69 results about "Master manipulator" patented technology

One or more embodiments of the present specification relate to a master manipulator control device for a robot, comprising: a puncture needle execution assembly, the puncture needle execution assembly comprising a rod-shaped structure and a position detection assembly; the posture adjusting execution assembly is configured to obtain the posture of the rod-shaped structure; wherein the rod-shaped structure can move relative to the posture adjustment execution assembly in the axial direction of the rod-shaped structure, and the position detection assembly is configured to obtain the position of the rod-shaped structure in the axial direction of the rod-shaped structure.

The invention belongs to the technical field of robots, in particular to the technical field of teleoperation robots, and particularly relates to a teleoperation master manipulator based on a power-off brake, which comprises a pose acquisition part and a tail end operation part, in an actual use scene, an operator holds a handle at the tail end and pulls a trigger, a power-off brake is powered on for contact braking, and the operator pulls a main hand to move; in the movement process, the absolute encoders of all the shafts collect the current angle and directly transmit the current angle to the isomorphic mechanical arm, or the tail end pose of the main hand is settled through forward kinematics and then mapped to the heterogeneous mechanical arm through inverse kinematics; and the trigger is released, the power-off brake is immediately powered off, all joints of the master manipulator are locked, then the posture is locked, and the master manipulator enters a posture keeping mode. A joint motor in the main hand is replaced by a brake, so that a motor servo control system is also removed, and the cost and the out-of-control risk are reduced.

The invention discloses a self-adaptive variable scale mapping teleoperation control method which comprises the following steps: acquiring Cartesian space position information of the tail end of a main end mechanical arm to obtain a main end rate factor Dm; target position coordinates, coordinates of a point, closest to the tail end of the slave end mechanical arm, of the surrounding environment and actual pose information of the tail end of the slave end mechanical arm are obtained, and a target distance factor Dg and an environment safety factor De are obtained; inputting Dm, De and Dg into a mapping coefficient network, and recording an output value of the mapping coefficient network, namely a mapping coefficient k; according to the mapping coefficient k and the Cartesian space pose information of the tail end of the master-end mechanical arm, expected pose information of the tail end of the slave-end mechanical arm is obtained; and joint control is conducted according to the expected pose information, and the actual pose information of the tail end of the slave end mechanical arm is obtained. Smooth variable-scale mapping operation control of the master-slave teleoperation robot in the heterogeneous space can be achieved, operation safety is improved, and the method has wide application prospects in the fields of medical operations, space deep-sea exploration, disaster rescue and the like.

The invention provides a surgical robot master hand control device and method and a doctor console, and the device comprises a mode switching unit which is used for automatically switching a surgical robot from an instrument control mode to an adjustment mode when it is detected that a master hand collides with surrounding objects; the pose acquisition unit is used for acquiring pose information when the master hand is collided after the surgical robot enters the adjusting mode; the target position determining unit is used for determining the target position of the master hand; the movement control unit is used for controlling the master manipulator to move from the collision position to the target position, and the posture of the master manipulator is kept unchanged in the movement process; the mode switching unit is used for automatically switching the surgical robot from the adjusting mode to the instrument control mode after it is detected that the master hand reaches the target position. According to the master manipulator control device of the surgical robot, automatic switching of the surgical robot between the instrument control mode and the adjustment mode can be achieved, the continuity of master and slave instrument control can be guaranteed, and the user experience is improved.

The invention relates to an interventional operation robot control system and method and a storage medium. The system comprises a first controller, and the first controller obtains motion information of an instrument at the tail end of a mechanical arm; triggering a force feedback safety response according to the motion information; the force feedback safety response includes at least one of locking the master operator, disconnecting the master-slave enable control, a first clipping control, and a second clipping control. According to the interventional operation robot control system provided by the embodiment of the invention, the function implementation of the feedback information is considered, the safety judgment is carried out on the movement of the mechanical arm tail end instrument based on the feedback information, and the corresponding safety response is executed, so that the safety of master-slave control is improved. Besides, various safety response strategies are further provided for the interventional operation robot control system, so that safety response of the mechanical arm tail end instrument in different operation scenes is achieved, and reliability and comprehensiveness of safety control are improved.

The invention relates to the field of medical instruments, and discloses a motion control method of a robot system, a surgical robot and a storage medium. A motion control method of a robot system includes a mobile station including at least one motion arm and a master station including at least one master manipulator, the motion control method of the robot system including: receiving master manipulator operation information corresponding to an operation action on the at least one master manipulator from the at least one master manipulator; and controlling the movement of the mobile station or the movement arm based on the main operator operation information. By means of the motion control method of the robot system, a user can control the movement of the mobile station or the movement arm by operating the main operator.

The application discloses a master-slave manipulator coordinate position follow-up control method and system based on machine learning, comprising the following steps: step one: establishing a two-way data acquisition and execution architecture of the master-slave manipulator; step two: performing resampling processing, reading a calibration transformation matrix for matrix combination, and calculating multi-dimensional motion characteristics; step three: performing prediction operation through an improved Crossformer model; step four: solving initial target angles of each joint and jointly correcting the target joint trend quantity; step five: calculating joint self-weight torques T1 in an empty load state and joint comprehensive torques T2 in a load state; step six: generating a driving compensation quantity corresponding to a direction of the master manipulator and a master-slave coupling feedback sequence; and step seven: constructing an error characteristic matrix and compressing and mapping the error characteristic matrix into an error guide vector. The application realizes accurate follow-up and force feedback of the master-slave manipulator through the improved Crossformer model.

The application relates to a rope-driven parallel multi-degree-of-freedom master manipulator and a working method, a position detection-force feedback mechanism comprising at least three groups of first fisheye joints which are uniformly arranged on a vertical plate in a circumferential direction, a supporting frame being arranged at the center of the first fisheye joints, the supporting frame rotating around a vertical shaft, a telescopic rod penetrating through the supporting frame and being engaged with a gear, the telescopic rod rotating around a horizontal shaft, the vertical shaft, the horizontal shaft and the gear being respectively connected with corresponding servo motors and encoders; a posture detection-force feedback mechanism comprising a handle disc, one side of the handle disc being connected with a handle and the other side being connected with the telescopic rod; the handle disc being uniformly provided with at least three groups of second fisheye joints in a circumferential direction, each group of the second fisheye joints being connected with corresponding first fisheye joints through driving wires, the first fisheye joints being internally provided with winding wheels, servo motors and encoders which are connected with the driving wires in a corresponding mode. Feedback forces of corresponding positions and postures are generated to the handle through the encoders and the servo motors.

The utility model relates to the field of medical instruments, and discloses a touch detection circuit, a main manipulator and a surgical robot. The touch detection circuit comprises a touch element used for generating a contact signal based on contact; the trigger circuit is connected with the touch element and is used for generating a trigger signal based on the contact signal; and a controller connected with the trigger circuit and configured to detect the frequency of the trigger signal output by the trigger circuit and determine whether the contact signal corresponds to a user touch based on the detected frequency. Based on the touch detection circuit provided by the invention, the situation that the surgical robot makes a wrong response to contact of sweat and water drops, and consequently surgical operation is affected can be avoided.

A method and system for registering a 3D sensor with an autonomous manipulator is provided. The 3D sensor has a field of view and a sensor coordinate system. The autonomous manipulator is a vision-guided manipulator having a work envelope and a manipulator coordinate system. The method includes moving a registration target relative to the sensor in the field of view of the sensor in the work envelope to obtain a plurality of depth maps or images of the target. The depth maps or images are processed to obtain a plurality of extrinsic registration parameters between the manipulator and the sensor.

A master-hand wrist (23), a master operating apparatus (20) and a surgical robot. The master-hand wrist (23) comprises: a handle (234); a first rod (231) rotatably connected to the handle (234) about a first rotation axis (J1) via a first rotation joint (235); a second rod (232) rotatably connected to the first rod (231) about a second rotation axis (J2) via a second rotation joint (236); and a third rod (233) rotatably connected to the second rod (232) about a third rotation axis (J3) via a third rotation joint (237), wherein the third rotation joint (237) is provided with a torque compensation mechanism about the third rotation axis (J3) to compensate for torque generated by the handle (234), the first rod (231) and the second rod (232) about the third rotation axis(J3). The master-hand wrist (23), the master operating apparatus (20), and the surgical robot provided by the present disclosure utilize torque compensation to achieve the effect of driving the rotation joint with less driving force, which effectively reduces the inertia effect of the distal end and increases force transparency.

Embodiments of the present application relate to the technical field of medical robots. Specifically, provided are a master manipulator control device and a surgical robot comprising same. The master manipulator control device comprises: a base body; a driving part comprising a first driving assembly and a second driving assembly; a transmission part comprising a first transmission mechanism and a second transmission mechanism; and an operating part comprising a first movable portion and a second movable portion, wherein the first movable portion is connected to the first driving assembly by means of the first transmission mechanism, the second movable portion is connected to the second driving assembly by means of the second transmission mechanism, and the first driving assembly and the second driving assembly are arranged on the base body in a separated manner. With such a configuration, the integration level of devices can be improved, thereby achieving the miniaturization of devices.

The invention discloses a mechanical transmission system of a master-slave manipulator and a transmission control method, and relates to the technical field of master-slave manipulators, the mechanical transmission system comprises a master hand transmission mechanism, a first pulley assembly, a second pulley assembly, a plurality of groups of connecting rod transmission assemblies, a third pulley assembly, a slave hand transmission mechanism, a fourth pulley assembly and a fifth pulley assembly; compared with the flexible transmission of a steel wire pulley assembly mode, the flexible transmission at the arm end is matched with the rigid transmission of the connecting rod transmission assembly, and on the basis of guaranteeing the supporting performance and stability of the rigid transmission, the flexible transmission of the connecting rod transmission assembly is achieved. The operation response rate and the operation fineness of the master manipulator and the slave manipulator are improved; and moreover, the connecting rod transmission assembly is transversely arranged in the through-wall connecting pipe section, and the heavier connecting rod assembly can be supported by the through-wall connecting pipe section, so that the load bearing of the master arm or the slave arm is reduced, the inertia of the arm end caused by the dead weight of a rigid transmission part is further reduced, and the operation response rate and the operation fineness of the master-slave manipulator are improved.

The present application relates to the technical field of surgical robots, and discloses a wrist mechanism, a master manipulator, a master console and a surgical robot. The wrist mechanism comprises a rotating assembly, a first wrist connecting rod, a rotating shaft and a compensation assembly. The rotating assembly is connected to a first end of the rotating shaft, the rotating shaft is horizontally arranged and rotatably arranged in the first wrist connecting rod, and the compensation assembly comprises a flexible member, an elastic member, a winding member and two guide wheels. One end of the elastic member is connected to the first wrist connecting rod, the winding member is connected to a second end of the rotating shaft, the gravity center of the winding member and the rotating assembly is respectively located on the two sides of the rotating shaft axis, the guide wheels are rotatably connected to the first wrist connecting rod, the guide wheels are located below the rotating shaft, one end of the flexible member is connected to the winding member, the flexible member passes through the gap between the two guide wheels and is connected to the elastic member. The present application can balance the gravity of the rotating assembly, is beneficial to relieving the fatigue of the operator, improves the safety of the operation, simultaneously reduces the possibility of structural damage, reduces the maintenance cost and the production cost.

The invention belongs to the technical field of man-machine interaction and force sense feedback, and particularly relates to a force sense control method for a virtual orthopedic surgery system, which comprises the following steps of: acquiring a displacement signal generated when an operator operates a force feedback master hand; tool stress in the virtual environment is calculated through a virtual model based on the displacement signal; acquiring an actual stress signal fed back by the force feedback master manipulator; calculating a force control error between the tool stress and the actual stress; based on the error, a sliding mode controller is adopted to generate a main control quantity; meanwhile, a disturbance observer is adopted to observe the lumped disturbance in the force feedback master hand system in real time, and a disturbance estimation value is obtained; performing low-pass filtering processing on the estimated value to generate an interference compensation amount; and finally, adding the main control quantity and the interference compensation quantity, synthesizing a final control quantity, and outputting the final control quantity to the force feedback master manipulator. Through combination of sliding mode control and observer-based feed-forward compensation, the authenticity and stability of haptic interaction of the virtual operation are remarkably improved.

This disclosure relates to the field of robot control, and discloses a control system for a surgical robot, comprising: a plurality of master manipulators, including at least one first master manipulator for receiving user input from a first user and at least one second master manipulator for receiving user input from a second user, the plurality of master manipulators being used to control a plurality of slave tools; at least one display device; and a control device communicatively connected to the plurality of master manipulators and the at least one display device, the control device being configured to control the at least one display device to display at least one tool allocation interface for allocating at least one of the plurality of slave tools, and to operate the at least one tool allocation interface based on user input to allocate at least one slave tool to at least one of the plurality of master manipulators.

The invention relates to a master manipulator control device and a puncture robot. The main hand control device comprises a puncture execution unit; the force feedback unit comprises a driving assembly and a transmission assembly arranged on one side of the driving assembly, the input end of the transmission assembly is connected with the driving assembly, and the output end of the transmission assembly is connected with the puncture execution unit; wherein the puncture execution unit is configured to move relative to the force feedback unit along a first axis; the first axis penetrates through the center of the driving assembly and the center of the puncture execution unit.

This utility model relates to the field of hoisting device technology, specifically a hoisting device for a master-slave manipulator in the nuclear industry. It includes a portal frame, comprising two vertical frames on the left and right sides and a horizontal frame fixedly connected to the top of the vertical frames. The bottom of each vertical frame has a pin for inserting and fixing the master manipulator. A restraining rope is fixedly connected to the middle of the two vertical frames. Each pin includes a pin shaft and a locking shaft. A sliding cylinder is provided on the inner bottom of each of the two vertical frames, with the pin shaft slidably connected to the sliding cylinder. The pin shaft has a locking pin insertion hole, and the sliding cylinder has a sliding cylinder insertion hole. The locking shaft is used to insert and fix the pin shaft and the sliding cylinder. The locking shaft is connected to the vertical frames via a chain. The pin can be inserted and fixed to the hoisting hole on the master manipulator. The restraining rope can be connected to the right-angled frame on the side of the master manipulator to limit its movement and prevent tipping.

The aircraft control system includes an inceptor with a set of primary inceptor axes and a set of secondary inceptor inputs. The inceptor can optionally include a hand rest, a thumb groove, a set of finger grooves, passive soft stops, and / or any other additional elements. The aircraft control system can optionally include a flight controller, aircraft sensors, effectors, and a haptic feedback mechanism. However, the aircraft control system can additionally or alternatively include any other suitable components.

The embodiment of the invention provides a master-slave delay test method, system and equipment for a surgical robot, and the method comprises the steps: responding to a collection instruction triggered by a user through an optical positioning device, and collecting the position data of a first target ball disposed on a master hand and a second target ball disposed on a slave hand; the testing device responds to at least one movement instruction triggered by a user, and based on at least one movement direction carried by the at least one movement instruction, a master hand is driven to move along the at least one movement direction, so that a slave hand of the surgical robot moves along with the at least one movement direction; determining a master hand motion curve and a slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device; and the target delay information between the master manipulator and the slave manipulator is determined based on the master manipulator motion curve and the slave manipulator motion curve corresponding to each motion direction, so that the composition and the test process of the test system are simple, the requirement on the test environment is low, and the test precision can be improved.

A master manipulator includes a first master manipulator module, a second master manipulator module, and a third master manipulator module which are perpendicular to each other, an output end of the third master manipulator module is connected to an input end of the second master manipulator module; an output end of the second master manipulator module is connected to an input end of the first master manipulator module; the first master manipulator module can be connected to a main controller. The minimally invasive surgery robot master manipulator is simple and compact in structure, and can realize a high-precision surgical operation; moreover, the master manipulator modules are located above a transverse third master arm, thereby reducing the size of each master manipulator in a vertical direction, and effectively avoiding interference between the master manipulator and other components in the vertical direction.

An instrument axis mapping control method for a master-slave ophthalmic surgical robot, comprising: setting an instrument end trajectory division rule, and taking each divided trajectory segment as a separate control unit; at a trajectory starting point of each control unit, creating a virtual axis parallel to an instrument axis in space and fixing the virtual axis to a master manipulator end, obtaining a yaw angle and a pitch angle of the instrument at the trajectory starting point, and at each subsequent node after the trajectory starting point, acquiring a yaw angle and a pitch angle of the virtual axis at the node; and scaling a yaw angle change amount and a pitch angle change amount on the basis of a set scaling coefficient. After the trajectory starts, the instrument is controlled to execute a corresponding yaw angle and pitch angle at the trajectory starting point of each control unit, and at each subsequent node after the trajectory starting point, corresponding scaled yaw angle and pitch angle change amounts are executed. Also disclosed is a master-slave ophthalmic surgical robot. The method solves the problem in the prior art of poor adjustment accuracy caused by no scaling function when the orientation of the instrument is controlled.

The utility model relates to the field of medical instruments, and discloses a main manipulator clamping mechanism, a main manipulator and a surgical robot system. The clamping mechanism comprises a main body, a first clamping handle, a second clamping handle and a first non-contact sensor assembly, the main body comprises openings located in the two opposite sides, the near ends of the two clamping handles are hinged to the interior of the near end of the main body respectively, and the two clamping handles can be opened and closed mutually; the first non-contact sensor assembly comprises a first induction piece arranged on one clamping handle and a first sensor arranged in the main body, and the first sensor is used for detecting the change of the distance between the first sensor and the first induction piece so as to detect the opening and closing information of the clamping handles. The opening and closing angle of the first clamping handle or the second clamping handle is directly detected through the first non-contact sensor assembly, the detection mode is more direct, a connecting rod mechanism does not need to be additionally arranged, and the main operator clamping mechanism is simpler in structure and smaller in detection error.

The present application discloses a flight control device, an aircraft control method, and a vertical take-off and landing aircraft, relating to the field of aircraft control technology. The flight control device includes: a control system; a main manipulator, configured to receive control information input by a pilot; a backup manipulator, relatively independent from the main manipulator, configured to receive control information input by the pilot; the control system is configured to identify a target manipulator from the main manipulator and the backup manipulator, use a signal corresponding to the control information received from the target manipulator, and combine it with a preset control mapping relationship to generate a vector control instruction mapped to the control information, and control the aircraft to perform vector motion according to the vector control instruction. Through the above scheme, the present application can effectively reduce the complexity of aircraft control and improve the safety of aircraft control.

The application provides a master hand control device. The master hand control device comprises an arm assembly having at least one arm joint mechanism; a wrist assembly movably connected to the arm assembly, the wrist assembly allowing an operator to perform corresponding operations, wherein the wrist assembly comprises at least one wrist joint mechanism; and a support assembly for providing support to at least one element of the arm assembly and the wrist assembly.

The invention relates to the field of medical instruments, and discloses a motion control method of a robot system, a surgical robot and a storage medium. A motion control method of a robot system includes a mobile station including at least one motion arm and a master station including at least one master manipulator, the motion control method of the robot system including: receiving master manipulator operation information corresponding to an operation action on the at least one master manipulator from the at least one master manipulator; and adjusting the pose of the control point of the at least one motion arm based on the main operator operation information. Through the motion control method of the robot system provided by the invention, a user can adjust the pose of the control point of the motion arm by operating the main operator.

Embodiments of the present application provide a control method and device of a master-slave-manipulator robot. The method includes: after acquiring a mapped position and a starting motion parameter of the slave-manipulator motor for the current cycle, performing planning on a motion trajectory of the slave-manipulator motor for the current cycle and acquiring a maximum planning distance, and finally determining a value that may be prioritized among the mapped motion distance and the maximum planning distance as an actual distance that the slave-manipulator motor needs to move for the current cycle. In this way, it is possible to avoid the problem of an error warning of the motor due to exceeding of a limit of the slave-manipulator motor caused by the master manipulator being directly mapped to the slave-manipulator motor, so that an excessive acceleration and velocity during motion of the master manipulator motion may be decreased to an acceptable level of the slave-manipulator motor while it is ensured that the overall trajectory remains substantially unchanged, thus prolonging a service life of the slave-manipulator motor.

The present disclosure provides a master manipulator. The master manipulator may include an arm assembly including at least one arm joint mechanism and a wrist assembly movably connected with the arm assembly. The wrist assembly may allow an operator to perform a corresponding operation. The wrist assembly may include at least one wrist joint mechanism. The master manipulator may also include a support assembly configured to support at least one of the arm assembly and the wrist assembly.

The present application provides a master manipulator and a master-slave minimally invasive surgical system, relating to the field of medical device technology. The master manipulator includes: a position adjustment mechanism, a posture adjustment mechanism, and a pair of finger clamps. The input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, and the output end of the posture adjustment mechanism is connected to the finger clamps. The position adjustment mechanism is used to adjust the spatial position of the finger clamps. The posture adjustment mechanism includes multiple connecting rods that are connected to each other in a sequential manner. The position adjustment mechanism is provided with multiple drive motors, and the multiple drive motors are respectively connected to the multiple connecting rods. The multiple drive motors adjust the spatial posture of the finger clamps by adjusting the angles of the multiple connecting rods. The master manipulator can achieve dynamic compensation of the master manipulator, with strong adjustment capabilities and a large adjustment range. In addition, the master manipulator arranges the drive motor on the position adjustment mechanism, which reduces the inertia of the posture adjustment mechanism, making it easier to control and ensuring the doctor's comfort during long-term surgical operations.

The invention provides a master manipulator controller and a control method, and belongs to the technical field of surgical robotics.The master manipulator controller specifically comprises a breathing movement platform, an upper platform and a lower platform, a movement space is formed between the upper platform and the lower platform, the upper platform and the lower platform are connected through a telescopic mechanism, and under the action of the telescopic mechanism, the upper platform and the lower platform can move in a moving mode. The upper platform can do up-down telescopic motion relative to the lower platform so as to simulate the fluctuation of the body surface of a patient; the posture adjusting mechanism comprises a puncture needle rod and a first rotating pair; the movement mechanism is driven to move in the movement space by operating the upper end of the puncture needle rod, and movement control over the lower end of the puncture needle rod is achieved. The upper platform is driven by the telescopic mechanism to do telescopic motion relative to the lower platform so as to simulate body surface fluctuation of a patient, so that an operator can be more personally on the scene during surgical operation, the surgical experience of the operator is enhanced, the operator is closer to a real surgical environment, and the surgical efficiency of the operator is improved.