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Surgical robot constrained motion control method based on spinor theory

A surgical robot, a technology for restraining motion, applied in the field of motion control of surgical robots, can solve problems such as large amount of calculation and long calculation time, and achieve the effects of improving response speed, reducing damage, and simplifying the control process

Active Publication Date: 2021-07-30
BEIHANG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

This method has a large amount of calculation, a long calculation time, and there is a cumulative error

Method used

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  • Surgical robot constrained motion control method based on spinor theory
  • Surgical robot constrained motion control method based on spinor theory
  • Surgical robot constrained motion control method based on spinor theory

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0028] like figure 1 As shown, the robotic surgery system 1 provided by the embodiment of the present invention includes: a main console 2; a surgical robot 3; a surgical tool 4; the main console 2 includes: a display device 5 for displaying images in the patient's body and operating images; The machine interaction device 6 can output the operation of the surgeon to the surgical robot by means of the man-machine interaction devi...

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Abstract

The invention discloses a surgical robot constrained motion control method based on a spinor theory. The surgical robot constrained motion control method based on the spinor theory comprises the steps of S1, performing RCM point calibration; S2, aligning the virtual RCM point with the notch hole; S3, generating an RCM constraint; and S4, controlling the end effector to move. The step S1 comprises the following sub-processes: S11, determining the base coordinate poses of a binocular camera and a robot; S12, carrying out heat treatment; determining the tool axis in end effector coordinates; and S13, defining the position of the RCM point on the axis, and calibrating the position of the virtual RCM point on the tool shaft by adopting a binocular camera, a visual auxiliary marker and a visual probe.

Description

technical field [0001] The present invention relates to medical instruments, and in particular to the motion control of surgical robots during fixed-point rotation of surgical instruments during minimally invasive surgery, and more particularly to a surgical robot with Remote Center of Motion Constraint (“RCM”) based on screw theory motion control method. Background technique [0002] In minimally invasive surgery, surgical tools (such as surgical instruments, endoscopes, etc.) are inserted into the body through small holes cut on the patient's body surface, and the surgical tools are operated from outside the body under the guidance of the endoscope camera to complete the operation. Compared with open surgery in the past, the introduction of these surgical conditions has brought great benefits to patients, but the surgical field of view is limited, and the requirements for the operator are high and labor-intensive. [0003] The introduction of robotics in minimally invasiv...

Claims

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Application Information

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IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/301
Inventor 王君臣孙振卢春姮张英豪王田苗
Owner BEIHANG UNIV
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