Control method of vascular robot based on bidirectional feedback

A two-way feedback and control method technology, applied in the direction of surgical robots, computer-aided surgery, computer-aided planning/modeling, etc., can solve the problems affecting the accuracy, positioning, trajectory, and operation control accuracy of micro-robots. Unable to fully grasp and other issues to achieve the effect of control optimization

Active Publication Date: 2020-10-13
广东省精格医疗技术有限公司
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Problems solved by technology

[0004] However, not only due to the different blood components and concentrations in the blood vessels, but also the thickness and veins of the vascular network, the positioning, trajectory, and operation control accuracy of the micro-robots in the blood vessels are not ideal; During the control, the parameters that affect the effect of the control command cannot be fully grasped, which affects the accuracy

Method used

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  • Control method of vascular robot based on bidirectional feedback

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Embodiment Construction

[0040] Such as figure 1 As shown, in an embodiment of the present invention, a control method of a vascular robot based on two-way feedback includes the following steps:

[0041] Acquire robot navigation path information in advance;

[0042] Optionally,

[0043] The pre-acquisition of robot navigation path information includes: obtaining original blood vessel image information obtained by CT scanning, and drawing the original blood vessel image information into a three-dimensional blood vessel skeleton network image; generating robot navigation path information according to the three-dimensional blood vessel skeleton network image.

[0044] Optionally,

[0045] After the robot navigation path information is generated according to the three-dimensional blood vessel skeleton network image, it also includes:

[0046] According to the three-dimensional blood vessel stock price network image and the navigation coordinate information, the driving trajectory of the robot is segmen...

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Abstract

The invention discloses a control method of a vascular robot based on bidirectional feedback. The control method comprises the following steps: acquiring robot navigation path information in advance;generating initial vascular robot advancing control information according to the navigation path information; acquiring unknown discrete model parameters by taking the acquired known parameters and initial vascular robot control advancing information as input and taking robot navigation path change information as output; and regenerating first advancing control information of the vascular robot according to the acquired position discrete model parameters and known parameters, and controlling the vascular robot to advance through the first advancing control information.

Description

technical field [0001] The invention relates to the field of smart medical technology, in particular to a control method for a blood vessel robot based on two-way feedback. Background technique [0002] At present, my country's self-developed and designed vascular interventional surgery robot system with force feedback function can keep doctors away from X-ray radiation, and the system still adopts a master-slave structure. Doctors can directly operate the catheter on the manipulator at the master end, and use teleoperation technology to remotely control the movement of the catheter at the slave end. The controller at the slave end feeds back the force information collected from the catheter at the slave end to the master end in the form of current, and the manipulator at the master end uses the principle of electromagnetic induction to realize force feedback, allowing doctors to perceive the resistance information encountered by the catheter. At the same time, doctors can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B34/20A61B34/10
CPCA61B34/37A61B34/20A61B34/10A61B2034/303A61B2034/2065A61B2034/107A61B2034/108
Inventor 覃士忠
Owner 广东省精格医疗技术有限公司
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