Soft endoscopic surgical robot system based on closed-loop feedback and control method thereof

Abstract

The invention provides a soft endoscope surgical robot system based on closed-loop feedback. The soft endoscope surgical robot system comprises a surgical robot, an operating mechanism and a control module. The surgical robot comprises a first bearing bottom plate, a top plate, an endoscope fixing frame, an optical fiber driving module and a guide support. The operating mechanism comprises a second bearing bottom plate, an operating table and a seat; the first telescopic rod is connected with a first driving device for driving the first telescopic rod to vertically stretch; the displacement plate is connected with a second driving device for driving the displacement plate to displace; the rotating body is connected with a third driving device for driving the rotating body to rotate; the endoscope fixing frame is connected with a fourth driving device for driving the endoscope fixing frame to adjust the bending angle of the endoscope snake bone; and the optical fiber driving module is connected with a fifth driving device. According to the invention, intelligent control and flexible operation of the surgical robot are realized, so that an operation can be performed through the surgical robot.

Description

technical field [0001] The invention relates to the field of intelligent medical technology, in particular to a closed-loop feedback-based flexible endoscopic surgical robot system and a control method thereof. Background technique [0002] As we all know, endoscopic surgery is a very efficient and complicated kidney surgery. During the operation, the doctor usually needs to hold the endoscope for a long time, and at the same time find the stones through the endoscopic fiber optic imaging system combined with the moving and rotating endoscope for surgical operation. Not only is the labor load heavy, but it also requires the doctor's superb experience and hand-holding movement to move the fiber optic head to the correct angle, which is also directly related to whether the operation can be carried out smoothly and efficiently. With the development of automation technology, how to combine the robotic arm technology with the surgical trolleys commonly used in medical institution...

AI Technical Summary

Problems solved by technology

[0002] As we all know, endoscopic surgery is a very efficient and complicated kidney surgery. During the operation, the doctor usually needs to hold the endoscope for a long time, and at the same time find the stones through the endoscopic fiber optic imaging system combined with the moving and rotating endoscope for surgical operation. Not only is the labor load heavy, but it also requires the doctor's superb experience and hand-holding movement to move the fiber optic head to the correct angle, which is also directly related to whether the operation can be carried out smoothly and efficiently.

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