87 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 provides a control method of a master-slave surgical robot system and the master-slave surgical robot system. The control method comprises the following steps: registering a master hand and a slave hand, and obtaining a mapping pose of the master hand, so that the orientation of the master hand is consistent with the orientation of the slave hand; performing coordinate transformation on the master hand mapping pose to obtain a slave hand mapping pose; calculating output energy of the slave hands according to the slave hand mapping poses; and comparing the input energy of the master manipulator with the output energy of the slave manipulator, and determining whether the speed of the slave manipulator needs to be corrected according to a comparison result. According to the control method and the master-slave surgical robot system, a master-slave control framework is improved, the virtual slave hand module and the relay feedback module are introduced to the master hand end and the slave hand end respectively, whether the speed of the slave hand needs to be corrected or not is determined by comparing the input energy of the master hand with the output energy of the slave hand, and then the stability of the overall system is guaranteed.

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 smart slave manipulator robot arm control system and a control method. The control system comprises a parameter module which stores structure parameters of a plurality of different types of robot arms; the detection module is used for detecting detection information of the robot arm; the control module selects a control algorithm and outputs a control instruction to the driving module; and the driving module receives the control instruction output by the control module, and drives the robot arm to perform motion control, jitter control, obstacle avoidance control and arm change control according to the control instruction. The flexibility of the robot arm is improved, the control accuracy and safety of the robot arm are improved, the control accuracy is improved, misoperation such as manual operation hand shaking is prevented, and the situation that when a master manipulator robot arm control system breaks down, after a slave manipulator robot arm loses an instruction, the slave manipulator robot arm moves randomly due to the absence of a slave manipulator control system is avoided. Therefore, the damage influence on the surrounding operation environment is 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 discloses a flight control device, an aircraft control method and a vertical take-off and landing aircraft, and relates to the technical field of aircraft control. A main manipulator configured to receive manipulation information input by a pilot; the backup manipulator and the main manipulator are independently arranged relatively, and the backup manipulator is configured to receive manipulation information input by a pilot; the control system is configured to identify a target manipulator from the main manipulator and the backup manipulator, generate a vector control instruction mapped with the manipulation information by using a signal corresponding to the manipulation information received from the target manipulator and combining a preset manipulation mapping relation, and control the target manipulator according to the vector control instruction. And controlling the aircraft to perform vector motion according to the vector control instruction. According to the scheme, the complexity of aircraft control can be effectively reduced, and the safety of aircraft control is improved.

The invention provides an electrostatic adsorption clutch force feedback data glove based on a teleoperation system and a design method thereof, and belongs to the field of intelligent robots. Firstly, a hardware system of the output feedback data glove is designed based on inertial sensors, a system on a full programmable chip and an electrostatic adsorption clutch, the designed glove is worn on a human hand, and the inertial sensors arranged at the two ends of a joint are used for capturing the hand posture to obtain the bending angle of the human finger joint; an isomorphic finger joint motion mapping algorithm is adopted to convert into joint angle information of the slave manipulator, motion mapping of the master manipulator and the slave manipulator is achieved, then a force signal fed back by the slave manipulator is converted into kinesthetic force which can be sensed by the master manipulator through an electrostatic adsorption clutch, and master-slave force feedback is achieved.

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 disclosure relates to the field of medical instruments, disclosing an endoscope master-slave motion control method. The endoscope includes an operating arm, a main body disposed at an end of the operating arm, a first imaging unit, a second imaging unit, and an end instrument protruding from a distal end of the main body. The method comprises: determining a current pose of a master manipulator; based on the current pose of the master manipulator and a pose relationship between the master manipulator and the end of the operating arm, determining a target pose of the end of the operating arm; based on the target pose, generating a drive instruction for driving the end of the operating arm; obtaining a first image from the first imaging unit; obtaining a second image from the second imaging unit, wherein the first image and the second image have different fields of view and include images of the end instrument; based on the first and second images, generating a composite scene image to remove an actual image of the end instrument; and generating a virtual image of the end instrument in the composite scene image.

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 provides an arm mechanism, a master manipulator operating arm and master manipulator operating equipment, and relates to the technical field of medical equipment, the arm mechanism comprises a connecting rod, a rotating shaft and a flexible transmission piece; the connecting rod comprises a rod body and rod end parts arranged at the two ends of the rod body; the rod body is of a plate structure with the opposite ends open and the circumferential direction closed, and the side face of the rod body is concaved inwards to form a plurality of weight reduction grooves. The edges of the two opposite side faces of the rod body extend outwards so that outer wire passing channels can be formed in the two sides of the rod body. The end part of the rod is provided with a shaft mounting space for mounting a rotating shaft, and the shaft mounting space is communicated with the outer wire passing channel; the flexible transmission piece is tensioned between the rotating shafts at the two ends, and the linear section of the flexible transmission piece is partially contained in the outer wire passing channel. According to the arm mechanism, the overall weight of the arm mechanism can be reduced, the lightweight design of the arm is achieved, and meanwhile wiring and adjustment of the linkage shaft structure in the arm mechanism are facilitated.

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.