Cavity preparation method and device based on mechanical arm and surgical robot

Abstract

The invention provides a cavity preparation method and device based on a mechanical arm and a surgical robot, and belongs to the technical field of biomedical treatment. When the distance between a machine needle and a cavity preparation position is relatively far, the linear positive correlation is selected to control the machine needle to move towards the cavity preparation position at the initial movement rate based on the external force borne by the mechanical arm; when the distance is relatively close, the machine needle is controlled to be aligned with the cavity preparation position at the middle movement rate based on the external force borne by the mechanical arm on the basis of the nonlinear positive correlation, and when the machine needle reaches the cavity preparation position, the machine needle is controlled to conduct drilling and cavity preparation at the cavity preparation movement rate based on the external force borne by the mechanical arm by selecting the positive correlation; and therefore, the mechanical arm adapts to the distance between the machine needle and the cavity preparation position, different correlativity is selected to adjust the movement rate of the machine needle based on the external force borne by the mechanical arm, the machine needle can accurately drill holes in the expected cavity preparation position, and the efficiency of an implantation operation is improved.

Description

technical field [0001] The present application belongs to the field of biomedical technology, and in particular relates to a nest preparation method, device, and surgical robot based on a mechanical arm. Background technique [0002] With the continuous development of robots, robots that can assist in performing surgery have been adopted and favored by many medical structures, among which the use of robotic arms to assist medical staff in completing oral implant surgery has been widely used. [0003] In the related art, the medical personnel usually control the mechanical arm carrying the needle to prepare the oral cavity for placing the implant in the user's oral cavity, and the movement speed of the mechanical arm is generally linear to the external force applied by the medical personnel. relationship, which requires medical staff to accurately grasp the magnitude of the external force applied to the mechanical arm according to the position of the bur, but it is difficult ...

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Problems solved by technology

[0003] In the related art, the medical staff usually controls the mechanical arm carrying the bur to prepare the oral cavity for placing the implant in the user's oral cavity, and the movement speed of the mechanical arm is generally linear with the external force applied by the medical staff. relationship, which requires medical staff to accurately grasp the magnitude of the external force applied to the mechanical arm according to the position of the bur, but it is difficult for novices with inexperienced operating experience to determine how much external force is applied to the mechanical arm to make the bur It can move to the nest preparation position according to the expected speed and direction. Even experienced medical staff will inevitably apply inaccurate external force due to human error, so that the bur cannot accurately reach the nest preparation position.

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