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Self-adaptive filtering device of master-slave minimally-invasive surgery robot system

An adaptive filtering, robotic system technology, applied in surgical robotics, surgery, applications, etc., can solve problems such as instability, time-varying signals, lack of spatial locality, etc.

Inactive Publication Date: 2010-07-28
GUANGDONG UNIV OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

In view of the contradiction between time domain and frequency domain localization in Fourier analysis, the lack of spatial locality, and the tremor of the operator's hand is a random, unstable, time-varying signal

Method used

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  • Self-adaptive filtering device of master-slave minimally-invasive surgery robot system
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  • Self-adaptive filtering device of master-slave minimally-invasive surgery robot system

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Embodiment

[0030] The invention relates to an adaptive filtering device for filtering out hand tremor behavior of minimally invasive surgery operators. Based on the approximation ability of fuzzy wavelet neural network (FWNN) to arbitrary nonlinear functions, the off-line construction of hand tremor behavior of surgical operators Mode, and can generate a compensation signal with the same amplitude and frequency as the tremor signal but opposite in phase, so as to achieve the purpose of filtering the tremor signal.

[0031] The hand tremor behavior adaptive filter device designed by the minimally invasive surgery operator designed by the present invention will be described in detail below in conjunction with the accompanying drawings and specific examples.

[0032] figure 1 It is an overall block diagram of the master-slave minimally invasive surgical robot system according to the present invention. exist figure 1 The surgical operator plans the operation steps in advance according to t...

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Abstract

The invention discloses a self-adaptive filtering device of a master-slave minimally-invasive surgery robot system, comprising a trembling action self-adaptive filtering device, a master manipulator, a position collecting module, a motion control module, a slave manipulator driving module, a detection module, a slave manipulator, a feedback module and a computer control system. The trembling action filtering device is used for filtering hand trembling actions of a surgery operator and restoring a surgery operation desired signal to the maximum degree; the master manipulator driving module in the filtering device is used for driving the master manipulator; the position collecting module is used for collecting a position signal of the master manipulator; the motion control module is used for processing the collected position signal and controlling a motor to drive the slave manipulator to complete the surgery operation; finally, the feedback module is used for supplying real-time image feedback information; therefore, a closed-loop minimally-invasive surgery robot control system is formed. The invention can effectively filter the hand trembling actions, which ensure high precision and reliability of the minimally-invasive surgery.

Description

technical field [0001] The invention is an adaptive filter device of a master-slave minimally invasive surgical robot system, which belongs to the transformation technology of the adaptive filter device of the master-slave minimally invasive surgical robot system. Background technique [0002] With the development of science and technology, medical robot system has become one of the most active and most invested directions in the field of robot research, and minimally invasive surgery (MIS) is the hottest application in medical robot. Minimally invasive surgical robot system is a typical product of the combination of minimally invasive surgery and robotics in medicine. Its successful application has made minimally invasive surgery qualitatively improved in terms of accuracy, reliability and maneuverability. The more mature ones should be the endoscope automatic positioning system (Aesop) and ZEUS system developed by Computer Motion Corporation of the United States for assist...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00A61B34/37
Inventor 刘治吴启航章云
Owner GUANGDONG UNIV OF TECH
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