Control method of end adapter of mechanical arm

Abstract

The present application relates to a method for controlling an end adapter of a mechanical arm. The control method includes acquiring a first path. The first path passes through the first target point and the first craniotomy point, and the tip adapter is positioned at the first positioning point. The first positioning point is located on the side of the first cranial entry point away from the first target point. The location information of the second target point is obtained. A second path including the second target point is obtained according to the position information of the second target point and the first path. The second path is parallel to the first path. The tip adapter is driven to move to the second anchor point. The second positioning point is located on the second path, and the second positioning point is spaced apart from the second target point. The control method locates the position of the second target point, and obtains the second path according to the position information of the second target point and the first path, avoiding re-modelling, data collection and path planning, and saves time. Even if the position of the target point changes many times, a new puncture path can be obtained quickly, which improves the operation efficiency.

Description

technical field [0001] The present application relates to the field of medical technology, in particular to a method for controlling an end adapter of a mechanical arm. Background technique [0002] Existing techniques for target fine-tuning are achieved through mechanical structures. A special mechanical structure is fitted on the end of the robotic arm of the surgical robot or on the stereotaxic frame, and the structure provides five puncture paths arranged in an orderly manner. One of the paths is the center path, passing through the target point. The other four paths are respectively located in the four directions of up, down, left, and right of the central path, and are separated from the central path by a fixed distance. The outer four paths pass through the area around the target. [0003] During surgery, the user performs positioning operations with a central path. If you need to adjust the position of the target point, switch to the four paths of up, down, left,...

AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to provide a control method for the end adapter of the mechanical arm to solve the problem of how to improve the operation efficiency.

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