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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.

Active Publication Date: 2021-04-30
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention aims to solve the technical problems of poor real-time performance, poor accuracy and low precision of the master-slave tracking control method of the existing minimally invasive surgical robot system, and provides a master-slave tracking control method for minimally invasive surgical robots that improves the poor timeliness, poor accuracy and precision. from tracking control method

Method used

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  • Master-slave tracking control method for minimally invasive surgery robot
  • Master-slave tracking control method for minimally invasive surgery robot
  • Master-slave tracking control method for minimally invasive surgery robot

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Embodiment Construction

[0055] The main operating arm used in the present invention is the doctor's mechanical arm in the utility model patent whose authorized announcement number is CN210872029U, and the name is called the doctor's operating table. The applied slave operating arm is a mechanical arm with the patent number 201711314221.6 and the name is the main operating arm for minimally invasive surgery.

[0056] Such as figure 1 In the main operating arm shown, the rear end of the first arm 2 is connected to the base 1 through the first joint, the first arm 2 can rotate on the horizontal plane, and the rotation connecting seat 5 and the front end of the first arm 2 pass through the first joint. The two joints are connected, the rotating connecting seat 5 can rotate on the horizontal plane, the second arm 3 is connected to the rotating connecting seat 5 through the third joint, and the second arm 3 can rotate on the vertical plane.

[0057]During the operation, the doctor holds the wrist 4 with h...

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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.

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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Application Information

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IPC IPC(8): A61B34/37G16H40/63G16H50/50
CPCA61B34/37A61B34/70G16H40/63G16H50/50A61B2034/301
Inventor 姜英俊王炳强王淑林孙之建
Owner SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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