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Force feedback measurement method of surgical manipulator and surgical manipulator

A measurement method and a technology of a robotic arm, which are applied in the field of medical devices and can solve problems such as low accuracy

Active Publication Date: 2022-03-15
NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of low accuracy of force feedback detection in the control of surgical manipulators in the related art, the present invention provides a force feedback measurement method of a surgical manipulator and a surgical manipulator to at least solve the above problems

Method used

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  • Force feedback measurement method of surgical manipulator and surgical manipulator
  • Force feedback measurement method of surgical manipulator and surgical manipulator
  • Force feedback measurement method of surgical manipulator and surgical manipulator

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Embodiment Construction

[0085] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0086] In this embodiment, an application model of a surgical robot arm is provided, figure 1 It is a schematic diagram of an application model of a surgical robot arm according to an embodiment of the present invention, such as figure 1 shown. The surgical robotic arm includes a preoperative positioning assembly 12 and an active arm 14 . The preoperative positioning assembly 12 includes a telescopic mechanism 122 and a rotating mechanism 124; the telescopic mechanism 122 performs telescopic movement to control the telescopic position, and is mainly used for preoperative...

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Abstract

The invention discloses a method for measuring force feedback of a surgical robot arm and a surgical robot arm. The surgical robot arm includes a force sensor and an execution rod, and the force sensor is connected to the execution rod. The method includes: receiving the force sensor The measured mechanical information; decompose the gravity of the actuator according to the offset angle of the actuator, and obtain the first force of the actuator and the first moment of the actuator; according to the mechanical information, the first force and the The first torque determines the environmental force and environmental torque at the end of the actuator, thereby solving the problem of low accuracy of force feedback detection in the control of the surgical manipulator.

Description

technical field [0001] The present application relates to the technical field of medical devices, in particular to a force feedback measurement method of a surgical robot arm and the surgical robot arm. Background technique [0002] With the development of science and technology, surgical robots have greatly increased the flexibility of surgical operations, allowing doctors to perform more precise operations, while adding ergonomic design to reduce doctor fatigue. Surgical robots overcome the deficiencies of traditional surgery in terms of observation, pleasantness, operation, and flexibility. However, in related technologies, surgical robots still lack force feedback functions, and cannot accurately feed back the contact force between surgical instruments and patient tissues to doctors. Therefore, the doctor cannot identify the properties or lesions of the tissue by touching the tissue. Therefore, in the related art, the accuracy of the force feedback detection in the contr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/00
CPCA61B34/76
Inventor 黄善灯丁立闫泳利柳建飞
Owner NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD