Force feedback surgical robot control system based on augmented reality

Abstract

The invention relates to a force feedback surgical robot control system based on augmented reality, and belongs to the technical field of man-machine interactive control. The system comprises an operating terminal, a 3D (three-dimensional) display, a movement controller, a feedback unit, an augmented reality processing unit, a virtual environment unit, an executing terminal and a 3D endoscope, wherein the operating terminal transmits coordinate information to the movement controller, the movement controller transmits a movement control command to the executing terminal, the executing terminal transmits displacement information to the virtual environment unit, the virtual environment unit transmits image information to the augmented reality processing unit and transmits haptical information to the force feedback unit, the force feedback unit transmits haptical feedback to the operating terminal, the 3D endoscope transmits an image video of a surgical site to the augmented reality processing unit, and the augmented reality processing unit transmits an augmented reality video to the 3D display. According to the force feedback surgical robot control system based on augmented reality, operating precision, safety and reliability of a surgical robot can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of human-computer interaction control, and relates to a force feedback surgical robot control system based on augmented reality. Background technique [0002] The minimally invasive surgical robot is composed of a doctor's operation end and a machine execution end: the doctor observes the image information of the operation area through the endoscope, and sends surgical operation instructions through the operation end, and the execution end accepts the operation and executes it with the surgical instruments installed on the execution end. operate. Teleoperated minimally invasive surgical robots significantly improve the stability and accuracy of doctors' surgical operations through precision mechanical control systems and three-dimensional imaging technology. When doctors complete robotic surgery, they only rely on endoscopes to observe organ tissues and compare CT and MRI two-dimensional data to judge the l...

AI Technical Summary

Problems solved by technology

When doctors complete robotic surgery, they only rely on endoscopes to observe organ tissues and compare CT and MRI two-dimensional data to determine the location of lesions. They cannot intuitively obtain three-dimensional positioning and precise tactile positioning of lesion tissues, thereby increasing potential risks.

At the same time, compared with traditional surgery, the surgical robot can eliminate the tremor in the doctor's operation, but at the same time, the lack of tactile force feedback also causes a huge image for the doctor, including the force feedback of the surgical instrument, the softness and hardness of the tissue, and the special cutting and Operations such as sewing that rely heavily on tactile feedback

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