Control device and method for controlling robotic system by means of gesture control
A technology of robot system and control device, which is applied in general control system, control/regulation system, surgical robot, etc., and can solve problems such as inapplicability
Active Publication Date: 2018-11-06
ABB·AG(瑞士)公司
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Problems solved by technology
The following problem arises in connection with said control: The orientation of the input device should coincide with the orientation of the end effector of the surgical instrument
[0006] However, the "mapping" method described in US 6 424 885 B1 is only suitable for aligning the orientation of the input device 1 with the orientation of the end effector
But it is not suitable for calibrating the orientation, position and / or splay angle of the hand with the orientation, position and / or splay angle of the end effector
Method used
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[0044] about figure 1 For instructions, refer to the previous part of the manual.
[0045] figure 2 A schematic diagram of a robotic system 11 for minimally invasive surgery is shown, which has two robotic arms 14 , 18 and control devices 25 , 28 , 29 for controlling various components of the robotic system 11 by means of gesture control. The robot arms 14 , 18 are fixed here on the operating table 12 via rails 24 . The robot arms 14, 18 can then have the same or different structures. A patient 13 to be operated is lying on the operating table 12 .
[0046] The robotic arms 14 and 18 are equipped with surgical instruments 15 or 19, respectively. Surgical instruments may in principle be all instruments suitable for surgery, such as scalpels, forceps, scissors, electric surgical instruments, endoscopes, cameras, staplers and the like. The instrument 15 can be formed, for example, in the form of scissors, and the instrument 19 can be formed in the form of a pliers. Apparat...
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The invention relates to a control device (25, 28, 29) for controlling a robot system (11) having at least one robot arm (14, 18) on which an end effector (17, 21) The surgical instrument (15,19), wherein the control device (25,28,29) includes an image acquisition system (25,28) that records and analyzes the control settings of at least one hand (30L, 30R) and translated into corresponding control instructions for one or more components of the robotic system (11). In order to simplify and particularly intuitively design the control of the robotic system (11), a control unit (25) is provided which determines the orientation and / or position and / or position of the end effector (17, 21) of the surgical instrument (15, 19). or opening angle as one or more first parameters, and also determines the orientation and / or position of at least one hand (30L, 30R) and / or the opening angle as one or more second parameters, in which one or more Preventing manual control of the end effector (17, 21) in the event that the first parameters are different from the respective second parameters, and in which one or more of the first parameters are consistent with the respective second parameters. This allows gesture control, allowing surgical instruments to be manipulated by hand (15,19).
Description
technical field [0001] The invention relates to a control device for controlling a robotic system having at least one robotic arm on which a surgical instrument with an end effector is mounted, and to a method for controlling such a robotic system by means of gesture control. Background technique [0002] At present, more and more surgical operations on the human body are performed with the assistance of surgical manipulators with minimally invasive methods. Depending on the type of surgery, the surgical manipulator can be equipped with different surgical instruments such as endoscopes, cutting knives, forceps or suturing tools. During surgery, these tools are inserted into the patient's body through a gate by means of one or more manipulators. During a surgical procedure, surgical instruments are controlled by the surgeon through input devices of the robotic system, such as image processing systems for gesture control. [0003] For surgical applications, various instrumen...
Claims
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IPC IPC(8): A61B34/30B25J13/08A61B17/00
CPCA61B2017/00017A61B2017/00207A61B2017/00725B25J9/1689B25J13/02G05B2219/35444G05B2219/36184G05B2219/45123A61B34/37A61B34/30B25J13/006A61B2034/302
Inventor 贝恩德·贡贝尔利奥波德·博克·克劳森理查德·罗伯茨安德拉斯·阿斯奎
Owner ABB·AG(瑞士)公司