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A robot compliance control method, device and equipment

A technology of compliant control and robotics, applied in the field of robotics, can solve the problems of unfavorable surgical accuracy and efficiency, unfavorable surgical operation compliance, etc., and achieve the effect of improving compliance, improving control accuracy, and improving processing efficiency

Active Publication Date: 2020-07-03
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot compliant control method, device and equipment to solve the problem that in the prior art, when the robot performs surgical operations, according to the safety boundary and surgical area planned before the robot operation, it is not conducive to ensuring The accuracy and efficiency of the operation, and the problems that are not conducive to improving the flexibility of the operation

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  • A robot compliance control method, device and equipment
  • A robot compliance control method, device and equipment
  • A robot compliance control method, device and equipment

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Embodiment Construction

[0053]In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0054] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0055] figure 1 It is a schematic diagram of the implementation flow of a robot compliance control method provided in the embodiment of the present application, and is described in detail as follows:

[0056] In step S101, a magnetic resonance MR ima...

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Abstract

The invention relates to a compliant control method for a robot. The method includes the steps of acquiring a magnetic resonance (MR) image of a target object and normalizing the MR image; dividing acartilage region of the normalized image according to an adjacent voxel means; performing three-dimensional reconstruction according to the MR image, establishing a 3D model of the target object and determining a safety boundary of the 3D model according to the image containing the segmented cartilage region; monitoring the real-time position of an end effector of the robot in the 3D model and updating the safety boundary; performing compliant control on the robot by adopting the updated safety boundary as feedback. Therefore, the efficiency and precision of controlling the robot can be effectively improved, and the compliance of controlling the robot is improved.

Description

technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot compliance control method, device and equipment. Background technique [0002] When robots are used in orthopedic surgery, they are mainly used to achieve high-precision drilling, grinding, cutting bone tissue, etc., and to realize the delicate operation of doctors through dexterous mechanisms, so as to achieve minimally invasive surgery capabilities and minimize surgery X-ray exposure to radiation damage to doctors during the procedure. In the process of robot operation, to ensure the safety of the operation, it is necessary to distinguish and identify the patient's diseased bone from the surrounding bone and soft tissue, establish a model, and divide the safety boundary and operation area. [0003] The current safety boundary and surgical area are generally planned before the robot operation. However, during robotic surgery, the diseased bone tissue will be...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G16H30/40A61B34/00A61B34/10A61B34/20A61B34/30A61B90/00
CPCA61B34/10A61B34/20A61B34/30A61B34/70A61B90/37A61B2034/105A61B2034/2065A61B2090/374
Inventor 杨远源胡颖王宇赵世佳何玉成高鹏
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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