Control method of multi-level parallel surgical robotic arm and multi-level parallel surgical robotic arm
A control method and a technology of a robotic arm, which are applied in the field of medical devices, can solve the problems of low control precision of multi-level parallel surgical robotic arms, and achieve the effect of precise control
Active Publication Date: 2022-07-01
NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD
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[0004] The embodiment of the present application provides a control method of a multi-stage parallel surgical manipulator and a multi-stage parallel surgical manipulator to at least solve the problem of low control precision of a multi-stage parallel surgical manipulator in the related art
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[0073] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.
[0074] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, the present application can also be applied to the present application according to these drawings without any creative effort. other similar situations. In addition, it will also be appreciated that while such...
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The present application relates to a control method of a multi-level parallel surgical robotic arm and a multi-level parallel surgical robotic arm, wherein the control method includes: acquiring the coordinates of the telecentric fixed point on the execution rod, and acquiring the end coordinates of the surgical instrument ; According to this telecentric fixed point coordinate and this end coordinate, determine the position offset of this first parallel platform and the first attitude vector, and determine the second attitude vector of this second parallel platform; According to this position offset , the first attitude vector and the second attitude vector, control the first parallel platform to move to the first specified attitude; according to the first attitude vector and the second attitude vector, control the second parallel platform to move to the second Specify the pose. Through the present application, the problem that the working space of the surgical robotic arm is small is solved, and the precise control of the multi-level parallel surgical robotic arm is realized.
Description
technical field [0001] The present application relates to the technical field of medical devices, and in particular, to a control method of a multi-level parallel surgical robotic arm and a multi-level parallel surgical robotic arm. Background technique [0002] With the development of minimally invasive surgery technology and artificial intelligence technology, robot-assisted minimally invasive surgery has gradually become one of the development trends of minimally invasive surgery. In related technologies, the Stewart six-degree-of-freedom parallel platform has the characteristics of many degrees of freedom, strong carrying capacity, and no accumulated errors. The application of the parallel platform to the surgical robotic arm can avoid the easy occurrence between the robotic arms of the surgical robot. However, the surgical manipulator controlled by the multi-stage parallel platform usually has a slow inverse solution operation and a large error, resulting in low precisi...
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IPC IPC(8): B25J9/16A61B34/10A61B34/30A61B34/00
CPCB25J9/16B25J9/1664B25J9/1679A61B34/10A61B34/30A61B34/00
Inventor 柳建飞柏龙陈晓红黄善灯潘鲁锋
Owner NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD