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Method and system for mitigating collision of surgical robot

A robot system and robot technology, applied in the field of collision mitigation of surgical robots and systems, can solve problems such as inability to confirm the position of subordinate robots, patient injury, and inability to recognize collisions.

Pending Publication Date: 2021-07-30
MEERE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At this time, the operator's field of vision is focused on the display unit, and the operator cannot confirm the position of the slave robot.
Furthermore, the operator is unaware of the occurrence of collisions between the slave robot and other objects, patients, surgical assistants, etc.
If the operator continues to operate the device without acknowledging the occurrence of a collision, it will cause inappropriateness to the slave robot or cause injury to the patient

Method used

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  • Method and system for mitigating collision of surgical robot
  • Method and system for mitigating collision of surgical robot
  • Method and system for mitigating collision of surgical robot

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Embodiment Construction

[0031] In the following, referring to the accompanying drawings, only an exemplary embodiment will be described in detail. Of course, the following descriptions are only used to specify the embodiments, and are not intended to limit or limit the scope of rights of the invention. Experts in the corresponding technical field can easily deduce the content from the detailed description and the examples, and interpret it as belonging to the scope of rights.

[0032] Terms such as "consisting" or "comprising" used in this application should not be interpreted as necessarily including all the constituent elements or steps described in the specification, and should be interpreted as not including some of the constituent elements or steps , or may further include additional constituent elements or steps.

[0033] The terminology used in this specification, while considering the function in the present invention, selects the general term widely used at present as much as possible, but ...

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Abstract

A method for mitigating a collision of a surgical slave robot according to one embodiment comprises: a first step of acquiring external torque generated by a slave robot colliding with another object or a person; a second step of acquiring a joint angle of the slave robot; a third step of calculating, on the basis of the acquired external torque and the acquired joint angle, a target joint angle for changing the position of the slave robot so that the generated external torque is attenuated; and a fourth step of controlling the slave robot to change the position from the acquired joint angle to the calculated target joint angle.

Description

technical field [0001] The invention relates to a method and system for controlling a surgical robot to mitigate the collision when the surgical robot collides with other objects or people. Background technique [0002] In medicine, the so-called surgery refers to the use of medical machinery to amputate, cut skin or mucous membranes, other tissues, or apply other operations to treat diseases. In particular, laparotomy, in which the skin of the surgical site is incised to treat, reshape, or remove the internal organs, has recently been replaced by robotic surgery due to problems such as bleeding, side effects, patient pain, and injury. program has attracted much attention. [0003] This type of surgical robot can be divided into a master robot that generates and transmits required signals through the operation of the operator, and a slave robot that receives signals from the operating part and directly applies operations required for surgery to the patient. The master robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/02B25J19/06A61B34/37A61B34/00A61B90/00
CPCA61B34/37A61B90/00A61B2017/00128A61B2017/00119A61B2090/066A61B90/37A61B2034/2059A61B2090/067A61B2090/0811B25J9/1676B25J9/1689G05B2219/37632G05B2219/37624B25J9/1692B25J9/1666B25J19/02B25J19/06A61B34/74A61B34/76A61B90/03A61B2017/00212B25J13/085B25J13/088
Inventor 崔锺度金兑源
Owner MEERE
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