Tremor eliminating method and system for vascular interventional surgery robot system

Abstract

The invention discloses a tremor eliminating method and system for a vascular interventional surgery robot system. The tremor eliminating method mainly comprises a physiological tremor eliminating strategy and a stress tremor eliminating strategy, wherein the stress tremor eliminating strategy mainly comprises recognition and compensation of stress tremor caused by tension, the recognition mainlystarts from the perspective of safe collision force, and a safe acceleration is obtained indirectly by using the newton's second law; and a real-time acceleration and the safe acceleration are compared to recognize and compensate the corresponding stress tremor. The strategy has very high practicality and generalizability in the field of manually operated high-precision medical instrument, and issimple in structure and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of medical robots, in particular to a tremor elimination method and system for a vascular interventional surgery robot system, which can indirectly identify human physiological tremors caused by tension from the perspective of safe contact force and achieve the purpose of eliminating such tremors. The removed functions are mainly applied in the field of master-slave medical robots operated by humans. Background technique [0002] With the rapid development of telemedicine technology, more and more master-slave surgical robot systems have been put into use. Among them, the most frequently used and fastest-growing robotic system is the master-slave vascular interventional surgery robot system. The working mode of the master-slave vascular interventional surgery robot system is: the doctor operates the master-end operation device of the master-slave vascular interventional surgery robot system, and the master-...

AI Technical Summary

Problems solved by technology

However, since the master-side operation equipment of the master-slave vascular interventional surgery robot system needs to be operated by human hands, the unavoidable problem is that the master-side motion signal acquisition equipment will also collect the slight tremors of the hands while collecting the normal movements of the hands. , and performed on the slave surgical equipment

And this kind of subtle tremors often cause fatal damage to patients in vascular interventional operations that require extremely high precision

However, the technology for eliminating human hand tremors at the main end for minimally invasive surgical robotic systems is still a blank field. In order to solve this technical problem, a tremor elimination strategy for vascular interventional surgical robotic systems was invented. The frequency and amplitude of physiological tremors can be used to identify and eliminate regular physiological tremors, and the safe acceleration can be obtained through Newton's second law by using the safe contact force. The acceleration of human movements can be measured in real time and compared with the safe acceleration. Recognize and eliminate stress-induced stress tremors

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