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

Abstract

The mechanical arm force feedback system, method, control method, and control terminal of the present invention include: a force detection and fixing module for collecting force application data of the operator; a control module for judging the force application data according to the received force application data. The force application state of the operator, wherein the force application state includes: an active force application state and a non-active force application state; a force feedback state adjustment module, which is used to adjust its own working state according to the force application state; the mechanical arm, It is used to adjust the working state of the module according to the force feedback state, and transform it into a state of the mechanical arm adapted to the working state. The invention can realize the real-time movement and hovering of the mechanical arm through algorithm control and according to the force applied by the operator, which meets the actual clinical needs of the surgeon who needs to relax and rest the upper limbs under long-term operation conditions. The present invention can be used not only in conjunction with a surgical robot, but also as an independent surgical instrument, which expands its scope of application.

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 a surgical operation, the time for a surgeon to perform an operation is not fixed, ranging from tens of minutes to as many as 10 hours. When performing a complex operation that lasts more than 3 hours, because the operator needs to perform the operation for a long time, it will inevitably cause fatigue of the upper limbs, and even cause involuntary shaking and convulsions, which will bring huge labor to the surgeon. At the same time, it also indirectly increases the risk of surgery. Among the existing technologies, the most suitable technology for solving the above problems is the related technology of robots. Surgical robots can achieve very powerful functions because of the principle of assisting the user. However, due to the complexity of the design and the hi...

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.

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