Obstacle avoidance planning method and obstacle avoidance planning system for surgical robots
A surgical robot and robotic technology, applied in surgical robots, computer-aided planning/modeling, etc., can solve problems such as unsuitable positioning and obstacle avoidance, and achieve the effect of strong versatility
Active Publication Date: 2018-02-02
TSINGHUA UNIV
View PDF4 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In the application of active positioning of multiple operation paths, the position of the robot relative to the object is different in each operation, and the positions of the multiple operation paths on the head of each object are also different, so it is not suitable to follow the teaching method. way to locate and avoid obstacles
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] In the following description, numerous details are provided in order to provide a thorough understanding of the invention. However, it will be appreciated by those skilled in the art that the following description relates only to preferred embodiments of the invention and that the invention may be practiced without one or more of these details. In addition, in order to avoid confusion with the present invention, some technical features known in the art are not described.
[0021] In order to solve the problem of obstacle avoidance in the process of positioning a surgical robot for multi-path stereotaxic operations, according to one aspect of the present invention, an obstacle avoidance planning method for a surgical robot is provided. Obstacle avoidance planning refers to finding a collision-free path from the initial pose point of the robot to the target pose point in an environment with obstacles, so that the robot arm does not collide with obstacles during the moveme...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides an obstacle avoidance planning method and an obstacle avoidance planning system for a surgical robot. The obstacle avoidance planning method includes: step S110: creating an obstacle model, wherein the obstacle model includes an object head model, a head frame model and an obstacle wall model; step S120: mapping the obstacle model to the robot coordinate system to obtain the mapped obstacle model, wherein the mapped obstacle model includes a mapped object head model, a mapped head frame model, and a mapped obstacle wall model; and step S130: perform path planning based at least on the mapped obstacle model, to Obtain one or more collision-free paths for the surgical robot. According to the obstacle avoidance planning method and obstacle avoidance planning system provided by the present invention, a collision-free robot movement path can be quickly planned, thereby effectively avoiding collisions between the surgical robot and objects and surrounding obstacles during movement.
Description
technical field [0001] The invention relates to the technical field of computer-aided medical treatment, in particular to an obstacle avoidance planning method and an obstacle avoidance planning system for surgical robots. Background technique [0002] Head stereotaxic operation (referred to as "stereotactic operation") is a common surgical operation mode. In applications where the operator needs to perform a stereotaxic operation on an operating object ("object" for short), a stereotaxic surgical robot ("surgical robot" or "robot" for short) is usually used for positioning guidance. Objects can be, for example, actual people or simulated objects. For stereotaxic operation, the operator first plans the operation path of stereotaxic operation according to the three-dimensional image of the subject's head; then, the robot actively positions each operation path around the subject's head in turn according to the operation path defined in the image, that is, The terminal mechan...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/10A61B34/30
Inventor 王广志孟繁乐丁辉
Owner TSINGHUA UNIV