Surgical robot and control method and control device of tail end instruments of surgical robot

Abstract

The invention relates to a surgical robot and a control method and a control device of tail end instruments of the surgical robot. The control method comprises the steps: first target pose informationof a far end of a mechanical arm in a first coordinate system and current pose information of all controlled operation tail end instruments in the first coordinate system are obtained; under the condition that the far end of the mechanical arm reaches the target pose corresponding to the first target pose information, the current pose information of the controlled operation tail end instruments in the first coordinate system is converted to obtain second target pose information of the corresponding controlled operation tail end instruments in a second coordinate system; according to the firsttarget pose information, all joint assemblies in the mechanical arm are controlled to be linked, so that the far end of the mechanical arm can reach a target pose corresponding to the first target pose information; and joint assemblies in corresponding operating arms are controlled to be linked according to the second target pose information, so that the corresponding controlled operating end instruments keep the current position and / or pose unchanged. The mechanical arm can be easily and safely adjusted during a surgery.

Description

technical field

[0001] The present invention relates to the field of medical instruments, in particular to a control method and control device for a surgical robot and its terminal instruments. Background technique

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope 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. Minimally invasive surgical robots usually include a main operating console and slave operating equipment. The main operating console includes a handle. The doctor sends control commands to the slave operating equipment through the operating handle. The slave operating equipment ...

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