Patient-carrying medical mechanical arm error compensation system and method

Abstract

The invention discloses a patient-carrying medical mechanical arm error compensation system and method. The compensation system comprises a medical mechanical arm body, an absolute encoder, a six dimensional force sensor and a controller; by using the six dimensional force sensor for detecting the gravity size and centre-of-gravity position of a patient, the terminal pose error of the medical mechanical arm is worked out through a flexibility error model, the method is rapid and efficient, and automatic error compensation is easy to achieve; in the flexibility error model calculation in the error compensation method, average flexural rigidity and average torsional rigidity are introduced, the influence of a variable cross section bar structure on the flexibility error of the medical mechanical arm is considered, and the mechanical arm pose error calculation precision can be further improved.

Description

technical field [0001] The invention belongs to the technical field of error compensation of radiotherapy medical manipulators, and in particular relates to an error compensation system and method for a patient-carrying medical manipulator. Background technique [0002] Radiation therapy is one of the important methods of tumor treatment. The accuracy and reliability of the medical robotic arm used to carry the patient has a direct impact on the stability of the radiotherapy effect. With the development of precise radiotherapy technology, the research and development of medical robotic arm control system aiming at the precise positioning and control of the patient's body and patient's tumor is attracting attention. The most fundamental way to improve the positioning accuracy of the medical manipulator is to improve the manufacturing accuracy of the manipulator body and use high-quality materials with high strength and rigidity. However, from an engineering point of view, it...

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Problems solved by technology

Aiming at the flexibility error caused by insufficient stiffness of the manipulator, the current mainstream method is to establish an elastic torsion spring model based on Hooke's law, but this analysis method usually only takes the joint flexibility of the manipulator as the research object, and rarely considers the manipulator The Influence of Transmission Error on the Positioning Accuracy of Manipulator

In addition, establishing a database of errors at the end of the manipulator based on experimental detection results is also a common method, but the workload of collecting experimental data under various poses and loads is large, and the accuracy and reliability of the detection results are difficult to obtain. ensure

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