A trajectory detection method for a wire-driven minimally invasive surgical robot

A technology of minimally invasive surgery and detection methods, applied in the direction of instruments, measuring devices, measuring angles, etc., to achieve the effect of improving surgical operation ability and improving surgical effect

Inactive Publication Date: 2019-12-24
HENAN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The miniaturization of the surgical robot system can save operating space and facilitate installation and operation, but it also puts forward higher requirements for the miniaturization of the robotic arm of the surgical robot system

Method used

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  • A trajectory detection method for a wire-driven minimally invasive surgical robot
  • A trajectory detection method for a wire-driven minimally invasive surgical robot
  • A trajectory detection method for a wire-driven minimally invasive surgical robot

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Embodiment Construction

[0057] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0058] Such as Figure 1-6 As shown, the rods that make up the minimally invasive surgical robot are hollow rods, and the connection between the handle, surgical scissors and each joint is realized through steel wires inside, so as to realize the motion control and force transmission between the handle and surgical scissors. specific motion mapping between them. Such as figure 2 As shown, the ellipse with a cross in the center represents the driving wheel, and the ellipse without a cross in the center represents the supporting wheel. The driving wheel can drive the shaft to rotate, and the supporting wheel can freely transfer around the shaft; the driving wheel includes the first quick change device driving wheel 101, The second quick changer drive wheel 102 , the third quick changer drive wheel 103 , the fourth quick changer drive wheel 104 , the fifth qu...

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Abstract

The invention provides a track detection method of a wire-driven minimally invasive surgical robot, comprising the following steps: establishing mapping joints between joints connected by the same transmission wire; obtaining the joints of the minimally invasive surgical robot through the detection angle of the driving wheel of the quick-change device Angle; construct the functional relationship between the detection angle of the driving wheel of the quick change device and the joint angle of the minimally invasive surgical robot, and obtain the motion trajectory of the minimally invasive surgical robot. According to the wire transmission layout and motion characteristics of the wire-driven minimally invasive surgical robot, the present invention realizes the purpose of analyzing the movement track of the minimally invasive surgical robot by constructing the detection angle of the driving wheel and the minimally invasive surgical robot joint angle function relationship, and solves the problem It is difficult for wire-driven minimally invasive surgical robots to analyze their motion trajectory through joint angle detection.

Description

Technical field: [0001] The invention belongs to the technical field of minimally invasive surgical robots, and in particular relates to a trajectory detection method of a wire-driven minimally invasive surgical robot. Background technique: [0002] Minimally invasive surgical robot system can assist doctors to complete more delicate surgical actions, reducing injuries caused by fatigue or hand tremor during surgery. At the same time, less surgical damage and faster healing will bring better surgical results to patients. At present, the Da Vinci minimally invasive surgical robot system in the United States has been widely used in clinical practice. Miniaturized and low-cost robotic systems for minimally invasive surgery are the future development trend, and tactile force feedback plays an extremely important role in minimally invasive surgery. The miniaturization of the surgical robot system can save operating space and facilitate installation and operation, but it also pu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 岳龙旺冯腾飞
Owner HENAN UNIVERSITY OF TECHNOLOGY
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