Control method of main control arm, program product, electronic equipment and storage medium

By calculating the connecting rod distance of the main control arm of the minimally invasive surgical robot and controlling the rotation joint movement, the problem of users' difficulty in controlling redundant mechanisms is solved, achieving a smoother operating experience and reducing the risk of collision.

CN119700315AActive Publication Date: 2025-03-28AGIBOT MEDTECH (SUZHOU) CO LTD
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Patent Information

Application Number
CN202411890429.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-20
Publication Date
2025-03-28
Estimated Expiration
2044-12-20

AI Technical Summary

Technical Problem

When using the main control arm of a minimally invasive surgical robot, it is difficult for users to actively control the redundant mechanism, resulting in inconvenient operation, increasing the possibility of singularity and affecting the user experience.

Method used

By calculating the distance between the connecting rods of the main control arm, it is determined whether the preset compensation conditions are met, and the movement of the fourth rotating joint is controlled according to the target rotation angle, so as to reduce the possibility of collision between the joint connecting rods and improve the smoothness of operation.

Benefits of technology

It effectively reduces the possibility of collision between the user's hands and joint connecting rods or between different joint connecting rods, makes user operation smoother, and improves the user experience during the use of the main control arm.

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Abstract

The invention relates to the technical field of surgical robot control, and particularly provides a control method of a main control arm, a program product, electronic equipment and a storage medium. The control method of the main control arm comprises the steps that the first distance between the head end of a first connecting rod and the tail end of a fourth connecting rod and the second distance between the tail end of the first connecting rod and the tail end of the fourth connecting rod are calculated; under the condition that the first distance or the second distance meets the preset compensation condition, the fourth rotary joint is controlled to move on the basis of the target rotation angle capable of enabling the first updating distance and the second updating distance not to meet the preset compensation condition; the possibility of collision between the hand of a user and the joint connecting rod or between different joint connecting rods can be reduced, so that the operation of the user is smoother, and the user experience in the use process of the main control arm is improved.
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