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

A technology of surgical robot and stereo vision, which is applied in the field of medical surgical robot and human-computer interaction, can solve the problems of lack of stability, real-time performance and high precision, and achieve the effect of high real-time performance and high precision
CN106903665AInactive Publication Date: 2017-06-30CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
Publication Date
2017-06-30
Estimated Expiration
Not applicable · inactive patent

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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.
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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 ...

Claims

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