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Hand-eye coordination control system and method of split type minimally invasive surgery robot

A technique of surgical robot and minimally invasive surgery, applied in the direction of surgical robot, etc., can solve problems such as hand-eye coordination inconsistency, achieve the effect of overcoming hand-eye movement inconsistency and realizing intuitive control

Active Publication Date: 2016-03-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem of inconsistent hand-eye coordination often occurring in the control process of existing minimally invasive surgical robots, the present invention further proposes a hand-eye coordination control system and method for split minimally invasive surgical robots

Method used

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  • Hand-eye coordination control system and method of split type minimally invasive surgery robot
  • Hand-eye coordination control system and method of split type minimally invasive surgery robot
  • Hand-eye coordination control system and method of split type minimally invasive surgery robot

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specific Embodiment approach 1

[0017] Specific implementation mode one: combine figure 1 Speaking to image 3 According to this embodiment, the hand-eye coordination control system of the split type minimally invasive surgical robot described in this embodiment includes a main console 1, a first arm 8, a second arm 9, a mirror arm 10, a first surgical instrument 12. Laparoscope 13 and second surgical instrument 14. Main console 1 is provided with 3D display system 2, 3D display 3, first main operator 4, second main operator 5, industrial computer 6 and industrial router 7, The laparoscope 13 is installed on the mirror-holding end of the mirror-holding arm 10, the image signal receiving end of the 3D display system 2 is connected through the image signal transmitting end of the laparoscope 13, and the 3D display system 2 transmits the image information to the 3D display 3 for display. The first surgical instrument 12 is connected to the slave arm end of the first manipulator arm 18, the second surgical inst...

specific Embodiment approach 2

[0018] Specific implementation mode two: combination Figure 1 to Figure 3 To illustrate this embodiment, the hand-eye coordination control system of the split-type minimally invasive surgical robot in this embodiment further includes a pose tracking and measurement system 11, which is arranged above the patient's surgical site. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0019] Specific implementation mode three: combination Figure 1 to Figure 3 Describe this embodiment, the hand-eye coordination control method of the split type minimally invasive surgical robot described in this embodiment is realized through the following steps:

[0020] Step 1. Establish the main hand kinematics model: obtain the relationship between the main hand end coordinate system and the base coordinate system through the main operator's forward kinematics calculation;

[0021] Step 2, using the actual measurement results to obtain the transformation matrix A of the main hand base coordinate system relative to the display coordinate system, and then obtain the transformation matrix B of the main hand end coordinate system relative to the display coordinate system;

[0022] Step 3. Map the conversion matrix B obtained in step 2 to the slave arm end of the mechanical arm to obtain the conversion matrix C of the end of the surgical instrument relative to the end of the ...

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Abstract

The invention provides a hand-eye coordination control system and method of a split type minimally invasive surgery robot, belongs to the field of medical robot manipulation and aims to solve the problem that hand-eye coordination inconformity occurs frequently in the control process of an existing minimally invasive surgery robot. The hand-eye coordination control system comprises a main console, a first instrument holding arm, a second instrument holding arm, a mirror holding arm, a first surgical instrument, a peritoneoscope and a second surgical instrument. The main console is provided with a 3D display system, a 3D display, a first main operation hand, a second main operation hand, an industrial personal computer and an industrial router, and the peritoneoscope is mounted on the mirror holding end of the mirror holding arm.

Description

technical field [0001] The invention relates to a hand-eye coordination control system and method, in particular to a hand-eye coordination control system and method of a split minimally invasive surgical robot, belonging to the field of medical robot control. Background technique [0002] Compared with the traditional manual minimally invasive surgery, the minimally invasive surgical robot, as one of many medical robots, can assist the doctor to complete the precise positioning of the surgical site, reduce the doctor's labor intensity, improve the accuracy and quality of surgical treatment, and shorten the treatment time. , as a new type of industry in development, it has immeasurable broad market prospects. During the traditional laparoscopic minimally invasive surgery, hand-held surgical instruments are inserted into the patient's abdominal cavity through the incision on the patient's abdominal cavity, so at the incision, due to the fulcrum effect, the doctor's hand runs ...

Claims

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Application Information

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IPC IPC(8): A61B34/37
Inventor 潘博付宜利艾跃王树国曲效锋
Owner HARBIN INST OF TECH
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