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Novel master-salve mode surgical robot control method

A surgical robot and control method technology, applied in the field of master-slave teleoperated surgical robot modeling and control, can solve the problems of high price, no dynamic control function, and inconvenient maintenance.

Inactive Publication Date: 2017-08-11
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are master-slave surgical robot control systems in foreign countries, but they do not yet have the dynamic control function, and there are problems of high price and inconvenient maintenance

Method used

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  • Novel master-salve mode surgical robot control method
  • Novel master-salve mode surgical robot control method
  • Novel master-salve mode surgical robot control method

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Embodiment Construction

[0031] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0032] This embodiment provides a new master-slave remote operation robot control system and method, and improves the safety and reliability of the operation through force feedback technology, so that the doctor can feel the interaction between the remote actuator and the tissue when performing the teleoperation operation. Interaction.

[0033] A novel master-slave teleoperation surgical robot control system, which is realized through the following technical solutions:

[0034] It includes a master hand control terminal, a slave hand execution terminal and a communication system; the master hand control terminal includes a master hand robot and an industrial PC control ...

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Abstract

The invention discloses a novel master-slave mode surgical robot control method. The method comprises the first step of conducting calculating to obtain an iteration equation of force and torque between each connection rod and joint; the second step of calculating a gravity compensation coefficient of each connection rod, and mapping the effect of force and torque of gravity to each joint to each joint; the third step of conducting calculating to obtain expecting torque to each joint through inverse dynamics, and leading in an inner ring / outer ring control framework according to current actual force feedback information which is fed back in real time to conduct control; the fourth step of calculating the iteration equation of force and torque between each connection rod and joint; the fifth step of obtaining in real time force feedback information from a hand execution end, and leading in the inner ring / outer ring control framework to conduct control. According to the novel master-slave mode surgical robot control method, kinematics and dynamics modeling of a master hand and a slave hand and theoretical derivation of a mapping relation between the master hand and the slave hand are achieved, a gravity compensation and inner ring / outer ring control strategy is adopted, a modularized procedural framework is adopted to complete the achievement of a control algorithm, and a master-slave mode teleoperation surgical robot system is efficiently achieved.

Description

technical field [0001] The invention relates to the field of teleoperation robot control, in particular to modeling and control technology of a master-slave teleoperation surgical robot, and belongs to the field of human-computer interaction technology. Background technique [0002] A master-slave teleoperation robot control system usually consists of a master console and several slave execution arms. The hand-executing arm is installed next to the operating table, and endoscopes and various surgical instruments can be installed at its end to reach the lesion in the patient's body through a small wound. The doctor only needs to operate the control end of the main hand to control the instruments at the end of the hand to complete various surgical operations, providing the surgeon with a traditional surgical operating environment, assisting the doctor to complete more delicate surgical actions, and reducing fatigue during surgery. Injuries caused by mishandling or hand tremor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37
Inventor 向洋熊亮谢毅傅舰艇王黎张敏锐
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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