Master-slave tracking control method for minimally invasive surgery robot

A minimally invasive surgery, tracking control technology, applied in surgical robots, surgical manipulators, computer-aided medical procedures, etc., can solve problems such as poor accuracy, low precision, and poor real-time performance, and achieve the effect of simplifying complexity and improving real-time performance.
CN112716608AActive Publication Date: 2021-04-30SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
Publication Date
2021-04-30

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Abstract

The invention relates to a master-slave tracking control method for a minimally invasive surgical robot, solves the technical problems of poor real-time performance, poor accuracy and low precision of a master-slave tracking control method of an existing minimally invasive surgical robot system, and discloses a simplified kinematics modeling method combining a heterogeneous mapping mode and an isomorphic mapping mode. A master-slave manipulator positioning part adopts a heterogeneous mapping mode, and the master-slave manipulator posture part adopts an isomorphic mapping mode. The robot is widely applied to minimally invasive surgery robots.
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Description

technical field

[0001] The invention relates to the technical field of minimally invasive surgical robots, in particular to a master-slave tracking control method for minimally invasive surgical robots. Background technique

[0002] Refer to the Chinese invention patent with the authorized announcement number CN109091237B and the name of the minimally invasive surgical instrument auxiliary system and the Chinese invention patent with the authorized announcement number CN109091238B and the name of the split minimally invasive surgical instrument auxiliary system, and the authorized announcement number CN210872029U with the name The utility model patent for the doctor's operating table, and the minimally invasive surgical robot is designed as an equipment system that is operated by a doctor in the operating room under the endoscope to control surgical instruments for surgery. The doctor sits in front of the doctor's operating table, and by watching the 3D image display and ope...

Claims

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