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A control method and device for a medical robot arm

A control method and technology of a control device, which are applied in the field of medical devices, can solve the problem that the accuracy needs to be improved, and achieve the effect of reducing the number of adjustments and improving the accuracy

Active Publication Date: 2016-04-27
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In terms of precision control, medical robotic arms on the market use single feedback or even no feedback open-loop control system to drive the motor movement, and the precision needs to be improved

Method used

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  • A control method and device for a medical robot arm
  • A control method and device for a medical robot arm
  • A control method and device for a medical robot arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] A control device for a medical mechanical arm, the device is used to control the movement of the medical mechanical arm 1, such as figure 1 As shown, the device includes an angle sensor 2, a position sensor 3, a drive motor 4 and a control module 5, the input end of the control module 5 is connected with the angle sensor 2 and the position sensor 3, and the output end is connected with the input end of the drive motor 4 to drive The output end of the motor 4 is connected to the medical robot arm 1 , wherein the angle sensor 2 is arranged on the medical robot arm 1 , and the position sensor 3 is arranged at the end of the medical robot arm 1 .

[0042] Such as figure 2 As shown, the medical mechanical arm 1 includes a positioning joint, an adjusting joint and a vertical motion assembly 13, and the driving motor 4 includes a positioning joint motor, an adjusting joint motor and a vertical motion motor, and the positioning joint motor, the adjusting joint motor and the ve...

Embodiment 2

[0065] The same parts as those in Embodiment 1 are not described again. The difference is that in Embodiment 2, the first positioning joint 111 and the first adjustment joint 121 are the same joint, and the second positioning joint 121 and the second adjustment joint 122 are the same joint. a joint.

Embodiment 3

[0067] The same parts as those in Example 1 are not described again.

[0068] Such as image 3 As shown, the vertical movement assembly 13 in this embodiment is a telescopic mechanism, and the vertical movement is no longer realized by the guide rail 131 .

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Abstract

The invention relates to a control method and device of a medical mechanical arm. The method comprises the steps of A, preliminary positioning including obtaining the positions of a target point and the tail end of the medical mechanical arm, computing the target value of every positioning included angle by combining the current positioning included angle of every positioning joint of the medical mechanical arm, and driving every positioning joint of the medical mechanical arm to act; B, precise adjustment including performing fine adjustment and positioning according to the relative distance between the tail end of the medical mechanical arm and the target point; C, vertical correction including controlling the medical mechanical arm to move vertically downwards to the position of the target point. The control device of the medical mechanical arm comprises an angle sensor, a position sensor, a driving motor and a control module, the input end of the control module is connected with the angle sensor and the positions sensor, the output end of the control module is connected with the input end of the driving motor, and the output end of the driving motor is connected with the medical mechanical arm. Compared with the prior art, the control method and the control device of the medical mechanical arm have the advantages of being precise in positioning and the like.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a control method and device for a medical mechanical arm. Background technique [0002] In the trajectory control of the manipulator, the speed and accuracy of the manipulator are extremely important indicators, especially in the medical equipment industry related manipulator products, the precision requirements are very high, such as surgical robots. At present, there are few types of domestic medical manipulators, and the requirements for motors are also very high. For example, a large number of ultrasonic motors with high power density and short life are used. In terms of power supply, high-performance two-phase drive power is used, and the entire system has high requirements for ambient temperature, operating temperature, load characteristics, and pre-pressure. [0003] In terms of precision control, medical robotic arms on the market use a single-feedback or even no-feedback ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/18
Inventor 丁大民邓琛王朝斌
Owner SHANGHAI UNIV OF ENG SCI
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