Micro surgery operation robot control system with force sense

Abstract

The invention discloses a kind of microsurgery robot controlling system having force feeling. It comprises operation level, controlling strategy level and execution level. Wherein, the operation level comprises top management system computer and master hand operating system, to monitor and control the system information, and to record the working area map display and the doctors' operating information; the controlling strategy level comprises master-slave hand position projection module, activation algorism module, main hand communication module and image collect and display module, to complete the calculation of motion and force projection between the main hand and the subhand;execution level comprises motion controlled unit, alternating current servo-driver, generator and compact disk, to complete the input of the main operation hand moving signal and the adjoin switch signal, and to output the actuating controlling signal to the suboperation hand and realize the robot movement. The invention can replace the main doctor to complete the basic motion of the operation, increase the force feedback function, make the doctor know the patient's condition more actually. The open standardized software system and modularized hardware structure, breaks the conventional binding relation of robot's software and hardware.

Description

technical field [0001] The invention relates to a control system of a microsurgical robot, in particular to a control system of a microsurgical robot with force feeling. Background technique [0002] Microsurgery is surgery performed by doctors under a microscope. Since the objects of this type of operation are mostly tiny nerves and blood vessels, this type of operation requires high operational precision and movement stability, which increases the requirements for doctors and shortens the working life of doctors. Especially for the operation of nerves and blood vessels (diameter less than 1mm) in brain surgery, it has far exceeded the scope of human ability. In this case, there is an urgent need for a medical machine that can replace people to complete some complex micro-operations, such as Actions such as suturing of tiny blood vessels, tissue stripping, and organ removal. [0003] The relatively mature medical robot systems abroad include the da Vinci system and Zeus s...

AI Technical Summary

Problems solved by technology

At present, the application of domestic medical robots mostly relies on imported complete machines from abroad. The self-developed medical robots can only perform auxiliary tasks such as internal detection, positioning, and thread clipping in surgical operations, and cannot replace doctors to complete the entire operation.

[0004] Traditional robot control systems use special-purpose computers, special-purpose robot languages, and special-purpose operating systems, which are relatively poor in openness and versatility.

Because the medical robot system working in the master-slave mode requires not only simple motion control functions, but also functions such as image acquisition and display, real-time communication, and force information control, the traditional robot control system cannot meet the requirements.

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