Two-arm cooperative head and neck auxiliary traction surgical robot and control method thereof

Abstract

The invention discloses a double-arm cooperative head and neck auxiliary traction surgical robot and a control method thereof. A middle and short distance local area network is established, a master-slave teleoperation mode is adopted, an operator uses a master hand end to control an operating room robot to execute tasks, and complex operation is completed in a narrow space by combining with image feedback; the control precision of the robot and the safety coefficient of man-machine cooperation are improved by integrating three control algorithms, an iterative optimization method, a main hand end force sensing function and the like. The designed system has the advantages of low time delay, high precision, force sensing, high stability, high safety coefficient and the like, double-arm cooperation is adopted, the degree of freedom is high, actual operation of personnel can be reproduced to the maximum extent, and the system better meets actual task requirements in an operation. And meanwhile, practical man-machine interaction functions, such as a force sensing function switch and scene scaling, meeting the actual operation process are added in the system design, so that the operation difficulty can be reduced, and the system practicability can be improved.

Description

technical field [0001] The invention relates to the field of auxiliary traction surgery robots, in particular to a head and neck auxiliary traction surgery robot with double-arm cooperation and a control method thereof. Background technique [0002] Head and neck surgery is generally used for skull base surgery, thyroid surgery, etc. During the operation, a surgical channel needs to be created, and the operation faces problems such as the dense distribution of the internal carotid artery, internal jugular vein, and posterior intracranial nerves; at the same time, the process is complicated , operations based on multi-sensing and multi-actuators such as camera lighting, support, attraction, pulling and cutting cannot be completed simultaneously. The doctor and the assistant need to stand in a limited space and assist each other to complete the operation. The assistant needs to hold the surgical retractor to pull the surgical incision to help the doctor expose the surgical fie...

AI Technical Summary

Problems solved by technology

However, at this stage, most surgical robots are designed for abdominal cavity, orthopedics, and dentistry. The robot has a relatively large task space in the operation. The contact parts of the robot arm and the human body do not have densely covered nerves, blood vessels, and tissues. The trajectory is fixed and single. There is no need for robots to do complex and difficult movements, and the control difficulty is relatively low

The task space of existing surgical robots is mostly exposed space, and the path can be planned by itself with external navigation aids, and the degree of freedom is not high, and the six-degree-of-freedom robot can meet the corresponding surgical operations

Most of the existing surgical robots do not have the function of active and passive compliant control, the system design considerations for human-machine collaboration are still not in place, and they do not have the force sensing function at the end of the robot

The head and neck assisted traction surgery robot needs to complete tasks with a high degree of difficulty. It is generally operated through the mouth, and the movement space is narrow and dangerous. It cannot perform autonomous space recognition, path planning, and task assignment based on unknown spaces, and it cannot realize robot autonomous collaboration with doctors. complete surgery

Head and neck assisted stretching surgery generally requires both hands to operate, and the mapping to robot tasks also requires two arms to complete the operation. At present, most surgical robots cannot meet the needs, so the existing technology cannot be well adapted to head and neck assisted stretching. Surgical operation

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