Digestive endoscopy assisting interventional robot control system and method

Abstract

The invention provides a digestive endoscopy assisting interventional robot control method and system, and belongs to the field of medical robots. The digestive endoscopy assisting interventional robot control method comprises the following steps: extracting and processing action messages of an operator operating a main end handle, and obtaining a movement command of a robot according to the set position control and speed control working modes; measuring convey resistance and torsional resistance torque messages according to a force feedback device mounted at an actuator end, removing zero offset and gravity disturbance, and displaying the processed messages on a human-computer interaction interface for prompt; feeding the messages back to a main end control handle to provide force sensing for the operator, wherein when the resistance and the resistance torque exceed the set value, an upper computer alarms, and the convey force and the torque are partially and autonomously adjusted to a safe range; extracting and processing information of a pedal; switching the working modes; and performing the functions of air supply, water supply and suction. The control system comprises a main end control device, a bottom-layer controller, a force feedback device, a position limitation protector, a motor driver, an air pressure adjustor, a photoelectric coupler and a solenoid valve. The digestive endoscopy assisting interventional robot control method and system can improve the security of a digestive endoscopy assisting interventional robot.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and discloses a control device for a digestive endoscope-assisted interventional robot, which is used for controlling a flexible endoscope-assisted interventional robot. Background technique [0002] According to the statistics of the World Health Organization, about 70% of the people in the world suffer from various degrees of gastrointestinal diseases. There are nearly 80 million patients with gastrointestinal diseases in my country, and with the growth of the aging population, the accelerated pace of life, and the increase in social stress factors, the incidence of gastrointestinal tumors, gastrointestinal bleeding, and gastrointestinal dysfunction has increased , The social demand is huge. Digestive endoscopy has become a routine method for the diagnosis and treatment of gastrointestinal diseases. It has the advantages of less damage, less pain, fewer complications, and faster recov...

AI Technical Summary

Problems solved by technology

On the one hand, radiation causes systemic or local damage, such as carcinogenesis, genetic damage, damage to hematopoietic organs, and skin; on the other hand, such operations require lead screens, lead clothing, lead caps, neck wraps, and protective glasses when necessary. , making the operating environment expensive and physically exhausting for medical staff

Images