Mechanical arm, working method thereof and surgical robot

Abstract

The invention provides a mechanical arm, a working method thereof and a surgical robot. Convenience, safety and reliability of adjustment of the mechanical arm are improved. The mechanical arm comprises an adjusting arm and a tool arm which are connected; the tool arm comprises a plurality of tool arm joints which are used for adjusting postures of a surgical instrument at fixed points; the adjusting arm comprises a plurality of adjusting arm joints and motors for driving the adjusting arm joint to move, and is used for adjusting the positions of the fixed points; the mechanical arm further comprises a sensing unit and a control unit which are in communication connection; the sensing unit is used for sensing a Descartes acting force on the adjusting arm and providing sensing information tothe control unit; and the sensing unit is arranged at the tail end of the adjusting arm or the tool arm, the control unit is in communication connection with the motor for driving the adjusting arm joints, and is used for acquiring component forces or moments of the various adjusting arm joints through jacobi's transformation of force of the mechanical arm, and thus, the output states of the motors on the various adjusting arm joints are controlled.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a mechanical arm of a surgical robot and a working method thereof. Background technique [0002] Minimally invasive surgery has been accepted by more and more patients due to its advantages of small trauma and fast recovery. From the early laparoscopic minimally invasive surgery to the current brain minimally invasive surgery, its technology is expanding more and more rapidly. . As one of the best, the development of laparoscopic minimally invasive surgery is even more rapid. [0003] With the development of laparoscopic minimally invasive surgery technology, the technology of laparoscopic minimally invasive surgical instruments has also made great progress. From the beginning, doctors used laparoscopes and surgical forceps to perform intra-abdominal surgery, and now rely on robotic systems. Laparoscopic minimally invasive surgery. As the most high-end technology o...

AI Technical Summary

Problems solved by technology

At present, the adjustment mode adopted by the Da Vinci surgical robot system is passive adjustment, that is, the external force is applied to make the mechanical arm move. When the external force is weak, some joints cannot move. This adjustment mode greatly weakens the actual function of the mechanical arm. , the manipulator itself should have the ability to drive all joints and can move actively; therefore, the manipulator arm of the more popular surgical robots has insufficient adjustment ability

[0006] (2) The robotic arm is prone to motion interference

The biggest problem with multiple robotic arms is that if the relative position control of the robotic arms is inaccurate during the movement, interference between the robotic arms is likely to occur, affecting the adjustment effect, and more seriously, it will cause additional damage to the patient during the operation. s damage

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