Master-slave teleoperation surgical robot control system based on stereoscopic vision

Abstract

The invention discloses a master-slave teleoperation surgical robot control system based on stereoscopic vision. The system comprises a motion control system and a stereoscopic vision system; the motion control system includes a motion control algorithm module and a bottom layer control module; the stereoscopic vision system includes a stereoscopic vision algorithm module; position control instructions transferred from a master manipulator operation arm are received by slave manipulator mechanical arms in real time; the motion control algorithm module calculates to obtain joint anticipated positions; the bottom layer control module controls a servo drive to enable the slave manipulator mechanical arms to move to an appointed position; the stereoscopic vision system acquires position information of the slave manipulator mechanical arms in real time and transfers the position information to a vision algorithm calculating thread; the stereoscopic vision algorithm module calculates positions of mechanical arms relative to a world coordinate system; the position information is fed back to the motion control system through an Ethernet; and operators observe the motion conditions of slave arms through a three-dimensional display device to operate the master manipulator operation arm to complete surgical tasks. The system achieves higher level on such aspects as system stability, timeliness and high precision.

Description

technical field [0001] The invention belongs to the field of medical surgical robots, in particular to a master-slave teleoperation surgical robot control system based on stereo vision, and belongs to the field of human-computer interaction. Background technique [0002] Robotic minimally invasive surgery fundamentally changes the doctor's surgical environment and surgical methods, effectively avoiding the fatigue of doctors during long-term surgery and the resulting surgical misoperation, which is conducive to further improving the surgical effect of minimally invasive surgery; At the same time, robotic minimally invasive surgery can well realize the doctor's hand-eye coordination, facilitate more complex and delicate surgical operations, and greatly expand the doctor's surgical capabilities. The master-slave teleoperation surgical robot control system usually consists of a master hand operating end and several slave execution arms. The master-slave teleoperation surgical ...

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