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Robot system and control method

A technology of a robot system and a control method, which is applied in the field of robots, and can solve problems such as time-consuming, large volume and weight of the moving arm, stability problems, and collision risks

Pending Publication Date: 2022-02-22
BEIJING SURGERII TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the potentially large size and weight of the kinematic arm, there are stability issues and risk of collision, especially in single-port procedures
As a result, motion arm adjustments are complex and time-consuming

Method used

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Embodiment Construction

[0018] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the technical solutions of the present disclosure. Exemplary embodiments, not all embodiments.

[0019] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific...

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Abstract

The invention relates to the field of robots, and discloses a control method for a robot system, the robot system comprises a plurality of motion arms, and the control method comprises the following steps: determining the motion mode of one or more target motion arms in the plurality of motion arms based on an operation command; determining an initial pose of one or more target motion arms; performing one or more motion control cycles based on an initial pose of the one or more target motion arms and a motion step corresponding to the motion pattern, where for each motion control cycle, a target pose of the one or more target motion arms is determined; and controlling the one or more target motion arms to move towards the target pose. Therefore, the target motion arm can accurately, quickly and safely reach the target pose, and efficient and safe preoperative preparation is achieved.

Description

technical field [0001] The present disclosure relates to the field of robots, and in particular to a robot system and a control method. Background technique [0002] Laparoscopic surgery is a widely used surgical form, which has the advantages of small wounds. In recent years, surgical robots use moving arms to achieve higher stability and precision in surgical procedures. During the operation, the movable arm sends the surgical instrument into the surgical site in the body (such as human or animal) by poking the card to perform the surgical operation. [0003] At present, the surgical process realized by using surgical robots mainly includes preoperative positioning, intraoperative operation and postoperative finishing. Before the operation, it is usually necessary for the surgical assistant (such as an assistant doctor or nurse) to adjust the exercise arm to a suitable posture according to the type of operation and the operation posture, connect the exercise arm to the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00A61B17/00G05B19/042
CPCA61B34/30A61B34/70A61B17/00234G05B19/0423A61B2034/302A61B2017/00225A61B2017/00296A61B2017/00318A61B2017/0034G05B19/042A61B2090/3612A61B2034/2059A61B2034/2061G05B2219/40G05B2219/39B25J9/1682G05B2219/39083G05B2219/45117B25J9/0087B25J9/1664
Inventor 徐凯赵江然杨皓哲
Owner BEIJING SURGERII TECH CO LTD
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