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Surgical Robot Adjustment System

A surgical robot and adjustment system technology, applied in the field of surgical robot adjustment system, can solve the problems of lower positioning accuracy of the mechanical arm, error accumulation, and influence on the robot control accuracy, so as to improve motion control accuracy, prevent collisions, and increase the success rate of surgery Effect

Active Publication Date: 2018-11-09
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a surgical robot adjustment system to solve the problem that each joint of the mechanical arm in the prior art uses a joint sensor to realize the positioning process of the surgical robot mechanical arm. The positioning accuracy is reduced, which affects the control accuracy of the entire robot

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Please refer to figure 2 , figure 2 It is a schematic diagram of the structure of the surgical robot adjustment system when the optical target mirror is arranged at the end of the adjustment arm in Embodiment 1 of the present invention. like figure 2 As shown, the surgical robot adjustment system includes: a base 1 and at least one mechanical arm fixed on the base 1, and each of the mechanical arms includes adjustment arms connected in sequence (marked as 2-1, 2 in the figure -2), active arm (labeled as 3-1, 3-2 in the figure) and surgical instrument arm (labeled as 4-1, 4-2 in the figure), the adjustment arm is connected with the base 1, compared The surgical robot adjustment system of the prior art, the surgical robot adjustment system of the present invention also includes a calculation module, an optical tracking system, and the optical tracking system includes an optical target mirror (marked as 6-1, 6-2 in the figure) and an optical tracking system. instrume...

Embodiment 2

[0073] Please refer to image 3 , which is a structural schematic diagram of the surgical robot adjustment system when the optical target mirror is set on the active arm in the second embodiment of the present invention. to combine image 3 and figure 2 Comparative analysis shows that, image 3 and figure 2 The difference lies in the specific positions of the four optical target mirrors on the mechanical arm, figure 2 The four optical target mirrors are all set at the end of the adjustment arm, and image 3 The four optical target mirrors are all set on the active arm, so the image 3 The number of sensors required for the adjustment system of the surgical robot shown will be reduced, which reduces the consumption of material resources, reduces costs, and improves the positioning accuracy of the mechanical arm. Specifically, such as image 3As shown, the optical target mirror 6-2 is arranged on the arm between the first node and the second node of the active arm 3-2,...

Embodiment 3

[0076] Please refer to Figure 4 , which is a structural schematic diagram of the surgical robot adjustment system when the optical target mirror is set on the end of the active arm and the adjustment arm in the third embodiment of the present invention. Compared with the structure described in Embodiment 1 and Embodiment 2, the difference is that the optical target mirror 6-1 is placed on the arm between the first node and the second node of the active arm 3-1, and the optical target mirror 6-2 As for the joint of the active arm 3-2 and the adjustment arm 2-2, another optical target mirror is as for the joint of the active arm and the adjustment arm. equivalent to figure 2 and image 3 The fusion of the position of the optical target mirror on the mechanical arm, that is, the optical target mirror is set on both the adjustment arm and the active arm. In addition, the number of bases of the surgical robot adjustment system and the number of mechanical arms arranged on each...

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Abstract

The invention provides a surgical robot adjustment system. Each mechanical arm is provided with an optical target lens, positions and Euler angles of the optical target lenses are measured by an optical tracking instrument, a calculation module calculates according to measured values to obtain a posture mapping relation of the optical target lenses, and a posture mapping relation of surgical instrument arms is obtained by calculation according to the posture mapping relation of the optical target lenses and a posture mapping relation between the surgical instrument arm of each mechanical arm and the optical target lens on the corresponding mechanical arm. A surgical robot controls postures of corresponding surgical instrument arms according to the posture mapping relation of surgical instrument arms, and accordingly movement control precision of the surgical robot is improved.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical robot adjustment system. Background technique [0002] At the beginning of the 20th century, minimally invasive surgery represented by laparoscopy was produced, that is, doctors used slender surgical tools to penetrate into the inside of the human body through tiny incisions on the surface of the human body to perform surgical operations. Lack of tool freedom, poor coordination of reverse operations, and lack of stereo vision. [0003] Based on the above-mentioned defects of laparoscopic surgery technology, computer-assisted surgery system has been favored by doctors at home and abroad, among which the minimally invasive surgical robot system is the most prominent. [0004] In the process of minimally invasive surgery, for different surgical sites and different surgical operations, it is necessary to adjust the operating position of the surgical robot at t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/35
Inventor 何超王家寅师云雷朱祥徐丹红
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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