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Mechanical arm force feedback system and method, control method and control terminal

A feedback system and feedback control technology, applied in the field of medical devices, can solve the problems of difficult control, excessive volume and high cost, and achieve the effect of expanding the scope of application

Active Publication Date: 2021-04-20
SHANGHAI NINTH PEOPLES HOSPITAL AFFILIATED TO SHANGHAI JIAO TONG UNIV SCHOOL OF MEDICINE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a mechanical arm force feedback system, method, control method and control terminal, which are used to solve the problem of relatively mature surgical assistance functions that have not been seen in the prior art. Medical robots, similar to other medical robots, have many problems such as complex structure, difficult control, large size, and high cost; in addition, conventional medical robots are rarely equipped with force feedback systems for precise operations , so the application in related fields of otology is relatively limited.

Method used

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  • Mechanical arm force feedback system and method, control method and control terminal
  • Mechanical arm force feedback system and method, control method and control terminal

Examples

Experimental program
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Effect test

Embodiment 1

[0054] Embodiment 1: An external mechanical arm force feedback system for assisting surgery, such as image 3 A schematic diagram of the system is shown.

[0055] The system includes: a force detection fixed ring 31 , a main control system 32 , a force feedback adjustment mechanism 33 and a mechanical arm 34 .

[0056] Wherein, the force feedback adjustment mechanism 33 is respectively connected with the force detection fixed ring 31 , the main control system 32 and the mechanical arm 34 , and the force detection fixed ring 31 is connected with the main control system 32 . The force detection fixing ring 31 is used to fix the upper arm of the operator and collect the force application data of the operator and transmit it to the main control system 32, so that the main control system 32 can judge whether the operator is in the state of voluntary force application through an algorithm. The end of the mechanical arm 34 is provided with an electrical interface for direct connecti...

specific Embodiment

[0059] Such as Figure 4 A schematic flowchart showing a force feedback method of a mechanical arm in an embodiment of the present invention.

[0060] The methods include:

[0061] Step S41: Judging the operator's force application state according to the received force application data collected by the force detection and fixing module, wherein the force application state includes: an active force application state and a non-active force application state.

[0062] Optionally, judge the operator's force application state according to the received force application data collected by the force detection and fixing module, wherein the force application state includes: an active force application state and a non-active force application state; wherein, The force application data is the force application data of any part of the surgeon, which is not limited in this application; for example, the force application data at the wrist.

[0063] Optionally, the force detection fixing m...

Embodiment 2

[0072] Embodiment 2: The method for the force feedback of the plug-in mechanical arm for assisting surgery, such as Figure 5 A schematic diagram of the system is shown.

[0073] The method includes: fixing the wristband to collect the force application data of the operator; the control system judges the force application status of the operator based on the force application threshold value received by the force detection and fixing module, that is, whether it is in the Judging the state of voluntary force application; if the operator is in the state of voluntary force application, the force feedback adjustment mechanism will be activated and unlock the braking mechanism of the mechanical arm; if the operator is in the state of involuntary force application, the force feedback adjustment mechanism will be activated The mechanism keeps locked, so that the mechanical arm also maintains the braking state synchronously, so that the mechanical arm can hover while maintaining the or...

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Abstract

The invention discloses a mechanical arm force feedback system and method, a control method and a control terminal. The system comprises a force detection fixing module which is used for collecting the force application data of an operator, a control module, a force feedback state adjusting module and a mechanical arm, wherein the control module is used for judging the force application state of the operator according to the received force application data, and the force application state comprises an active force application state and a non-active force application state; the force feedback state adjusting module is used for adjusting the working state of the force feedback state adjusting module according to the force application state; and the mechanical arm is used for converting into a mechanical arm state adapting to the working state according to the working state of the force feedback state adjusting module. Real-time movement and hovering of the mechanical arm can be achieved through algorithm control and according to the force application condition of an operator, and the actual clinical requirement that a surgeon needs to relax and rest upper limbs under the long-time operation condition is met. The mechanical arm can be used in cooperation with a surgical robot and can also be used as an independent surgical instrument, and the application range is enlarged.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a mechanical arm force feedback system, method, control method and control terminal. Background technique [0002] In surgical operations, the time for surgeons to perform an operation is not fixed, ranging from tens of minutes to dozens of hours. When performing complex operations that last more than 3 hours, the operator needs to perform the operation for a long time, which will inevitably cause fatigue of the upper limbs, and even involuntary shaking and convulsions, which will bring huge labor to the surgeon. While burdening, it also indirectly increases the risk of surgery. In the prior art, the technology most suitable for solving the above problems is the related technology of the robot. Due to the principle of assisting the user, the surgical robot can achieve very powerful functions. However, due to the complexity of the design and the high cost, the application of surg...

Claims

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Application Information

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IPC IPC(8): A61B34/30
Inventor 贾欢吴皓
Owner SHANGHAI NINTH PEOPLES HOSPITAL AFFILIATED TO SHANGHAI JIAO TONG UNIV SCHOOL OF MEDICINE
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