Force feedback technology based surgical robot master-slave control experiment system and method

A robot master and control experiment technology, applied in the field of surgical robots, can solve the problems of inability to simulate experiments, inability to develop and experiment surgical robots intuitively, and shortage of experimental platforms for surgical robots, so as to achieve the effect of increasing the sense of reality

Pending Publication Date: 2020-09-11
QIANFOSHAN HOSPITAL OF SHANDONG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of this disclosure is to provide a master-slave control experimental system and method for surgical robots based on force feedback technology to solve the shortage of experimental platforms for surgical robots, which cannot be implemented for the master-slave control of force feedback technology. The problem of experimental simulation solves the problem of inability to intuitively develop and experiment with surgical robots

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  • Force feedback technology based surgical robot master-slave control experiment system and method
  • Force feedback technology based surgical robot master-slave control experiment system and method

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Embodiment 1

[0036] In a typical implementation of the present application, such as Figure 1-Figure 2 As shown, a master-slave control experimental system for surgical robots based on force feedback technology is proposed.

[0037] Its structure is as figure 1 As shown, the realistic force feedback technology includes the main operating hand, the system workstation, the display, the mapping simulation module, the slave hand simulation module and the human body structure simulation module; the main operating hands are two Touch force feedback main hands, The display is a high-definition video display device, and the system workstation also includes a robot ROS control system high-performance PC, ZYNQ control board, FMC high-performance extended Ethernet network card, MOXPOS drive, Maxon DC brushed servo motor, pedal controller, which connection relationship such as figure 2 As shown, an end-to-end simulation simulates the real-time response of a dual master hand input to a dual seven-ax...

Embodiment 2

[0049] This embodiment provides a master-slave control experimental method for surgical robots based on force feedback technology;

[0050] Establish the connection between the main operator and the system workstation, and configure the system of the main operator through the display device, and display the relevant dynamic parameters of the main operator;

[0051] Load the simulation motion model of the equal-scale manipulator, import the designed slave manipulator according to the naming rules or assembly sequence, and complete the parameter collection and data initialization; at the same time, the component is an equal-scale human structure motion space model;

[0052] Complete the HOME mapping between the master hand coordinate system and the slave arm;

[0053] Based on the spatial coordinate relationship between the master hand and the slave manipulator, set the VIEW coordinate system, tactile coordinate system, and absolute coordinate system, and complete the initializa...

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Abstract

The invention provides a force feedback technology based surgical robot master-slave control experiment system, and relates to the field of surgical robots. The surgical robot master-slave control experiment system comprises a master operation hand, a system workstation, a display, a mapping simulation module, a slave hand simulation module and a human body structure simulation module, wherein themaster operation hand sends coordinate information to the system workstation, the system workstation achieves coordinate mapping of the master operation hand and the slave hand simulation module through the mapping simulation module, and the slave hand simulation module and the human body structure simulation module send image information to the display for displaying. Based on force feedback andcoordinate mapping technologies, a mechanical arm model can be simulated in a one-to-one mode, a motion simulation process is completed, and a touch sense is brought into an actual operation processof a surgical robot, so that the sense of reality of a simulation experiment process is increased.

Description

technical field [0001] The present disclosure relates to the field of surgical robots, in particular to a master-slave control experimental system and method for surgical robots based on force feedback technology. Background technique [0002] With the gradual prominence of the advantages of surgical robots and the popularization and application of many departments, in the context of the global application and promotion of Da Vinci surgical robots abroad, many domestic scientific research institutes and companies have joined in the scientific research and products of surgical robots. In the research; the control method of the surgical robot is first of all easy to control the conventional robot. It is a master-slave control method. The doctor controls the master hand to input the control position and speed information in real time, and completes the calculation of the driving signal through a precise control algorithm. And it requires very high real-time performance, accurac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/76A61B34/77
Inventor 胡三元田兆辉冯红光张光永程晓林孙鹏伟
Owner QIANFOSHAN HOSPITAL OF SHANDONG
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