Nest preparation method, device, and surgical robot based on mechanical arm

Abstract

The nest preparation method, device and surgical robot based on the mechanical arm provided by the application belong to the field of biomedical technology. This application controls the movement of the bur to the nest preparation position at the initial speed by selecting a linear positive correlation based on the external force on the mechanical arm when the distance between the bur and the nest preparation position is relatively long. The positive correlation is used to control the bur to align with the nest preparation position at an intermediate speed based on the external force on the mechanical arm. When the bur reaches the nest preparation position, the positive correlation is used to control the bur to prepare the nest based on the external force on the mechanical arm. The motion rate is used to drill and prepare the nest, so that the mechanical arm can adapt to the distance between the bur and the nest preparation position. Different correlations are selected to adjust the movement rate of the bur based on the external force received by the mechanical arm, so that the bur can accurately move toward the The expected nest preparation position is drilled, which improves the efficiency of implant surgery.

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 ...

AI Technical Summary

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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