Control system and method applied to endoscopic surgical robot
A technology of surgical robot and control system, applied in the field of control system of endoscopic surgical robot, can solve problems such as difficult operation for doctors and complicated input terminal, and achieve the effect of reducing operation difficulty, improving control efficiency and reducing quantity
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no. 1 example
[0022] combine Figure 1 to Figure 3 It can be seen that a control system applied to an endoscopic surgical robot in this embodiment has a control device 1 and an execution end 2, and the control device 1 sends a control command to control the movement of the execution end; wherein, the control device 1 includes a trigger device 12 and a control body 11. The trigger device 12 is connected to the control body 11, the trigger device 12 can be set on the control body 11 or outside the control body 11; the trigger device 12 outputs the first control instruction to select the movement mode of the execution terminal 2; the control body 11 can perform multiple For the movement of the degree of freedom, the second control instruction is output to control the rotation of the execution end 2 .
[0023] Specifically, the control body 11 is a universal joint with two degrees of freedom, and the universal joint has a first encoder 1111 and a second encoder 1131; the first encoder 1111 outp...
no. 2 example
[0032] This embodiment is applied to the control method of the first embodiment, Figure 4 It is a method flowchart of the control method of the second embodiment of the present invention.
[0033] Depend on Figure 4 It can be seen that a control method applied to an endoscopic surgical robot in this embodiment includes the following steps:
[0034] S1 detects the state of the trigger device 12, and outputs the first control instruction to control the execution terminal 2 to enter different motion modes;
[0035] S2 Operates the control body 11 to move with multiple degrees of freedom, and outputs a second control instruction to control the rotation of the execution end 2 .
[0036] combine Figure 5 to Figure 8 It can be known the specific process when entering different control modes. Specifically, the motion mode includes lifting mode, rotation mode, brake mode and adjustment mode.
[0037]The specific process of entering the pulling mode is as follows: firstly execute...
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