130 results about "Master manipulator" patented technology

A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.

Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided.

When automatic operation of a slave manipulator105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.

The invention discloses a force feedback type master manipulator with deadweight balance property, comprising a big arm mechanism, a small arm mechanism, an elbow joint mechanism, a wrist joint mechanism and a controller. The big arm mechanism, the small arm mechanism and the elbow joint mechanism respectively comprise connecting rods and rotating input mechanisms provided with rotating shafts; one end of the connecting rod of the big arm mechanism, one end of the connecting rod of the small arm mechanism and the rotating shafts of the connecting rods are respectively provided with wire wheels connected through transmission wires; the rotating shafts of the connecting rods of the big arm mechanism, the small arm mechanism and the elbow joint mechanism are respectively connected with potentiometers; the rotating shaft of the small arm mechanism is rotatably connected with a first flange; the first flange is connected with a side end surface of the connecting rod of the elbow mechanism; the rotating shaft of the elbow mechanism is rotatably connected with a second flange; the second flange is fixedly connected with a wire wheel shaft at the rod end of the connecting rod of big arm mechanism; and the wrist joint mechanism is connected with the wire wheel shaft of the wire wheel arranged at the rod end of the connecting rod of the small arm mechanism. The force feedback type master manipulator has the advantages of compact structure, high rigidity, large feedback force, small volume and low manufacture cost.

In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.

The invention discloses a self-adaptive teleoperation control method for a neural network based on a radial basis function. The self-adaptive teleoperation control method comprises three steps of respectively establishing dynamics models for a master manipulator end and a slave manipulator end in a teleoperation system, designing a slave manipulator end controller, and finally designing a master manipulator end controller. According to the self-adaptive teleoperation control method, the stability and relatively good operating performance in the teleoperation process can be guaranteed. When the slave manipulator end for teleoperation, namely a slave end manipulator grabs a target object, uncertainty of kinematics and dynamics parameters of the system occurs. The controller is designed for the slave manipulator end by use of a self-adaptive controller for an RBF neural network, so that the advantages of a self-adaptive control method can be played, the self-learning ability for and the adaptivity to the uncertainty in the teleoperation system are realized, and further the parameter uncertainty and the influence of unknown interference on the teleoperation system are overcome.

The invention discloses a positioning method of a master-slaver heterogeneous teleoperation control system of a robot arm with the telepresence. The master-slaver heterogeneous teleoperation control system comprises a global environment monitoring camera, an end monitoring camera, a central controller with a display screen and the robot arm with a master manipulator at the front end. By defining the tree-dimensional coordinate systems of the cameras, the master manipulator and the robot arm, the pose data in the coordinate systems is converted through a rotation transformation matrix to obtainthe data of the real-time pose which the robot arm in the robot arm coordinate system needs to reach in equal proportion according to the movement pose of the master manipulator, the data serves as acontrol signal to control the robot arm to move in place, and the teleoperation control over a multi-degree-of-freedom anti-radiation robot in nuclear decommission, nuclear waste treatment, nuclear power station maintenance and other nuclear industry fields.

The invention discloses a master-slave heterogeneous robot universal control method and system based on master-slave space mapping. After an operator inputs connecting rod parameters of a master manipulator and a slave manipulator to the control system, the control system conducts mapping and conversion on the position, the speed and force of the master manipulator and the slave manipulator through the D-H parameter method and the Jacobian matrix method, and accordingly accurate control over the slave manipulator from the master manipulator is achieved. By means of the master-slave heterogeneous robot universal control method and system based on master-slave space mapping, mapping control over the master manipulator with any freedom degree and the slave manipulator with any freedom degreecan be achieved, accurate position and speed control over a robot at any slave manipulator end from any master manipulator end, accurate force feedback to the master manipulator from the slave manipulator is achieved, safety monitoring can be conducted on the system in real time, and very high universality and safety are achieved.

A docking system for a mechanical telemaniplator is provided, optionally to be used with a mechanical telemanipulator with a master-slave configuration. The docking system is configured to allow for safe and secure immobilization of a handle or master manipulator of a mechanical telemanipulator with a master-slave configuration so as to prevent movement of a slave manipulator or instrument. While the docking element can be deployed on any mechanical telemanipulator, it can advantageously be used on a surgical platform comprising a mechanical telemanipulator with a master-slave configuration. In this context, the docking system can be used to secure the handle portion or master manipulator of the surgical platform to safely prevent undesirable movement of a slave manipulator or surgical instrument.

A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

The invention provides a master-slave mode parallel robot system and method for femoral shaft fracture reduction. The system comprises a master manipulator control robot, a central control unit, a slave manipulator reduction robot, a mapping switch, an orthopedic operating bed, a traction frame, a G-arm dual-display X-ray machine and an operating trolley, wherein the central control unit conditionally maps and transmits a fracture reduction operation of the master manipulator control robot to the slave manipulator reduction robot; a conditional mapping operation of the central control unit is started or closed by the mapping switch; a proximal femur of a patient is fixed on the orthopedic operating bed; the traction frame and the orthopedic operating bed are connected with each other to form a rigid body; the slave manipulator reduction robot copies the fracture reduction operation of the master manipulator control robot for the patient under mapping control of the central control unit; the G-arm dual-display X-ray machine simultaneously collects an entopic X-ray image and a lateral X-ray image of a femoral shaft fracture position of the patient. The method comprises the steps of preoperative preparation and intro-operative operation. According to the system and the method provided by the invention, the injury of an X-ray to the patient is reduced, and a reduction state is stably maintained before fixation.

The invention relates to the technical field of robot control, in particular to a master-slave robot control system and control method. The master-slave robot control system comprises a master manipulator robot, a control system, an angle database and a slave manipulator robot, wherein the control system is connected with the master manipulator robot and the angle database respectively; the angle database is connected with the slave manipulator robot; the control system is used for detecting the position change value of the master manipulator robot, performing fuzzy control treatment of the position change value of the master manipulator robot, outputting the angle change level of the slave manipulator robot, and calling a movement instruction from the angle database according to the angle change level and sending the movement instruction to the slave manipulator robot; and the slave manipulator robot moves according to the movement instruction. According to the invention, the real-time performance is good, a kinematical inverse solution to the slave manipulator robot is not needed, multiplicity of solutions is avoided, the number of degrees of freedom of the slave manipulator robot is not limited, and the space following error can be reduced.

The invention discloses a force feedback master manipulator of a minimally invasive surgical robot having a redundant freedom degree, relates to the force feedback master manipulator of the robot, andaims to solve the problems that a systematic force feedback master manipulator of the minimally invasive surgical robot in the prior art are high in price, the force feedback master manipulator is ageneral type force feedback master manipulator, the master manipulator of the minimally invasive surgical robot lacks a freedom degree, a working space is not matched, a posture angle output range islimited and wrists are not flexible enough. An output end of a first driving joint is connected with an input end of a second driving joint and an input end of a third driving joint; the second driving joint is connected with the third driving joint; the third driving joint is connected with a fourth driving joint; the fourth driving joint is connected with a fifth driving joint; the driving jointis connected with a sixth driving joint; the sixth driving joint is connected with a seventh driving joint; the seventh driving joint is connected with an eighth driving joint. The force feedback master manipulator of the minimally invasive surgical robot having the redundant freedom degree disclosed by the invention belongs to the field of minimally invasive surgical robots.

The invention discloses a thoracoabdominal cavity minimally invasive surgical robot system. The system includes a double-arm operating trolley, a main operation table and an instrument trolley; two brand-new slave arms are installed on the operating trolley through a stand column, and operating arms can move up and down along the stand column; two master manipulators and an endoscope display device are arranged on the doctor operation table; the operating trolley can be moved by key control or remote control, the operating trolley can realize forward and backward movement, turning and zero radius turning in place, or can be manually pushed and pulled to move, and after the position is determined, the operating trolley automatically completes parking lock; each surgical arm includes a pre-adjusting part, a compensation adjustment part, a centering motion part and a surgical instrument (or an endoscope); the pre-adjusting mechanism is compact and flexible, can conveniently and quickly pre-position a centering point of the surgical instrument; and the redundant compensation adjustment mechanism corrects and adjusts the distribution position of a controlled operation space during operation, so as to facilitate the operation of a chief surgeon to reduce fatigue and achieve the best operation effect. The system can have multiple combination configurations in the operating room.