一种支气管镜辅助机器人的控制方法、装置和设备
By employing a collaborative approach of trajectory optimization and image registration in joint space, the problems of robotic arm vibration and image deviation in electromagnetic navigation bronchoscopy systems have been solved. This has enabled high-precision, low-vibration control of the bronchoscopy-assisted robot, improving the accuracy and safety of the surgery.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUZHOU UNIV
- Filing Date
- 2026-04-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing electromagnetic navigation bronchoscopic surgery systems suffer from reduced registration accuracy due to robotic arm movement and deviations in the roll angle between the navigation image and the endoscopic image, affecting the accuracy and safety of surgical navigation.
By using B-spline curves for trajectory planning in joint space, an optimization mathematical model is established to minimize total motion time and joint impact. An improved sparrow algorithm is used to solve for the optimal time series and optimize the joint motion trajectory. An improved particle swarm optimization algorithm is combined for image registration to eliminate roll angle deviation and achieve high-precision, low-vibration control of the bronchoscopy-assisted robot.
It significantly improves the spatial registration accuracy of the electromagnetic navigation system, reduces robotic arm vibration and impact, and improves the accuracy and efficiency of surgery.
Smart Images
Figure CN122056694B_ABST