Cooperative interaction control system for craniotomy robot

Abstract

The invention discloses a cooperative interaction control system for a craniotomy robot. The cooperative interaction control system comprises a motion limiting module, a doctor-robot interaction module, a robot-patient interaction module and a solver. The motion limiting module is used for tracking the position of the robot in real time and is compared with a limited area, so that the robot is limited within a certain area for movement. The doctor-robot interaction module is used for completing real-time speed control over the robot by doctors. In the skull milling process, the robot-patient interaction module is used for keeping a certain contact force between the tail end of a milling cutter and the bottom face of a skull and further keeping a certain drilling force in the skull drilling process. The solver is used for completing inverse kinematics resolving of the robot and further used for inputting and outputting robot motion and joint motion speeds separately so as to drive the robot to move. According to the cooperative interaction control system, the advantages that the flexibility of the doctors is high and the precision of the robot is high are integrated, operation efficiency and quality can be improved while operation safety is improved, and the craniotomy fatigue degree of the doctors is lowered.

Description

technical field [0001] The invention relates to an interactive control system, in particular to a cooperative interactive control system of a craniotomy robot. Background technique [0002] Surgery is the main method of neurosurgical treatment. At present, the proportion of craniotomy in neurosurgery is the highest, and the PLA General Hospital alone has more than 3,000 craniotomies per year. Moreover, neurosurgery is one of the most time-consuming and laborious operations in surgery, especially craniotomy. Traditional craniotomy is performed by humans. There are two types of cranial drills / cranial milling used by doctors in craniotomy: one is electro-pneumatic and the other is manual. The existing cranial drill / cranial milling are all hand-held drilling equipment with a weight of about 1kg. Doctors operate under heavy load for a long time and need to ensure the high precision of drilling and milling to ensure the safety of the operation. This traditional craniotomy method...

AI Technical Summary

Problems solved by technology

[0004] However, in the existing technology, it focuses on unilateral interactive control. The first three ways to realize interactive operation are mostly used for dragging teaching or collision detection. The force exerted on the robotic arm is directly coupled together and cannot be distinguished. The fourth method is only used for flexible assembly of robots or drag teaching, and the usage scenarios are relatively limited.

For craniotomy robots, it is not only necessary to solve the interaction between the doctor and the robot, but also to solve the interaction between the robot and the patient and between the patient and the doctor. technically intractable problems

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