or step 30C.
Step 30A, in one embodiment of the present application, rotating the unitary instrument to clear the sheath from the rotational movement start position and/or rotational movement stop position, further comprises: and the integral instrument is rotated, and the water cutter rod body is used as a center to independently rotate the execution instrument, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position.
Step 30B, in one embodiment of the present application, rotating the unitary instrument to eliminate occlusion of the sheath from the rotational motion start position and/or rotational motion stop position, further comprises: after the rotary integral instrument reaches a basic angle, the executing instrument is rotated by taking the axial direction of the water cutter rod body as the center, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position.
Step 30C, in one embodiment of the present application, rotating the unitary instrument to eliminate occlusion of the sheath from the rotational motion start position and/or rotational motion stop position, further comprises: rotating the execution instrument by taking the axial direction of the water cutter bar body as the center in the area where the planned cutting range is not blocked by the guide sheath, and not rotating the whole instrument; and rotating the whole instrument by taking the axial direction of the water cutter rod body as the center in the area where the planned cutting range is blocked by the guide sheath, and not rotating the execution instrument, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position.
Further, the planned cutting range may be partitioned, for example, into a region that is blocked by the sheath and a region that is not blocked by the sheath, and different control strategies may be executed for different partitions.
Step 40, controlling the water jet cutting track to be continuous between the rotary motion starting position and the rotary motion stopping position.
In one embodiment of the application, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned, and the whole instrument does not rotate in at least one partition; and, in one or more subregions, rotate the whole apparatus around the axial of the water cutter arbor as the centre, eliminate the shielding of the said one or more subregions by the guide sheath. At this time, when the motion trail planning is performed in each of the plurality of zones, the water jet cutting trail is controlled to be continuous between the rotational motion start position and the rotational motion stop position in any step.
It should be noted that step 40 is not necessary. Step 40 is premised on the partitioning of step 20.
Preferably, when the calculated step size is suddenly changed, a step of eliminating the residual pressure is needed, the linear direction of the water jet executing device is not updated, the rotating direction is switched back to the range of the cavity which is cut in the previous step, and the waiting time t is obtained through experiments, namely, the residual pressure eliminating time of different cutting depths is different.
Fig. 3 is a schematic cross-sectional view of the distal portion of the unitary instrument, wherein the distal portion refers to the end relatively farther from the operator, closer to the surgical field. By the device and the method, the angle between the SOE fan-shaped area and the vertical line CF is calculated, the vertical line CF is generally the initial working range of the water knife aiming at the ultrasonic probe (for example, in a prostatectomy operation scene, the water knife is parallel to the ultrasonic probe, the water knife is arranged above the ultrasonic probe, the line of the injection hole of the water knife, which is opposite to the ultrasonic probe, is the vertical line CF), S, E is the boundary position of the two sides of the guide sheath, and { angle COS, { angle COE } can define the maximum cutting range of the water knife under the condition that the whole instrument does not rotate.
The rotation of the water knife is defined from the rotation_start to the rotation_end, namely an angle range defined by { rotation_start, rotation_end }. The rotation_start and the rotation_end take the axial center O of the water cutter bar body as an origin, take the ray OC as a starting edge, take the counterclockwise rotation angle as a positive angle and take the clockwise rotation angle as a negative angle.
Fig. 4 is a schematic view of a scenario in which the water jet is within the coverage of the sheath. For example, when the rotation_start < rotation_end < COS, i.e., the planned water jet cutting range { rotation_start, rotation_end } is located entirely in the region outside the maximum cutting range of the water jet, i.e., the sheath shielding region on the left side in fig. 4, it is necessary to achieve cutting of the region outside the maximum cutting range of the water jet by controlling the rotation of the entire instrument of this patent.
Specifically, in one embodiment, the overall instrument rotation base_rotation, base_rotation= (rotation_start+rotation_end)/2 is controlled.
Base_rotate is the base angle according to which the mechanism rotates the entire instrument. Because the whole instrument rotates, the executing instrument which is a part of the whole instrument also rotates along with the whole instrument by a basic angle, and the rotating angle of the executing instrument is updated to enable the executing instrument to realize the planned water jet action range, namely, based on the basic angle, the updated water jet rotary motion starting position rotate_start 'and the rotary motion stopping position rotate_end' are further determined, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position. The updated rotary motion start position rotary start 'and rotary motion stop position rotary end' of the water knife are the rotary angles of the water knife rotation determined based on the basic angles of the whole instrument, namely by taking rays Obase _rotary as the starting edge. At this time, in order to realize the excision of the updated planning range { rotation_start ', rotation_end' }, the whole instrument rotating mechanism of the present patent can firstly rotate the whole instrument to the base_rotation position, and then the water knife rotating mechanism is used for controlling the water knife to complete the excision of the range according to the updated rotation_start 'and rotation_end' parameters. Wherein, rotation_start '=rotation_start-base_rotation, rotation_end' =rotation_end-base_rotation.
It should be noted that, when the rotation_start > rotation_end > angle COE, that is, the planned region is entirely located in the sheath shielding region on the right side in fig. 4, the calculation method is similar thereto. Namely, the whole instrument is controlled to rotate base_rotate, base_rotate= (rotate_start+rotate_end)/2, and then the water knife is controlled by the water knife rotating mechanism to complete cutting of the range according to updated rotate_start 'and rotate_end' parameters. Wherein, rotation_start '=rotation_start-base_rotation, rotation_end' =rotation_end-base_rotation.
The above only gives one embodiment of determining the base_rotate, it should be understood that the manner of determining the base_rotate is not limited thereto, as long as the occlusion of the partition by the sheath can be eliminated.
Fig. 5 is a schematic view of a scenario in which a part of the planned cutting area is within the coverage range of the guide sheath, as shown in the drawing, -360 ° + COS < rotation_start < + > COS, and ++cos < rotation_end < + > COS, i.e. the planned rotation_start is located in the angular SOE range area outside the maximum cutting range of the water jet, and at this time, the cutting of the area outside the maximum cutting range of the water jet is also required to be achieved by controlling the rotation of the integral instrument mechanism of the present patent.
In one embodiment, the non-occluded and occluded regions may be combined, for example, by controlling the rotation of the entire instrument while controlling the rotation of the water jet to achieve an expanded cutting range with a combined rotational motion of the two.
In other embodiments, the planned cutting area may be partitioned, for example, the planned cutting area may be divided into an unoccluded area and an occluded area, and different control strategies may be performed for the unoccluded area and the occluded area, for example, in the unoccluded area, the water jet is controlled to perform cutting at a boundary position according to a predetermined planning speed, and in the occluded area, the overall instrument rotation is controlled, and at the same time, the water jet is controlled to rotate, so as to perform cutting in a composite rotation motion of the two.
In one embodiment, when the planned rotation_vel is smaller than the upper limit value of the rotation speed of the whole instrument, the water knife can be controlled to complete the cutting action within the range { rotation_end, ++cos } according to the preset rotation_vel, when the rotation of the water knife is about to reach the sheath boundary position point S, the water knife rotating mechanism is controlled to stop rotating, and the whole instrument rotating mechanism is started to rotate, and the whole instrument rotating mechanism rotates according to the preset rotation_vel until the base_rotation=rotation_start- ++cos, wherein the water knife rotating mechanism does not act, namely the rotation_start '=rotation_end' = COS, and the water knife and the whole instrument synchronously rotate to complete the cutting.
In another embodiment, when a part of the planned resection area is within the coverage of the sheath and a part is within the maximum cutting range, the planned resection area needs to be split, i.e. divided into a first partition (rotation_end, +_cos) and a second partition (+_cos) of the resection area angle.
The base angle of the first partition (rotate_end, +_cos) may take the original position, i.e., base_rotate=0, rotate_start '= +_cos, rotate_end' = rotate_end.
Firstly, controlling the water knife to complete cutting action within a first partition (rotation end, < COS) according to preset rotation_vel, controlling the water knife rotating mechanism to stop rotating when the rotation of the water knife is about to reach a sheath boundary position point S, and starting the whole instrument rotating mechanism to start rotating to base_rotation= (< COS+rotation_start)/2.
For the second partition (+—cos, rotation_start), a planning step may be added, and the basic angle and updated parameters of the step are, for example:
base_rotate＝(∠COS+rotate_start)/2，
rotate_start’＝rotate_start-base_rotate，
rotate_end’＝∠COS-base_rotate+delta，
In the newly added planning step length, the whole instrument rotates by a basic angle base_rotation, and the water knife rotates according to the updated rotation starting position rotation_start 'and the updated rotation stopping position rotation_end';
in the formula, delta is a compensation cutting coefficient, and the first subarea and the second subarea are partially overlapped by setting the compensation cutting coefficient, so that an uncut thin wall is prevented from being formed at the S position.
Preferably, the newly added planning Step is put at the end of planning, if a plurality of newly added planning steps exist, all newly added planning steps are combined, and after all the original planning steps are completed, the newly added planning steps are executed, so that the number of times of the whole instrument rotating motion is reduced, and the continuity of the water jet cutting track is ensured.
It should be noted that when +.cos < rotation_start < +.cole and +.cole < rotation_end < +.cos+360°, the planned rotation_end is located in the range of angle SOE outside the maximum cutting range of the water jet, the calculation method is similar.
The above only gives one embodiment of determining the base_rotate, it should be understood that the manner of determining the base_rotate is not limited thereto, as long as the occlusion of the partition by the sheath can be eliminated. For example, base_rotate may be determined as base_rotate=rotate_ srart- & COS to achieve the minimum overall instrument rotation angle.
Fig. 6 is a schematic view of a scenario in which portions of a water jet range are within a coverage area of a sheath. As shown in fig. 6, when rotation_start < COS and rotation_end > < COE, it may be performed as follows:
in one embodiment, the non-occluded and occluded regions may be combined, for example, by controlling the rotation of the entire instrument while controlling the rotation of the water jet to achieve an expanded cutting range with a combined rotational motion of the two.
In other embodiments, the planned cutting area may be partitioned, for example, into a non-occluded area and two occluded areas, and different control strategies may be performed for the non-occluded area and the two occluded areas, respectively, for example, in the non-occluded area, the water jet is controlled to perform the cutting to the boundary position at the original planning speed, and in the occluded area, the water jet is controlled to rotate while the overall instrument is controlled to rotate, so as to perform the cutting in a composite rotation motion of the two.
When the partition scheme is adopted, two partitions are newly added at this time, and the specific principle is the same as that of the foregoing embodiment. Accordingly, when a scheme of newly adding a planning step is adopted, two steps are newly added in this case:
the first step of the new addition is as follows: taking out base_rotate1＝(∠COS+rotate_start)/2,rotate_start1'＝rotate_start-base_rotate1,rotate_end1'＝∠COS-base_rotate1+delta.
The newly added second step length is as follows: taking out base_rotate2＝(rotate_end+∠COE)/2,rotate_start2'＝∠COE-base_rotate2-delta,rotate_end2'＝rotate_end-base_rotate2.
Wherein delta is a compensation cutting coefficient, so that a thin wall and a cavity which are not cut are prevented from forming at S and E, and subsequent collapse is likely to happen, and the delta is variable according to the cutting angle. The original step size is updated to base_rotate=0, rotate_start '= = COS, rotate_end' = = cog.
Preferably, the two newly added steps are placed at the end of the planning, and the newly added steps are combined and executed after all the original planning steps are executed. When all the newly added steps are combined, based on the consideration of reducing the frequency and the amplitude of the rotation movement of the whole instrument, the parameters of the base_ rotate, rotate _start 'and the rotation_end' of all or part of the newly added steps can be combined and set to be uniform base_rotation, so that the action frequency can be effectively reduced, and the surrounding cutting objects can be better protected.
In the embodiment of fig. 4 to 6, the calculated planned cutting range is calculated as the actual motion control track of the motor, that is, each step is planned according to the zigzag actual cutting track, and at this time, the rotation_start and rotation_end of each step need to be determined:
when the (rotation_start, rotation_end) is in the downward sector SOE-defined area, the entire instrument of the present application does not need to be rotated during cutting, but rather maintains a fixed base_rotation angle.
When the (rotation_start) is not in or partially in the downward sector SOE defined area, the overall instrument of the present application now requires rotational cutting motion in combination with the water jet actuator during cutting to allow the water jet to reach the planned cutting range.
FIG. 7 is a schematic diagram of a combined motion of a global instrument and an implement, in which embodiment, rotation of the global instrument is controlled to eliminate shielding of the sheath from the rotational motion start position and/or rotational motion stop position, further comprising: and rotating the whole instrument, and simultaneously independently rotating the executing instrument by taking the axial direction of the water cutter rod body as the center, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position. As shown, when the entire instrument (referenced to ON) is stationary, the implement (referenced to OM) is rotated about O to produce a cutting effect, limited by the sheath SFE, which is only movable within the SCE region.
In this embodiment, the whole instrument and the executing instrument are controlled to rotate simultaneously, that is, the water jet OM rotates with O as the center of circle, and the executing instrument is also rotated with O as the center of circle, so that the rotation cutting range of a single executing instrument can be enlarged, and at this time, the constraint that the cutting effect (that is, the linear velocity of the tail end of the water jet) generated at the contact position of the water jet and the cutting object is the same as the cutting effect when the water jet moves alone is required, that is, the linear velocity of the combined movement superposition of the whole instrument and the executing instrument is the same as the linear velocity of the independent movement of the water knife shaft. When the rotary motion starting position and/or the rotary motion stopping position are detected to be within the coverage range of the guide sheath, controlling the two shaft motors of the whole instrument and the executing instrument to calculate and update the respective angular velocities of the two shafts according to the angular velocities of the motors sent to the motor driver in the last period in each synchronous period, wherein the superposition of the angular velocities of the two shafts is required to meet the requirement that the linear velocity of the tail end of the final water jet cutter is the same as the linear velocity of the tail end of the water jet cutter calculated according to the given angular velocity rotation_vel and the cutting depth of the step in planning.
When the method provided by the application is applied to a surgical scene, a surgical planning scheme is not limited, the excision effect is optimized, and the device and the method flow have no necessary relevance to the surgical process, and pay attention to how to remove the shielding of the water jet of the water knife system, are based on the response of the working condition of the equipment, independently work independent of the existence of a cut object and can also be used for a non-surgical scene.
Fig. 8 shows an embodiment of a motion control module of the device of the present application. The embodiment of the application also provides an automatic water jet optimizing control device which is used for realizing the method according to any one of the embodiments of the first aspect of the application, and the device comprises an execution instrument movement module, an integral instrument movement module and a movement control module.
The actuating device movement module is used for driving the actuating device to spin by taking the axial direction of the water cutter bar body as the center.
And the whole instrument movement module is used for driving the whole instrument to spin by taking the axial direction of the water cutter bar body as the center.
The motion control module is used for determining a planned motion track of the water jet; in any movement step length, responding to the rotary movement starting position and/or rotary movement stopping position in the covering range of the guide sheath relative to the water cutter rod body, and controlling the whole instrument to rotate by taking the axial direction of the water cutter rod body as the center so as to eliminate the shielding of the guide sheath on the rotary movement starting position and/or rotary movement stopping position.
In one embodiment of the application, the device further comprises a sheath movement module, wherein the sheath movement module is used for driving the sheath to move linearly along the axial direction of the water cutter bar body.
In one embodiment of the present application, the motion control module further comprises a first obtaining unit 511 for obtaining and determining a planned motion trajectory of the water jet and a planning parameter, wherein the planning parameter includes a linear motion start position, a linear motion stop position, a linear motion speed, a rotational motion start position, a rotational motion stop position, and a rotational motion speed of each motion step.
In one embodiment of the present application, the motion control module further comprises a first rotation control unit 521, and responds to the rotation start position and/or the rotation stop position to control the rotation of the whole instrument by taking the axial direction of the water cutter bar as the center in the covering range of the guide sheath, so as to eliminate the shielding of the guide sheath on the rotation start position and/or the rotation stop position.
In one embodiment of the application, the motion control module further comprises a first determination unit 531 for determining a base angle according to which the overall instrument is rotated.
In one embodiment of the application, the motion control module further comprises a second rotation control unit 522 for further determining the implement rotation angle relative to the base angle such that the water jet action range covers the rotational motion start position and the rotational motion stop position.
In one embodiment of the application, the whole instrument is rotated, and the execution instrument is independently rotated by taking the axial direction of the water cutter bar body as the center, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position.
In one embodiment of the application, after the rotary integral instrument reaches a basic angle, the executing instrument rotates around the axial direction of the water cutter rod body, so that the water jet action range covers the rotary motion starting position and the rotary motion stopping position.
In one embodiment of the application, the motion control module further comprises a second determination unit 532 for partitioning the cutting range between the rotational motion start position and the rotational motion stop position, preferably in any one of the movement steps, in response to the planned rotational motion speed being greater than a set threshold, and in any one of the partitions, for partitioning the cutting range between the rotational motion start position and the rotational motion stop position, the rotational motion speed being smaller than the set threshold.
In one embodiment of the application, the cutting range between the rotary motion starting position and the rotary motion stopping position is partitioned, and the whole instrument is rotated in one or more partitions by taking the axial direction of the water cutter bar body as the center, so that the shielding of the partition by the guide sheath is eliminated.
In one embodiment of the application, the cutting range between the rotational movement start position and the rotational movement stop position is divided into sections, adjacent sections having an overlap angle.
In one embodiment of the application, the cutting range between the rotational movement start position and the rotational movement stop position is partitioned, and the whole instrument does not rotate in at least one partition.
In one embodiment of the application, the cutting range between the rotary motion start position and the rotary motion stop position is partitioned, and the water jet cutting track is controlled to be continuous between the rotary motion start position and the rotary motion stop position in any step.
In one embodiment of the present application, the motion control module further comprises a first linear control unit 541 for controlling the endoscope motion module to drive the endoscope to move linearly along the axial direction of the water blade bar from the viewing position to the position covering the hole.
In one embodiment of the present application, the motion control module further includes a second linear control unit 542 for controlling the implement motion module to drive the implement to move linearly along the axis of the water blade bar.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The application therefore also proposes a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements a method according to any of the embodiments of the application.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Furthermore, the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of being run by the processor, wherein the processor executes the computer program to realize the method according to any embodiment of the application. In one typical configuration, the electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 600 shown is merely an example and should not be construed to limit the functionality and scope of use of embodiments of the present application. It comprises the following steps: one or more processors 620; the storage device 610 is configured to store one or more programs, where the one or more programs are executed by the one or more processors 620, so that the one or more processors 620 implement the method according to any one of the embodiments of the first aspect of the present application, and steps of the method are described in embodiment steps 10 to 30, which are not repeated herein.
The electronic device 600 further comprises input means 630 and output means 640; the processor 620, the storage device 610, the input device 630, and the output device 640 in the electronic device may be connected by a bus or other means, which is shown as a connection via a bus 650.
The storage device 610 is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and module units. The storage device 610 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage 610 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the storage device 610 may further include memory remotely located with respect to the processor 620, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may be used to receive input numeric, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 640 may include an electronic device such as a display screen, a speaker, etc.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.