Master-slave bilateral control method based on zero-force control and ophthalmic surgical robot system

By adopting zero-force control and bilateral control methods in the ophthalmic surgical robot system, the gravity and friction of the main hand are eliminated, and intuitive and precise perception of eye tissue contact force is achieved, solving the problems of operation difficulties and delays in the surgery, and improving the The safety and effectiveness of the surgery.

CN118490366BActive Publication Date: 2025-01-07BEIJING XIANWEI MEDICAL TECH CO LTD
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Patent Information

Application Number
CN202410616381.X
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Priority Date
2023-05-25
Filing Date
2024-05-17
Publication Date
2025-01-07
Estimated Expiration
2044-05-17

AI Technical Summary

Technical Problem

In ophthalmic surgery, due to the difficulty of operation due to the tremor of the human hand and the limited perception of tiny operating forces, the prior art is difficult for doctors to intuitively feel the contact force of eye tissue, and the delay in master-slave mapping time leads to an increased risk of surgery.

Method used

The master-slave bilateral control method based on zero force control is adopted to compensate the gravity and friction force of the main hand through zero force control, and the main hand operation force and slave hand contact force are used as input to realize the force and slave hand force and slave hand. Bilateral mapping of positions eliminates gravity and friction in the operator's perception and improves positioning accuracy.

Benefits of technology

It improves the doctor's perception accuracy of eye tissue contact force and surgical positioning accuracy, reduces the risk of surgery, and makes the surgery safer and more effective.

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Abstract

The present application relates to a master-slave bilateral control method based on zero-force control and an ophthalmic surgical robot system, and belongs to the field of medical devices. The master-slave bilateral control method based on zero-force control in the present application is used to control an ophthalmic surgical robot system, which compensates for the gravity and friction of the master hand end through zero-force control; uses the operating force of the master hand end and the contact force of the mapped slave hand end as the input of the master hand controller to control the movement of the master hand end, and uses the position of the master hand end and the position of the slave hand end as the input of the slave hand controller to control the movement of the slave hand end, thereby realizing the bilateral mapping of the force and position of the master hand end and the slave hand end. Therefore, the master-slave bilateral control method based on zero-force control combines zero-force control with bilateral control, eliminates the master hand gravity and friction contained in the operator's perception, and makes the operator's perception of the contact force of the slave hand end more intuitive and accurate.
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