Angle compensation method, device, electronic equipment and storage medium
An angle compensation and rotation angle technology, applied in the field of artificial intelligence, can solve the problems of difficult application of high-precision application scenarios and the decline of surgical robot operation accuracy.
Active Publication Date: 2022-05-03
APEIRON SURGICAL CO LTD
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Problems solved by technology
[0005] The present invention provides an angle compensation method, device, electronic equipment and storage medium to at least solve the possible errors between the input device and the motor, as well as between the motor and the instrument in the related art, and these errors will lead to the operation accuracy of the surgical robot. decline, it is difficult to apply to the problem of high-precision application scenarios
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[0079] In order to enable ordinary persons in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.
[0080] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent w...
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The present invention relates to an angle compensation method, device, electronic equipment and storage medium, which are applied to a host in a surgical robot. The surgical robot includes a control handle, a drive motor, a transmission shaft, an instrument, and a host, including: when the drive signal of the control handle indicates The target position information and the actual position information after the movement of the instrument do not meet the matching conditions, and calculate the first theoretical position information of the instrument according to the rotation angle of the drive motor; determine whether the difference between the first theoretical position information and the actual position information is less than the first The predetermined value, if not less than, calculate the second theoretical position information of the device according to the moving distance of the transmission shaft; judge whether the difference between the second theoretical position information and the actual position information is less than the second predetermined value, if less than, according to the second theoretical position information The difference between the position information and the actual position information is used to update the first predetermined value and the second predetermined value. In this way, the precision of operating the device is improved, and can be applied to more high-precision application scenarios.
Description
technical field [0001] The present invention relates to the technical field of artificial intelligence, in particular to an angle compensation method, device, electronic equipment and storage medium. Background technique [0002] With the development of artificial intelligence, it is gradually playing an increasingly important role in various fields. For example, artificial intelligence can be applied to medical devices to produce surgical robots. Usually, the surgical robot is electronically controlled, and the motor drives the transmission shaft to drive the action of the end execution instrument, which can perform various complex actions in the operation. [0003] When the surgical robot performs a surgical operation, the input device sends a signal to the host, and the host sends a control command to the motor. The motor drives the end instrument through the transmission shaft, and the end instrument performs the action. Since the operation is relatively delicate, the wh...
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IPC IPC(8): A61B34/30A61B34/32A61B34/37
CPCA61B34/30A61B34/37A61B34/32
Inventor 王迎智董先公袁平
Owner APEIRON SURGICAL CO LTD