A slave initialization method and readable storage medium of an interventional surgery robot
An initialization method and technology of interventional surgery, applied in the field of interventional surgery robot initialization method and readable storage medium, can solve the problem of inaccurate and unfavorable initialization positions of N drive sensing units
Active Publication Date: 2022-06-24
SHENZHEN INST OF ADVANCED BIOMEDICAL ROBOT CO LTD
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However, before performing vascular interventional surgery, the initialization positions of the N driving and sensing units are not accurate, which is not conducive to the doctor's subsequent control of the interventional surgery robot to perform precise vascular interventional surgery
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[0043] In order to make the objectives, technical solutions and advantages of the invention more clear, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention, but not to limit the invention.
[0044] A method for initializing an interventional surgical robot from an end is applied in the interventional surgical robot. The interventional surgical robot comprises: a frame, N driving induction units slidably mounted on the frame successively, and N driving induction units The connected processor, where N is an integer greater than 1, can be limited according to practical applications, and is not limited here. In this embodiment, the driving induction unit is used to install and drive a slender medical device such as a catheter or a guide wire into the blood vessel for treatment, that is, during the vascular in...
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A slave-end initialization method and readable storage medium of an interventional surgical robot, comprising: obtaining a start-up instruction, controlling N drive sensing units to perform an error-removing operation based on the start-up command, and obtaining information fed back by N drive sense units De-error results; judging whether the de-error results fed back by the N driving and sensing units meet the initialization conditions; if the de-error results fed back by the N driving and sensing units meet the initialization conditions, then controlling the N driving and sensing units to perform initialization The operation is to make each of the drive sensing units move to a corresponding target initialization position to complete the initialization. The method of the present invention can make the N drive sensing units move to the corresponding target initialization position accurately and quickly, so as to facilitate subsequent doctor's operation.
Description
technical field [0001] The invention relates to the technical field of control of a medical robot, in particular to a slave-side initialization method and a readable storage medium of an interventional surgery robot. Background technique [0002] In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this reason, a remote-operated interventional surgery robot has been developed. The doctor remotely controls the interventional surgery robot, so that the interventional surgery robot can perform vascular interventional surgery in the environment of strong radiation, effectively protecting the doctor. [0003] Generally, when an interventional surgical robot is used to perform a vascular interventional operation, N driving and sensing units in the interventional surgical robot are used to jointly drive a slender medical device such as a catheter guide wire. However, before performing vascular interventional surgery, the initialization p...
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IPC IPC(8): A61B34/35
CPCA61B34/35
Inventor 不公告发明人
Owner SHENZHEN INST OF ADVANCED BIOMEDICAL ROBOT CO LTD