Control method of surgical robot, surgical robot, and readable storage medium

By establishing a mapping relationship between the master manipulator and the slave manipulator in the surgical robot and adjusting the posture of the end effector to align with the manipulator, the problem of inconsistent synchronous movements between the end effector and the manipulator is solved, improving the operator's intuitive experience and synchronization.

CN116849817BActive Publication Date: 2026-07-07SHENZHEN JINGFENG MEDICAL TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHENZHEN JINGFENG MEDICAL TECH CO LTD
Filing Date
2022-03-26
Publication Date
2026-07-07

AI Technical Summary

Technical Problem

In current robot-assisted minimally invasive surgery, the surgical instruments lack an end-effector wrist joint, which causes the end effector and the surgeon's operating part to move in sync, making it impossible to guarantee the consistency of the master and slave postures and resulting in a poor user experience.

Method used

By establishing a mapping relationship between the master operating unit and the slave operating device, the slave position information is determined based on the master position information, and the posture of the end effector is controlled to align with the operating unit. The wrist joint movement is adjusted using a wrist joint drive device to achieve synchronous movement between the operating unit and the end effector.

Benefits of technology

It improves the operator's intuitive operating experience, ensures the synchronous movement of the operating part and the end effector, and enhances the flexibility and consistency of operation.

✦ Generated by Eureka AI based on patent content.

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    Figure CN116849817B_ABST
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Abstract

The embodiment of the application provides a surgical robot control method, a surgical robot and a readable storage medium, the method comprises the following steps: determining first slave pose information of a first end effector according to first master pose information of a first operation part; controlling the first end effector to adjust the pose according to the first slave pose information, and obtaining second slave pose information of the first end effector; determining second master pose information of the first operation part according to the second slave pose information based on the mapping between the first operation part and a slave operation device; controlling a first group of master joints in a plurality of groups of master joints according to the second master pose information, adjusting the pitch and deflection attitude of the first operation part to align with the first end effector; controlling a second group of master joints in the plurality of groups of master joints according to an instruction of an operator, adjusting the position of the first end effector to follow the first operation part, and / or adjusting the self-rotation attitude of the first end effector to align with the self-rotation attitude of the first operation part, thereby improving the intuitive experience of the operator.
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