Safety boundary and force control method for surgical robot

Abstract

The invention discloses a safety boundary and force control method for a surgical robot. The safety boundary and force control method comprises the following steps of inputting patient condition information; acquiring physical dimension information of the robot and a surgical tool and safety range information of a surgical operation position; setting position information of an end point of the robot; according to the position information of the end point of the robot and the safety range information of the surgical operation position, obtaining the safety boundary of the working area of the end point of the robot and the contact force range information of the end point of the robot; generating a surgical operation instruction according to the patient information, the safety boundary information of the working area of the end point of the robot and the contact force range information of the end point of the robot, and sending the surgical operation instruction to the robot; and acquiring and analyzing operation feedback information of the end point of the robot in real time, and generating and sending an adjustment instruction to the robot. Effective safety boundary position and force control is performed on the surgical robot, and the surgical efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a safety boundary and force control method of a surgical robot. Background technique [0002] At present, when performing surgery, especially when the operation area is strictly limited, such as hip joint replacement surgery, the hip joint replacement surgery is usually done artificially by doctors, but the technical requirements for doctors are very high. In areas where there is a shortage of medical talents, difficult operations require a large amount of resources to complete, which has brought great distress to some patients with poor conditions; although at present, there are some well-known medical robots abroad, such as Da Finch, etc., can perform surgical operations, but they are expensive and extremely expensive, and they have not yet involved hip joint replacement surgery and other surgeries that restrict the working area, and it is impossible to set and control th...

AI Technical Summary

Problems solved by technology

[0002] At present, when performing surgery, especially when the operation area is strictly limited, such as hip joint replacement surgery, the hip joint replacement surgery is usually done artificially by doctors, but the technical requirements for doctors are very high. In areas where there is a shortage of medical talents, difficult operations require a large amount of resources to complete, which has brought great distress to some patients with poor conditions; although at present, there are some well-known medical robots abroad, such as Da Finch, etc., can perform surgical operations, but they are expensive and extremely expensive, and they have not yet involved hip joint replacement surgery and other surgeries that restrict the working area, and it is impossible to set and control the safety boundaries of robots performing surgical tasks. Constraints, can not guarantee the effect of surgery, easy to cause the occurrence of medical accidents

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