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A sliding table motion control method and device for a laparoscopic surgical robot

A surgical robot and motion control technology, applied in the field of surgical robots, can solve problems such as reducing the accuracy of surgical instruments, and achieve the effect of ensuring safety, stability and accuracy

Active Publication Date: 2022-05-17
HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most laparoscopic surgical robot slide motion control methods rely solely on human hands, which greatly reduces the accuracy of surgical instruments moving to the target position

Method used

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  • A sliding table motion control method and device for a laparoscopic surgical robot
  • A sliding table motion control method and device for a laparoscopic surgical robot
  • A sliding table motion control method and device for a laparoscopic surgical robot

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Embodiment Construction

[0034] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] Such as figure 1 , figure 2 as well as Figure 4 As shown, the embodiment of the present invention provides a method for controlling the movement of the sliding table 3 of a laparoscopic surgical robot, including:

[0036] Step 1: Determine the motion control area of ​​the slide table 3 on the mechanical arm 4;

[0037] Step 2: Obtain the force applied to the sliding table 3 and determine the current speed of the sliding table 3;

[0038] Step 3: Obtain the maximum speed limit in the motion control area, compare the current speed with the maximum speed limit, when the current speed is greater than the maximum speed limit, set the maximum speed limit as the output speed, and when the current speed is less than the maximum speed l...

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PUM

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Abstract

The present invention relates to the technical field of surgical robots, in particular to a method and device for controlling the movement of a sliding table of a laparoscopic surgical robot. Including: determine the motion control area of ​​the sliding table on the mechanical arm; obtain the force applied to the sliding table and determine the current speed of the sliding table; obtain the maximum speed limit in the motion control area, compare the current speed with the maximum speed limit, When the current speed is greater than the maximum speed limit, set the maximum speed limit as the output speed; when the current speed is less than the maximum speed limit, then set the current speed as the output speed; send the output speed to the motor, and control the motor to drive the sliding table sports. The process of the sliding table moving from the initial position to the target position is a variable speed movement. When the sliding table moves to the target position, the output speed of the sliding table is controlled to be zero by controlling the magnitude of the force, thus ensuring that the doctor can use the surgical instruments to perform the operation safely. stability and accuracy.

Description

technical field [0001] The present invention relates to the technical field of surgical robots, in particular to a method and device for controlling the movement of a sliding table of a laparoscopic surgical robot. Background technique [0002] With the development of laparoscopic technology and surgical robots, the scope of application of laparoscopic surgery has been continuously expanded, and operations that require delicate operations and take a long time continue to appear. Surgical robots can partially replace boring, repetitive, and tiring operations. Using the stability of the robot system image and fine surgical instruments, it can complete difficult operations in traditional laparoscopic surgery such as small duct anastomosis. In difficult operations, doctors need to frequently switch surgical instruments to complete surgical operations such as cutting, separation, stripping, suturing, and knotting. At the same time, the surgical instruments are set on the slide ta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/302
Inventor 战梦雪庞海峰
Owner HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD