Mechanical arm anti-collision method and system and medical robot

Abstract

The invention relates to the technical field of medical robots, in particular to a mechanical arm anti-collision method and system and a medical robot. The mechanical arm anti-collision method comprises the steps that discrete points are arranged on mechanical arms, according to the calculated relative distance between the discrete points on different mechanical arms, the mutual acting force borneby each discrete point is obtained so as to obtain resultant force of the mutual acting force borne by the discrete points, the decare acting force borne by each mechanical arm is obtained, an operator can sense the decare acting force in real time, and therefore the risk that mechanical arms are likely to interfere and collide with each other is effectively lowered.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a method and system for avoiding collision of a mechanical arm, and a medical robot. Background technique [0002] At present, in the specific operation process of medical robots, it is generally necessary to control multiple robotic arms to cooperate with each other. However, during the movement of the robotic arms, defects such as interference and collision are prone to occur between the robotic arms. [0003] For example, in the process of performing detection, surgery and other related operations, a remote-operated medical robot generally controls two or more mechanical arms (such as tool arms) to work together to move the medical devices carried by each to the expected position. Then, detection or surgery are performed on the lesion. However, during the movement of the robotic arms, due to the small distance between the robotic arms, interference and collision risks...

AI Technical Summary

Problems solved by technology

Although this technical solution uses other trajectory movements to avoid tool arm collisions, avoiding the desired trajectory movement will inevitably result in inaccurate master-slave control, and the doctor cannot intuitively feel the collision resistance at the master control end

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