Man-machine interaction system and method based on operator intention correction

Abstract

The invention relates to a man-machine interaction system and method based on operator intention correction. The man-machine interaction system comprises a mechanical arm, a surgical tool, a six-dimensional force sensor, a force sensor and a controller. The six-dimensional force sensor is installed at the tail end of the mechanical arm, the surgical tool is installed on the six-dimensional force sensor through the fixing device, and the force sensor is installed on the surgical tool. When an operator pulls the part, provided with the force sensor, of the surgical tool to operate, whether the reading of the force sensor reaches a preset threshold value or not is detected; if not, the mechanical arm does not move, otherwise, the torque read by the six-dimensional force sensor is corrected according to the reading of the force sensor and the position relation between the six-dimensional force sensor and the force sensor, and the movement of the mechanical arm is controlled according to the force signal of the six-dimensional force sensor and the corrected torque signal. Compared with the prior art, the problem that the intention of an operator is inconsistent with the actual movement of the mechanical arm in the man-machine cooperation operation process using admittance control is solved.

Description

technical field [0001] The invention relates to the field of surgical robots, in particular to a human-computer interaction system and method based on operator intention correction. Background technique [0002] In the field of surgical robotics, due to the ever-changing intraoperative conditions, preoperative planning may not be applicable, which requires the operator to adjust the surgical plan based on clinical experience and directly manipulate the robotic arm for repositioning and manipulation. For example, in actual clinical scenarios, active surgical robots cannot fully meet the needs of oral and maxillofacial surgery, and passive surgical robots that doctors can continuously adjust the state of the robot during surgery are more needed. [0003] Human-machine collaborative control is a common robot control method that combines the high-precision control of the robot with the high-dynamic decision-making ability of the human through the coordinated control based on for...

AI Technical Summary

Problems solved by technology

[0007] However, the above methods have disadvantages

In the first case, when the surgical tool needs to make a large rotation and the operator's hand is far from the sensor position, it will cause the phenomenon that the robot motion is different from the operator's intention

Because there is a displacement between the force application point and the sensor at this time, according to the principle of force translation, although the force in the X, Y, and Z directions will not change, the torque received by the sensor and the force application point is different, resulting in the mechanical arm. The problem that the rotation is different from the operator's intention

For the second case, because the operator only holds the handle to operate, it can be considered that the mechanical arm can perform according to the operator's intention, but the realization of this solution requires two six-dimensional force sensors to achieve, and the cost is relatively high. Moreover, the six-dimensional force sensor is large in size, and it is difficult to install it on the handle of the surgical tool in many clinical scenarios.

[0008] In summary, the existing interactive devices and methods have defects such as poor precision, poor stability, and high technical cost.

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