A surgical robot, control method and computer readable storage medium
By compensating for gravity, elasticity, and friction in the joints of the minimally invasive surgical robot, the problem of unsatisfactory gravity compensation in existing technologies has been solved, improving the user experience and stability.
CN119139010BActive Publication Date: 2025-11-18SHENZHEN JINGFENG MEDICAL TECH CO LTD
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Patent Information
- Application Number
- CN202310731863.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-16
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2043-06-16
AI Technical Summary
Technical Problem
In existing minimally invasive surgical robot technologies, the gravity compensation effect is not ideal, and the influence of other resistances is not fully considered, resulting in a poor operating experience.
Method used
Gravity, elasticity, and friction compensation are performed on each joint of the surgical robot. By acquiring the joint position and velocity, the corresponding compensation amount is determined and applied to the actuator. An independent compensation model is established to accurately compensate for the torque of each joint.
Benefits of technology
This improved the user experience of the surgical robot, achieved more comprehensive compensation effects, and enhanced the operational stability and adaptability of the input device.
✦ Generated by Eureka AI based on patent content.
Abstract
The application relates to a surgical robot, a control method and a computer readable storage medium. The surgical robot comprises a master control console, a slave operating device and a control device. The master control console comprises an input device. The slave operating device is configured to mount a surgical instrument. The input device is used to control the movement of the surgical instrument. The input device comprises a plurality of joints and a handle. The handle is connected to the most proximal joint of the plurality of joints. The control device is configured to: acquire the position and speed of each joint of the input device; determine the gravity compensation amount and the elastic force compensation amount of each joint according to the position of each joint, and determine the friction force compensation amount of each joint according to the speed of each joint; and apply the gravity compensation amount, the elastic force compensation amount and the friction force compensation amount to the actuator corresponding to each joint. According to the technical scheme of the application, the gravity compensation, the elastic force compensation and the friction force compensation are respectively performed on each joint. The compensation effect is more comprehensive and accurate, and the operation experience of the input device is effectively improved.
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