The invention provides a
digestive endoscopy assisting interventional
robot control method and
system, and belongs to the field of medical robots. The
digestive endoscopy assisting interventional
robot control method comprises the following steps: extracting and
processing action messages of an operator operating a main end
handle, and obtaining a movement command of a
robot according to the set
position control and speed control working
modes; measuring convey resistance and torsional resistance torque messages according to a force feedback device mounted at an
actuator end, removing zero offset and gravity disturbance, and displaying the processed messages on a human-computer
interaction interface for prompt; feeding the messages back to a main end control
handle to provide force sensing for the operator, wherein when the resistance and the resistance torque exceed the set value, an upper computer alarms, and the convey force and the torque are partially and autonomously adjusted to a safe range; extracting and
processing information of a pedal; switching the working
modes; and performing the functions of air supply,
water supply and suction. The
control system comprises a main end control device, a bottom-layer controller, a force feedback device, a position limitation protector, a motor driver, an air pressure adjustor, a photoelectric coupler and a
solenoid valve. The
digestive endoscopy assisting interventional
robot control method and
system can improve the security of a digestive
endoscopy assisting interventional robot.