Light force fusion tail end clamping device and positioning control method thereof

Abstract

The invention discloses a light-force fusion tail end clamping device and a positioning control method thereof. The light-force fusion tail end clamping device comprises a near-infrared optical positioning instrument and a clamping mechanism, the clamping mechanism comprises a puncture needle stress collecting device, a puncture needle clamping device, a packaging box and a motor sliding module packaged in the packaging box; the puncture needle stress collecting device comprises a puncture needle transverse force collecting end and a puncture needle radial force collecting end. The puncture needle clamping device comprises two clamping assemblies fixed to the puncture needle transverse force collecting end and the puncture needle radial force collecting end respectively. The near-infrared optical positioning instrument is provided with a first positioning tool, a second positioning tool and a positioning plate which are each provided with reflective mark points. According to the invention, the puncture needle can be fixed and moved as required, and the acting force on the puncture needle can be fed back in time, so that the real-time adjustment of the pose of the puncture surgical robot is realized; and on the basis of judging and adjusting the pose of the robot through the near-infrared optical positioning instrument, the operation accuracy and safety of the puncture operation robot in an operation are further improved.

Description

technical field [0001] The invention relates to the technical field of optical navigation and force feedback control of surgical robots, in particular to an optical force fusion end gripper and a positioning control method thereof. Background technique [0002] With the advancement of robot technology and the innovation of medical technology, the combination of medicine and robotics has become one of the development trends of the medical industry. Medical robots refer to a variety of robotic devices used in surgery, medical training, rehabilitation, prostheses, and assistance for the disabled. According to different service objects, it can be divided into medical surgical robots, rehabilitation robots, and elderly and disabled robots. As one of the branches of medical surgical robots, the puncture robot is a medical robot dedicated to minimally invasive surgery. It generally consists of four parts: a robotic arm, an imaging device, a spatial positioning system, a workstatio...

AI Technical Summary

Problems solved by technology

The first problem is that during the puncture surgery, due to the physiological movement of human organs or tissues, the target point will move and change its position, which makes it difficult for the puncture surgery robot based on optical guidance to hit the target point only by optical tracking. During thoracic and abdominal puncture, respiratory movement will cause the visceral puncture target to move, and muscle contraction and involuntary limb movement during the patient's pain response will also affect positioning and needle puncture

The second problem is that the optical tracking system used can only judge the situation of the puncture needle in the human body through the optical markers installed at the end of the robot arm, and then adjust the robot's pose; but in fact, the puncture needle itself is too long to easily cause Elastic deformation will generate an interaction force with the surrounding tissue during the puncture process, but the optical tracking system cannot detect this interaction force, so there is no corresponding force compensation, the adjustment of the robot’s pose is not accurate enough, and the feedback optical information is also inaccurate. Accurate planning and control cannot be obtained, resulting in a serious deviation between the actual puncture trajectory and the planned trajectory, making the interaction force between the puncture needle and the surrounding tissue stronger, so that the puncture needle inside and outside the skin will undergo elastic deformation, In severe cases, there will be visible bending, and eventually human tissue, skin or organs may be damaged.

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