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Automatic positioning and path-finding method and device for surgical mechanical arm, robot and storage medium

A technology of automatic positioning and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as patient danger, achieve the effects of simplifying operations, improving treatment experience, and ensuring safety

Pending Publication Date: 2022-05-31
LANCET ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For general robot positioning solutions on the market, the host computer plans a position that the robotic arm can reach, and allows the robotic arm to drill in one posture. Since the robotic arm is a 6-axis robotic arm, there are multiple degrees of freedom in space, and there will be multiple solution, so the reached position is not necessarily the optimal solution for the current position
Therefore, the position may be reached in a singular position, which may pose a danger to the patient during the operation

Method used

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  • Automatic positioning and path-finding method and device for surgical mechanical arm, robot and storage medium
  • Automatic positioning and path-finding method and device for surgical mechanical arm, robot and storage medium
  • Automatic positioning and path-finding method and device for surgical mechanical arm, robot and storage medium

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Embodiment 1

[0043] The technical solution of this application is applied to the surgical robotic arm of dental surgery. During the actual operation, the robotic arm will carry its end tool to the specified coordinates for surgical operations, such as grinding or cutting. For this reason, it is necessary to precisely control the movement of the robotic arm, and at the same time It is also necessary to ensure that the robotic arm is safe for the patient when it is working. This embodiment uses implant surgery as an example for explanation.

[0044] refer to figure 1 As shown in the flow chart, the method for automatic positioning and pathfinding of the surgical robotic arm in this embodiment includes the following steps:

[0045] Step S100, obtaining the current pose data of the robotic arm and the position data of the operation area;

[0046] The pose data of the manipulator includes the coordinate data of the tool at the end of the manipulator and the attitude data of the manipulator bod...

Embodiment 2

[0074] The embodiment of the present application also provides a device for automatic positioning and pathfinding of a surgical robot arm, such as Figure 4 shown, including:

[0075] The positioning module 10 is used to obtain the current pose data of the mechanical arm and the position data of the operation area;

[0076] Pathfinding module 20, for calculating the shortest path according to the current pose data and the position data;

[0077] The calculation module 30 is configured to construct a corresponding Jacobian matrix, and solve the Jacobian matrix based on the shortest path and the current pose data, and if the solution of the Jacobian matrix is ​​full rank, determine the mechanical arm each joint angle.

[0078] The control module 40 is configured to control the mechanical arm to reach the operation area according to the joint angle.

[0079] The pose simulation module 50 is configured to calculate all candidate pose data when the mechanical arm is located in t...

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Abstract

The embodiment of the invention discloses an automatic positioning and path finding method and device for a surgical mechanical arm, a robot and a storage medium. The method comprises the steps that current pose data of the mechanical arm and position data of a surgical area are obtained; calculating a shortest path according to the current pose data and the position data; a corresponding Jacobian matrix is constructed, the Jacobian matrix is solved based on the shortest path and the current pose data, and if the Jacobian matrix is in a full rank, all joint angles of the mechanical arm are obtained through solving; and controlling the mechanical arm to reach the surgical area according to the angles of all the joints. After the path is determined by the mechanical arm, a solution which does not enable the mechanical arm to generate a singular position can be found from a plurality of solutions for completing the path, so that the safety of a patient in an operation is ensured, and the safety coefficient of the mechanical arm is improved.

Description

technical field [0001] The invention relates to the field of mechanical control, in particular to a method, device, robot and storage medium for automatic positioning and pathfinding of a surgical manipulator. Background technique [0002] In the process of dental implantation in traditional surgery, the doctor holds the dental machine and performs operations such as ball drill grinding, pioneer drill drilling, reaming drill drilling, and forming drill drilling on the implant site. During this period, many times of drilling are required, and the drilling process is complicated, and it is necessary to rely on the doctor's experience to locate the patient's part many times. Dental implants have high barriers to entry and require experienced doctors to perform the surgery. The automatic positioning of surgical robots can solve the above problems. For general robot positioning solutions on the market, the host computer plans a position that the robotic arm can reach, and allow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1664
Inventor 钱坤黄志俊刘金勇陈鹏
Owner LANCET ROBOTICS CO LTD