Posture monitoring system, method, surgical robot system and storage medium
A surgical robot and monitoring system technology, applied in the field of surgical robot system, storage medium, and posture monitoring system, can solve the problems of single positioning method, limited position of surgical instruments, inability to calculate posture and posture, etc. Bit flexible effects
Active Publication Date: 2022-03-29
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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[0004] Most of the surgical robot systems in the prior art are single base and single surgical trolley, but the positioning method of single base and single surgical trolley is single, and the position of surgical instruments is greatly restricted. Therefore, it is necessary to realize a multi-base surgical robot system , however, there is no better pose monitoring solution at present, and it is impossible to calculate the pose of surgical instruments on any base. Therefore, it is impossible to achieve accurate control of the multi-base surgical robot system
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[0056] The following is attached Figures 1 to 6 The pose monitoring system, method, surgical robot system and storage medium proposed by the present invention will be further described in detail with specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and all use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In order to make the objects, features and advantages of the present invention more comprehensible, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation...
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The present invention provides a posture monitoring system, a method, a surgical robot system and a storage medium. The posture monitoring system is applied to a surgical robot system. The surgical robot system includes at least two bases, and each base is provided with at least one The mechanical arm and the posture monitoring system include: a first posture acquisition module, which is used to obtain the posture information of each base; a second posture acquisition module, which is used to obtain the posture information of each joint of each mechanical arm; and a controller , communicated with the first pose acquisition module and the second pose acquisition module, used to obtain the pose information of the end of each robot arm based on the pose information of each base and the pose information of each joint of the corresponding robot arm . The present invention can complete the monitoring of the position and posture of multiple bases of the surgical robot system, and realizes the monitoring of the position and posture of the end of the mechanical arm on any base under the condition of using a trolley with multiple bases.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a posture monitoring system and method, a surgical robot system and a storage medium. Background technique [0002] At present, the application of robotic manufacturing technology in the field of medical surgery has received widespread attention, and it is one of the foreword hotspots in the field of robotics research. Robot technology has not only brought huge technological changes in the aspects of precise surgical positioning, minimally invasive surgery, and non-destructive diagnosis and treatment, but also is changing many concepts of conventional medical surgery. Rehabilitation engineering is of great significance. [0003] At present, the research on medical surgical robotic system has been widely used in many medical fields, such as ultrasonic-based remote teleoperated surgical system, teleoperated robotic system for heart valve repair, minimally invasive robotic system fo...
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IPC IPC(8): A61B34/30A61B34/00
CPCA61B34/30A61B34/70
Inventor 郭越何超
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD