Control method, system and equipment for reconstruction instrument surgical field center and storage medium

Abstract

The invention relates to a control method, system and equipment for a surgical field center of a reconstruction instrument and a readable storage medium, and the method comprises the steps: obtaining a current pose of a movable platform under a mechanical coordinate system after reconstructing the instrument surgical field center, and obtaining a target pose of a static platform under the mechanical coordinate system after reconstructing the instrument surgical field center according to the current pose of the movable platform; performing pose transformation on the static platform according to the current pose of the movable platform and the target pose of the static platform; obtaining the torsion angle between the movable platform and the static platform on the central axis according to the current pose of the movable platform and the target pose of the static platform, performing rotation transformation on the movable platform according to the torsion angle so that the parallel platform can return to the zero position, and the problem that in the prior art, it is difficult to achieve pose zero returning of a parallel robot is solved; the control accuracy of reconstruction of instrument surgical field center is improved, and the motion performance of the parallel platform is guaranteed.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a control method, system, device and storage medium for reconstructing the surgical field center of an instrument. Background technique [0002] Before the application operation, the robot needs to be positioned so that the end of the instrument can reach the corresponding operating space. For the parallel robot, the positioning first depends on the movement of the serial manipulator to make the end of the instrument reach the operating space, and then through the control of the parallel platform. The end of the instrument reaches the middle of the operating space to achieve precise positioning. [0003] When transferring the instrument to another remote location, if the instrument is directly moved to the target point through the active arm, the parallel platform may already be at the edge of the working space at this time, so it is necessary to keep the position of the...

AI Technical Summary

Problems solved by technology

[0004] The active arm of the parallel robot has a small range of motion. After the positioning is completed, the parallel platform is usually not at the zero position, which may cause the parallel platform to fail to cover the application’s operating space in the motion space, so that the parallel platform is stuck at the limit position and cannot complete the operation.

Due to the limited freedom of movement of the passive arm, attitude return to zero cannot be fully realized only through the movement of the passive arm

[0005] At present, there is no effective solution to the problem that parallel robots are difficult to return to zero in related technologies.

Images