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A master-slave hand control method and device for a digestive endoscope minimally invasive surgical robot

A surgical robot and minimally invasive surgery technology, applied in the field of surgical robots, can solve the problems of complex calculation and control delay, and achieve the effect of improving safety and improving timeliness

Active Publication Date: 2022-07-26
SHANGHAI UNIV OF MEDICINE & HEALTH SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a method and device for controlling the master-slave hand of a minimally invasive digestive endoscopic surgery robot, to at least solve the problem in the prior art that the calculation is complicated and the control delay may occur when controlling the slave hand

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  • A master-slave hand control method and device for a digestive endoscope minimally invasive surgical robot

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Embodiment Construction

[0018] It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0019] It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.

[0020] The following embodiments can be applied to endoscopic flexible endoscopes, such as gastroscopes. The gastroscope passes through the natural orifice of the human body, the mouth and esophagus enter the stomach, and there are no wounds, and then there are two operating channels on the gastroscope, two from the flexible roboti...

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Abstract

The present application discloses a master-slave hand control method and device for a minimally invasive digestive endoscope surgical robot. The method includes: acquiring the coordinates of the first position and the coordinates of the second position; according to the coordinates of the first position and the coordinates of the second position Obtain the rotation angle and displacement of each joint of the master hand in the process of moving from the first position to the second position; use the rotation angle of each joint of the master hand and the displacement of each joint as the control to control the movement of the slave hand parameter; control the hand to move from the third position to the fourth position according to the control parameter; after moving from the hand to the fourth position, judge whether the first vector and the second vector are the same; if the first vector and the second vector are the same, then Make sure that the movement from the hand is successful. The present application solves the problem in the prior art that the control of the slave hand is complicated in calculation and may cause control delay, thereby improving the timeliness of the slave hand control and improving the operation safety of the surgical robot to a certain extent.

Description

technical field [0001] The present application relates to the field of surgical robots, and in particular, to a master-slave hand control method and device for a minimally invasive digestive endoscope surgical robot. Background technique [0002] The master-slave teleoperated surgical robot control system usually consists of a master-hand console and several slave-hand execution arms. The hand-operated arm is installed next to the operating table, and an endoscope and various surgical instruments can be installed at its end to reach the lesions in the patient through tiny wounds. The doctor only needs to operate the control end of the main hand, and can control the instruments from the end of the hand to complete various surgical operations, providing the surgeon with the operating environment of traditional surgery, which can assist the doctor to complete more delicate surgical actions and reduce the fatigue caused by the operation. Injury caused by mishandling or tremor o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00A61B34/35
CPCB25J9/1664B25J9/1653B25J9/161B25J13/00A61B34/35A61B2034/2059A61B2034/2046A61B34/37A61B34/70A61B34/74A61B34/20A61B2034/301A61B34/30
Inventor 孙丽萍徐波
Owner SHANGHAI UNIV OF MEDICINE & HEALTH SCI