35 results about "Master manipulator" patented technology

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 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.

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.

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 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.

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 disclosure relates to the field of robotics, and discloses a control method of master-slave motion based on positioning images, comprising: acquiring a positioning image; determining a current pose of a slave tool relative to a reference coordinate system based on the positioning image; determining a target pose of a handle of a master manipulator based on the current pose of the slave tool; and generating a control signal for the master manipulator based on the target pose of the handle of the master manipulator.

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 invention discloses a rigid-flexible coupling series-parallel main manipulator which comprises a rigid series branch chain as a passive pose sensing branch chain, a flexible parallel mechanism as a force feedback execution branch chain and an operation handle, the operating handle is connected with the far ends of the eight flexible tendon ropes of the flexible parallel platform through the eight symmetrical anchor points, so that the operating handle, the rigid series branch chain and the eight flexible tendon ropes jointly form a rigid-flexible hybrid parallel constraint mechanism with nine branch chains, and structural support and pose recognition are provided through the rigid branch chains. Power interaction is provided through the flexible branch chains. The rigid-flexible coupling design is adopted, force can be directly transmitted to the operation end from the motor through the tendon rope, friction loss is reduced, and the force output efficiency is improved. A rigid branch chain is introduced into a rigid-flexible coupling design framework, so that the overall rigidity of the system is high, meanwhile, a force-position decoupling layout design is adopted, a positioning function is integrated on the rigid branch chain, and the positioning precision can be equivalent to the precision of a rigid structure.

The invention discloses a double-arm intelligent robot control method and system based on master-slave control and a medium, and relates to the field of intelligent robots and automatic control. The method comprises the steps that master and slave manipulators are initialized, a clamping jaw motor at the tail end of the master manipulator enters a force control mode, and slave manipulator joints and the clamping jaw motor enter a position mode; after a clamping jaw at the tail end of the master manipulator rapidly kneads and judges master-slave control, the joint angle of the master manipulator is read and sent to the slave manipulator, and the slave manipulator is controlled to move; meanwhile, position signals of a sliding block at the tail end of a main hand are collected and mapped into the speed and the angular speed of a wheelchair body, and mechanical arm control and chassis cooperative control are achieved; reading an actual angle of a clamping jaw at the tail end of the slave manipulator, calculating a difference value between the actual angle and a target angle, calculating feedback torque, and controlling the master manipulator to output torque to realize force perception. Intuitive operation is achieved through master-slave isomorphic control, cooperative control is achieved through the sliding block, the grabbing precision is improved through force feedback, operation is easy, the starting difficulty is low, and the problem that movement of the upper limbs of a user is limited is solved.

The application provides a force feedback method and device for a surgical robot master manipulator, and the force feedback method comprises the following steps: acquiring first force feedback data and scene data of the surgical robot master manipulator; generating a virtual protection domain corresponding to the surgical robot master manipulator based on the scene data; generating target force feedback data by using an impedance control algorithm based on the first force feedback data and the virtual protection domain; and sending a first instruction to a force feedback device controller, wherein the first instruction is used to instruct the force feedback device controller to control the surgical robot master manipulator based on the target force feedback data. By using the above method, the design of the virtual protection domain can complete the construction of a repulsion force field or a pulling force field for the surgical robot master manipulator, so that tactile feedback can be provided to the surgical robot master manipulator, and doctors can truly feel the force feedback effect, thereby avoiding damage to human tissues.

The invention relates to a force feedback wire transmission joint device, a main manipulator and a surgical robot thereof.The force feedback wire transmission joint device comprises a frameless motor; the multi-stage transmission unit comprises an input shaft, a speed reducing mechanism, an output shaft, a first transmission wire and a second transmission wire, the input shaft is connected with the frameless motor, the first transmission wire is wound on the input shaft and the speed reducing mechanism, and the second transmission wire is wound on the speed reducing mechanism and the output shaft; the position feedback unit is arranged on the multi-stage transmission unit, and the position feedback unit is arranged to detect position information of the input shaft and the output shaft; the device body is provided with a containing space, the containing space is arranged to contain the frameless motor, the multi-stage transmission unit and the position feedback unit, and one end of the output shaft rotatably penetrates out of the containing space. According to the multi-stage transmission unit, through the winding mode of a first transmission wire and a second transmission wire, a two-stage transmission wire driving speed reducing mechanism is combined, and the high-speed-ratio joint free of back clearance, high in rigidity and zero in resistance is achieved.

The utility model provides a master hand console and a surgical robot, and relates to the technical field of surgical robotics.The master hand console comprises an observation bin, a supporting linkage device and a posture adjusting device, and the posture adjusting device comprises a hand input assembly, a driving mechanism and a control unit; the hand input assembly comprises a trigger detection part and an external force detection part; the driving mechanism is in transmission connection with the observation bin and used for driving the observation bin to perform posture adjustment; the trigger detection part, the external force detection part and the driving mechanism are electrically connected with the control unit; wherein the trigger detection part is used for obtaining hand trigger induction of an operator, and the external force detection part is used for obtaining hand external force input of the operator. According to the master manipulator console and the surgical robot, the posture of the observation bin can be adjusted according to the needs of an operator so as to meet the use requirements of the operator, meanwhile, the risk of mistaken touch can be effectively reduced in the adjusting process, and operation safety is improved.

A suspension assembly for rotational transmission of a manipulator, and a master manipulator arm. The suspension assembly comprises a disk connecting member, a crossed roller bearing, and a suspension bracket that are coaxially arranged from top to bottom. A rotatable bearing pedestal is arranged in the disk connecting member. The bearing pedestal, the crossed roller bearing, and the suspension bracket are fastened together into one by means of screws, so that the suspension bracket can rotate relative to the disk connecting member by means of a manual mode. A motor is fixedly arranged on one side of the suspension bracket, a rope wheel is fixedly connected to a motor shaft of the motor, a rope is wound around the rope wheel, and two ends of the rope extend along an outer wall of the disk connecting member in opposite directions and are fixedly arranged on two sides of the outer wall of the disk connecting member, opposite to each other. The motor can drive, by means of a motor active mode, the suspension bracket to rotate relative to the disk connecting member, or can assist, by means of a motor passive mode, the suspension bracket to rotate relative to the disk connecting member in the manual mode. The present application enables a manual and electric dual-mode rotating suspension bracket and detects the rotation angle thereof in real time.

The invention provides a non-singular gravity balance force feedback master manipulator operation arm based on human-computer interaction, and relates to the technical field of medical robots. The operation arm comprises a supporting base, a translation guide mechanism, a non-singular connecting arm, a rotating wrist mechanism and a holding interaction assembly. The non-singular connecting arm adopts a geometric structure which is bent inwards, so that singular poses with parallel three axes in the movement process of the mechanism are effectively avoided; the balance assembly is arranged at the near end of the non-singular connecting arm, and passive gravity balance of a tail end load is achieved through a balance weight. The rotating wrist mechanism is driven by a motor and provides three-degree-of-freedom force feedback based on impedance control; the holding interaction assembly is internally provided with a symmetrical double-path wiring structure to prevent cable loss, and is integrated with a repositioning and master hand enabling button. Through singular point elimination and gravity compensation, the operation inertia and the fatigue feeling are reduced, and the stability of teleoperation and the high fidelity of force sense feedback are improved.

A method of calibrating a manipulator of an industrial robot, the method including providing a primary manipulator having one or more primary joints and a primary mounting interface; providing a secondary manipulator having one or more secondary joints and a secondary mounting interface, where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state; for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the load data; and / or wherein the calibration of the secondary manipulator is additionally made based on the load data.

The embodiment of the invention relates to the technical field of medical robots, and particularly provides a master manipulator control device and a surgical robot comprising the master manipulator control device. The driving part comprises a first driving assembly and a second driving assembly; the transmission part comprises a first transmission mechanism and a second transmission mechanism; the operation part comprises a first movable part and a second movable part; wherein the first movable part is connected with the first driving assembly through the first transmission mechanism, and the second movable part is connected with the second driving assembly through the second transmission mechanism; wherein the first driving assembly and the second driving assembly are arranged on the base body in a mode of being separated from each other. With such a configuration, it is possible to improve the integration level of the device, thereby achieving the miniaturization development of the device.

This disclosure relates to the field of medical devices, and discloses a robotic system including a bending tool and its master-slave motion control method. The robotic system includes a master manipulator, a motion arm, and a bending tool. The bending tool includes a bending rigid arm and an end effector. The method includes determining the target pose of the master manipulator's handle based on the current pose of the end effector, and controlling the handle to move towards the target pose; executing a motion control loop, in which, based on the current pose of the handle and the pose relationship between the handle and the end effector, the target pose of the end effector is determined. Based on a reference point, an RCM point located on the bending rigid arm is determined, and the bending tool is controlled to move around the RCM point to move the end effector towards the target pose. Before establishing a teleoperation relationship, this method adjusts the pose of the master manipulator's handle to match the pose of the end effector, achieving accurate master-slave mapping and controlling the bending tool to move around the RCM point on the bending rigid arm, thus increasing the motion flexibility of the end effector.

The present disclosure provides a master manipulator device for a robot. The master manipulator device comprises an end control assembly and a posture adjustment member. The posture adjustment member includes a first rotation mechanism and a second rotation mechanism. The first rotation mechanism is connected to the end control assembly, and the second rotation mechanism is connected to the first rotation mechanism. The end control assembly drives the first rotation mechanism to rotate around a rotation axis of the first rotation mechanism, and the end control assembly also drives the first rotation mechanism and the second rotation mechanism to rotate around a rotation axis of the second rotation mechanism.

The present application relates to a kind of force feedback master manipulator for puncture operation and puncture operation robot system, including base, operating device, pose adjustment device and force feedback device, the base has an installation end face;Operating device includes connecting rod and handle, the connecting rod one end is movably connected to the base, the handle can be slidably connected to the connecting rod, the operating device also includes screw nut mechanism;Pose adjustment device includes for the swing of the operating device is converted into two directions regular movement, realize the detection and control of the swing of the operating device, pose adjustment device and force feedback device can help doctor real-time to from operating hand transfer handle corresponding adjustment action and feedback from operating hand corresponding adjustment action when with the contact force of object, so as to provide more real simulation actual hold needle puncture operation feeling for doctor, improve the success rate of operation, ensure patient safety.

This application discloses a master manipulator and a master-slave robot-assisted puncture system. The master manipulator includes: an X-axis flip structure, a support platform, and a puncture needle rod. The puncture needle rod is used to control the movement of the puncture robot. The X-axis flip structure is mounted on the support platform. The X-axis flip structure includes: an X-axis flip axis and an X-axis flip motor. The puncture needle rod is movably mounted on the support platform via the X-axis flip axis. The X-axis flip axis is rotated around the X-axis on the support platform under the drive of the X-axis flip motor. The master manipulator has a torque mode that prevents the puncture needle rod from rotating, and a drive mode that assists in the rotation of the puncture needle rod. The aforementioned flip motor applies rotational resistance or rotational driving force to the puncture needle rod through the X-axis flip structure, thereby simulating the resistance of the puncture needle moving within human tissue, or reducing the impact of the weight of the master manipulator, thus improving the surgeon's experience and ensuring surgical quality.

The invention relates to a master manipulator, a master manipulator for a puncture robot and a robot system. The master manipulator comprises a rotating platform, the rotating platform comprises a base and a rotating disc, the rotating disc is rotatably connected with the base, and rotation of the rotating disc relative to the base is associated with movement of at least one joint of the robot; the posture adjusting mechanism is provided with a plurality of degrees of freedom, and the posture adjusting mechanism is arranged on the rotary table; and the tail end control assembly is connected to the posture adjusting mechanism and used for controlling movement of a robot tail end executor. According to the master manipulator, due to the arrangement of a multi-degree-of-freedom structure, more comprehensive degree-of-freedom adjustment of the master manipulator is achieved, and therefore a better mapping relation is achieved between the master manipulator and a robot end effector.