Starting method of surgical robot, readable memory and surgical robot

Abstract

The invention relates to a starting method of a surgical robot, a readable memory based on a surgical method and a surgical robot based on the surgical method. The surgical robot comprises handles andoperating arms; the handles can move freely; each operating arm has an end instrument; each end instrument is used for executing surgical operation and moving with the corresponding handle; the starting method comprises acquiring first attitude information of the end instruments, acquiring second attitude information of the handles in real time, comparing the second attitude information and the first attitude information, aligning the end instruments with the handles if a deviation between the first and second attitude information is within a preset deviation, aligning the end instruments with the handles, transmitting a followup signal so that the end instruments are started to enter a followup state.

Description

technical field

[0001] The invention relates to the field of medical devices, in particular to a method for starting a surgical robot, a readable memory and the surgical robot. Background technique

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, robotic technology for minimally invasive surgery has gradually matured and been widely used. A minimally invasive surgical robot usually includes a main operating table and a secondary operating device. The main operating table includes a handle. The doctor sends control commands to the secondary operating device through the operating handle. The secondary operating device includes multi...

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