Control method and control device for surgical robot and tail-end instrument

Abstract

The invention relates to a control method and control device for a surgical robot and a tail-end instrument. The control method includes the following steps: acquiring first target position and pose information of the controlled tail-end instrument in a first coordinate system; decomposing the first target position and pose information to obtain second target position and pose information of the controlled tail-end instrument in a second coordinate system and third target position and pose information of the far end of a mechanical arm in the first coordinate system; and controlling linkage ofjoint components in one corresponding operation arm according to the second target position and pose information, and controlling linkage of joint components in the mechanical arm according to the third target position and pose information to allow the controlled tail-end instrument to achieve a target position and pose corresponding to the first target position and pose information under the linkage of the mechanical arm and the operation arm. The method and device provided by the invention can expand the motion range of the tail-end instrument, and the device is easy to use.

Description

Technical field [0001] The present invention relates to the field of medical equipment, in particular to a control method and control device of a surgical robot and its terminal equipment. Background technique [0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments and related equipment such as laparoscopy and thoracoscopy to perform operations inside human cavities. 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, minimally invasive surgery robot technology has gradually matured and been widely used. Minimally invasive surgical robots usually include a master operating table and slave operating equipment. The master operating table includes a handle. The doctor sends control commands to the slave operating device through the operating handle. The slave operating device includes a robotic arm ...

AI Technical Summary

Problems solved by technology

[0004] At some point, only the manipulator among the manipulator and the manipulator can be controlled and adjusted independently. However, due to the limitation of the manipulator’s own structural characteristics, the range of movement of the distal end instrument is easily limited, which makes it impossible to ensure the ability to operate in many scenarios. The end device reaches the desired posture, and there is a problem that it is difficult to use

Images