CN102768541B - The control method of operating robot and system - Google Patents
The control method of operating robot and system Download PDFInfo
- Publication number
- CN102768541B CN102768541B CN201210132653.6A CN201210132653A CN102768541B CN 102768541 B CN102768541 B CN 102768541B CN 201210132653 A CN201210132653 A CN 201210132653A CN 102768541 B CN102768541 B CN 102768541B
- Authority
- CN
- China
- Prior art keywords
- patient
- end effector
- image
- current location
- mark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a kind of control method and system of operating robot.Described method comprises: position the end effector of operating robot and patient and obtain end effector current location and patient position respectively; Carrying out computing according to patient position and patient image, to obtain end effector with current location be initial, take setting as the movement locus of target; Motion path is obtained according to setting and end effector current location adjustment movement locus; End effector is driven according to motion path.Described system comprises: locating device, active control device, coordinates measurement device and drive unit.Adopt the security that invention increases operating robot.
Description
Technical field
The present invention relates to remote operating control technology, particularly relate to a kind of control method and system of operating robot.
Background technology
In various medical operating, doctor must participate in the overall process, and stands on for a long time around patient until operation terminates.Longer operation consuming time can expend a large amount of energy of doctor, makes doctor produce fatigue, and causes the arm of doctor to tremble thus, and then the security of impact operation.
Along with the fast development of various robot, the robot control method for various different application scene also arises at the historic moment thereupon, such as, utilizes the collision detecting Human-to-Machine's human arm to carry out control and makes corresponding action.The environment faced due to different application scene and control overflow difference are also different to the control method of robot.And because of medical operating higher to security requirement, the application of operating robot in medical operating is restricted widely.
Summary of the invention
Based on this, provide a kind of control method that can improve the operating robot of security.
In addition, there is a need to provide a kind of control system that can improve the operating robot of security.
A control method for operating robot, comprises the steps:
The end effector of operating robot and patient are positioned and obtains end effector current location and patient position respectively;
Carrying out computing according to patient position and patient image, to obtain described end effector with current location be initial, take setting as the movement locus of target;
Adjust described movement locus according to described setting and end effector current location and obtain motion path;
Described end effector is driven according to described motion path.
Wherein in an embodiment, described drive the step of described end effector according to described motion path before also comprise:
By drag operation triggering collection force information;
Process described force information, and be mapped as the movement instruction of described end effector;
According to described setting and patient position, described movement instruction is generated motion path.
Wherein in an embodiment, the described end effector to operating robot and patient position the step obtaining end effector current location and patient position respectively and are:
Gather the image marked in described end effector and patient respectively;
End effector current location and patient position is calculated according to the image of described mark.
Wherein in an embodiment, describedly carrying out computing according to patient position and patient image to obtain described end effector with current location be initial, is that the step of the movement locus of target is with setting:
Obtain patient image, the mark in described patient image and patient is carried out the position be marked in described patient image that registration process obtains in described patient;
The position obtained by described registration, patient position and end effector current location carry out the relative position relation that computing obtains between described end effector and patient;
It is initial for generating according to described relative position relation with current location, take setting as the movement locus of target.
Wherein in an embodiment, described force information is force and moment, the described force information of described process, and the step being mapped as the movement instruction of described end effector is:
To remove in described force and moment zero partially and the interference of gravity, and be mapped as the speed of end effector according to preset ratio, according to described speed generation movement instruction.
A control system for operating robot, comprising:
Locating device, obtains end effector current location and patient position respectively for positioning the end effector of operating robot and patient;
Active control device, for carrying out computing according to patient position and patient image, to obtain described end effector with current location be initial, take setting as the movement locus of target;
Coordinates measurement device, obtains motion path for adjusting described movement locus according to described setting and end effector current location;
Drive unit, for driving described end effector according to described motion path.
Wherein in an embodiment, also comprise:
Force feedback equipment, for the information that exerted a force by drag operation triggering collection;
Passive control device, for the treatment of described force information, and is mapped as the movement instruction of described end effector;
Described coordinates measurement device is also for generating motion path according to described setting and patient position by described movement instruction.
Wherein in an embodiment, described locating device comprises:
Image capture module, for gathering the image marked in described end effector and patient respectively;
Identification module, for calculating end effector current location and patient position according to the image of described mark.
Wherein in an embodiment, described active control device comprises:
Registration process module, for obtaining patient image, carries out the position be marked in described patient image that registration process obtains in described patient by the mark in described patient image and patient;
Computing module, position, patient position and end effector current location for being obtained by described registration carry out the relative position relation that computing obtains between described end effector and patient;
Track Pick-up module, being initial for generating according to described relative position relation with current location, take setting as the movement locus of target.
Wherein in an embodiment, described force information is force and moment, described passive control device also for removing in described force and moment zero partially and the interference of gravity, and is mapped as the speed of end effector, according to described speed generation movement instruction according to preset ratio.
The control method of above-mentioned operating robot and system, first the end effector of operating robot and patient are positioned and obtain setting and patient position, carrying out computing in conjunction with patient image, to obtain with setting be initial movement locus, and movement locus is adjusted, to ensure end effector in the process of carrying out moving according to movement locus for patient body can be encountered, improve security, under the effect of mobile phone robot, avoid doctor's prolonged operations to operate cause fatigue.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of operating robot in an embodiment;
Fig. 2 positions to the end effector of operating robot and patient the method flow diagram obtaining end effector current location and patient position respectively in Fig. 1;
Fig. 3 carries out computing according to patient position and patient image in Fig. 1 to obtain end effector with current location is initial, take setting as the movement locus of target;
Fig. 4 is the schematic diagram of relative position relation between end effector and patient in an embodiment;
Fig. 5 is the schematic diagram collided between operating theater instruments and patient body in end effector in an embodiment;
Fig. 6 is the schematic diagram of motion path in an embodiment;
Fig. 7 is the process flow diagram of the control method of operating robot in another embodiment;
Fig. 8 is the drag operation schematic diagram of force feedback equipment in an embodiment;
Fig. 9 is the structural representation of the control system of operating robot in an embodiment;
Figure 10 is the structural representation of locating device in Fig. 9;
Figure 11 is the structural representation of active control device in Fig. 9;
Figure 12 is the structural representation of the control system of operating robot in another embodiment.
Embodiment
As shown in Figure 1, in one embodiment, a kind of control method of operating robot, comprises the steps:
Step S110, positions the end effector of operating robot and patient and obtains end effector current location and patient position respectively.
In the present embodiment, it is the medical operating of object that the end effector of operating robot is used for being completed by various motion with patient, is the direct executor of medical operating, it is provided with various operating theater instruments as required.The position obtaining current place is positioned to end effector and patient.
As shown in Figure 2, in one embodiment, above-mentioned steps S110 comprises the steps:
Step S111, gathers the image marked in end effector and patient respectively.
In the present embodiment, end effector and patient are all accompanied with mark, for calibration position.This mark can be coated on the reflectorized material on the health of end effector and patient.By end effector and patient are taken obtain end perform in the image that marks in the image of mark and patient.Concrete, can be infrared camera for carrying out the device of image taking, accordingly, the reflectorized material as mark is then necessary can reflects infrared light.Mark image in mark corresponding to point by bright in surrounding environment.
Step S113, the image according to mark calculates end effector current location and patient position.
In the present embodiment, position calculation is carried out to obtain end effector current location and patient position to the image of mark.Concrete, the incidental mark of end effector is fixed on end effector, accordingly, the incidental mark of patient is also fixed on it patient, and the incidental position being marked at correspondence in patient image of patient can be obtained, therefore, end effector current location and patient position can be obtained according to coordinate transform.
Step S130, carrying out computing according to patient position and patient image, to obtain end effector with current location be initial, take setting as the movement locus of target.
In the present embodiment, setting is position patient body needing the operation implemented.The relative position in end effector between operating theater instruments current location and patient position can be calculated by coordinate transform, and accurately show that operating robot is target with setting, moves to the movement locus corresponding to setting from current location in conjunction with patient image.
As shown in Figure 3, in one embodiment, above-mentioned steps S130 comprises the steps:
Step S131, obtains patient image, the mark in patient image and patient is carried out the position be marked in patient image that registration process obtains in patient.
In the present embodiment, carry out medical image scan obtain corresponding patient image to patient, this patient image can be CT image, also can be the forms such as magnetic resonance image (MRI).For improving the accuracy of operation further, also can carry out three-dimensional image reconstruction to scanning the patient image obtained, making to implement medical operating by patient image more accurately in subsequent process.
Patient image and the incidental mark of patient are carried out registration, makes the incidental mark of patient corresponding with a certain position in patient image.
Step S133, the position obtained by registration, patient position and end effector current location carry out the relative position relation that computing obtains between end effector and patient.
In the present embodiment, as shown in Figure 4, the relative position relation in end effector 401 between the position of operating theater instruments and patient 404 position
toolt
imobtain by following formulae discovery:
ToolT
Im＝
TPOT
Tool -1·
camT
TPO -1·
camT
PPo·
PPoT
Im
Wherein,
tPot
toolit is the transition matrix that coordinate corresponding to end effector 401 is tied to corresponding to the subsidiary mark of end effector 402 between coordinate system;
camt
tPoit is the transition matrix that the subsidiary coordinate corresponding to mark 402 of end effector is tied between image capturing device 403 coordinate system;
camt
pPoit is the transition matrix that the subsidiary coordinate corresponding to mark 405 of patient is tied between image capturing device 403 coordinate system;
pPot
imit is the transition matrix that patient image 406 coordinate is tied to corresponding to the subsidiary mark of patient 405 between coordinate system.
Step S135, it is initial for generating according to relative position relation with current location, take setting as the movement locus of target.
In the present embodiment, carry out according to correlative positional relation the movement locus that computing must obtain in end effector corresponding to operating theater instruments to setting.
Step S150, obtains motion path according to setting and end effector current location adjustment movement locus.
In the present embodiment, the movement locus that computing obtains for operating theater instruments in end effector to patient carry out the position of performing the operation, namely the straight path between setting, therefore, as shown in Figure 5, if carry out end effector by this straight path to move the collision that may occur in end effector between operating theater instruments and patient body, and then cause patient injury, as shown in Figure 6, need adjust movement locus, make end effector avoid colliding with patient body in the process of motion, improve the security in operating robot control procedure.
Step S170, drives end effector according to motion path.
In the present embodiment, calculate by the inverse solution of robot kinematics the angle etc. should rotated in each joint of operating robot according to motion path and drive parameter, and then end effector can be moved according to motion path successively.
The control method of above-mentioned operating robot, end effector current location and patient position is obtained by carrying out positive location to the end effector of operating robot and patient, and then computing obtains taking setting as the movement locus of target, and the motion of end effector is controlled according to the motion path that adjustment movement locus obtains, to complete the medical operating that in end effector, operating theater instruments is carried out patient, achieve the ACTIVE CONTROL of operating robot.
As shown in Figure 7, in another embodiment, also comprise the steps: before above-mentioned steps S170
Step S210, by drag operation triggering collection force information.
In the present embodiment, when carrying out drag operation to force feedback equipment, gather in drag operation process the force information put in force feedback equipment.
Step S230, process force information, and be mapped as the movement instruction of end effector.
In the present embodiment, the force information collected is processed, to reject the disturbing factor in force information, and then by process after force information MAP be the movement instruction of end effector, make operating robot compliantly along with pulling to move, realize the Shared control of operating robot in Passive Control process.
In one embodiment, force information is force and moment, and the detailed process of above-mentioned steps S230 is: to remove in force and moment zero partially and the interference of gravity, and be mapped as the speed of end effector according to preset ratio, according to speed generation movement instruction.
In the present embodiment, after eliminate force and moment in drag operation process zero is inclined and gravity disturbs, according to preset ratio, the force and moment collected is converted as the speed in end effector, and generate the movement instruction corresponding with drag operation, for according in force feedback equipment pull track, force and moment obtains controlling the straight path of operating robot from current location to setting, realizes the accurate manipulation of operating robot.
Step S250, generates motion path according to setting and patient position by described movement instruction.
In the present embodiment, adjustment is carried out to movement instruction and generates motion path, and then avoid end effector to collide with patient body in the process of motion.
In one embodiment, as shown in Figure 8, moving by making end effector 803 follow drag operation to the drag operation of force feedback equipment 801, achieving the Passive Control of operating robot.
In the control method of above-mentioned operating robot, the Passive Control of operating robot is carried out by the drag operation triggered, when there is not the input of drag operation, complete medical operating by ACTIVE CONTROL, in operating robot, the combination of ACTIVE CONTROL and Passive Control greatly increases dirigibility.
In a preferred embodiment, the artificial spinal operation robot of above-mentioned surgical machine, for implementing spinal operation for patient.Particularly, obtain patient image, scanned in computing machine and carry out three-dimensional image reconstruction.After operating robot initialization, collect the drag operation of doctor in force feedback equipment, now end effector moves to according to drag operation the position that patient carries out performing the operation.
Now, operating robot will enter Active Control Mode, gather the image marked in end effector and patient, carry out the setting that positive location obtains patient position and end effector.By the motion monitoring operating robot, doctor checks whether the action of operating robot meets requirements of operation, and if so, then end effector is holed to the backbone of patient.
After completing boring, if whole spinal operation terminates, then reset robot, implants spicule and clear up wound, then sew up wound in the backbone of patient.
As shown in Figure 9, in one embodiment, a kind of control system of operating robot, comprises locating device 110, active control device 130, coordinates measurement device 150 and drive unit 170.
Locating device 110, obtains end effector current location and patient position respectively for positioning the end effector of operating robot and patient.
In the present embodiment, it is the medical operating of object that the end effector of operating robot is used for being completed by various motion with patient, is the direct executor of medical operating, it is provided with various operating theater instruments as required.Locating device 110 pairs of end effectors and patient position the position obtaining current place.
As shown in Figure 10, in one embodiment, above-mentioned locating device 110 comprises image capture module 111 and identification module 113.
Image capture module 111, for gathering the image marked in end effector and patient respectively.
In the present embodiment, end effector and patient are all accompanied with mark, for calibration position.This mark can be coated on the reflectorized material on end effector and patient body.Image capture module 111 by end effector and patient are taken obtain end perform in the image that marks in the image of mark and patient.Concrete, can be infrared camera for image capture module 111, accordingly, the reflectorized material as mark is then necessary can reflects infrared light.Mark image in mark corresponding to point by bright in surrounding environment.
Identification module 113, for calculating end effector current location and patient position according to the image of mark.
In the present embodiment, the image of identification module 113 to mark carries out position calculation to obtain end effector current location and patient position.Concrete, the incidental mark of end effector is fixed on end effector, accordingly, the incidental mark of patient is also fixed on it patient, and the incidental position being marked at correspondence in patient image of patient can be obtained, therefore, identification module 113 can obtain end effector current location and patient position according to coordinate transform.
Active control device 130, for carrying out computing according to patient position and patient image, to obtain end effector with current location be initial, take setting as the movement locus of target.
In the present embodiment, active control device 130 can calculate the relative position between the position of operating theater instruments in end effector and patient position by coordinate transform, and accurately show that operating robot is target with setting, moves to the movement locus corresponding to setting from current location in conjunction with patient image.
As shown in figure 11, in one embodiment, above-mentioned active control device 130 comprises registration process module 131, computing module 133 and Track Pick-up module 135.
Registration process module 131, for obtaining patient image, carries out the position be marked in patient image that registration process obtains in patient by the mark in patient image and patient.
In the present embodiment, carry out medical image scan obtain corresponding patient image to patient, this patient image can be CT image, also can be the forms such as magnetic resonance image (MRI).For improving the accuracy of operation further, also can carry out three-dimensional image reconstruction to scanning the patient image obtained, making to implement medical operating by patient image more accurately in subsequent process.
Patient image and the incidental mark of patient are carried out registration by registration process module 131, make the incidental mark of patient corresponding with a certain position in patient image.
Computing module 133, position, patient position and end effector current location for being obtained by registration carry out the relative position relation that computing obtains between end effector and patient.
In the present embodiment, the relative position relation in end effector between the position of operating theater instruments and patient position
toolt
imobtain by following formulae discovery:
ToolT
Im＝
TPOT
Tool -1·
camT
TPO -1·
camT
PPo·
PPoT
Im
Wherein,
tPot
toolit is the transition matrix that coordinate corresponding to end effector is tied to corresponding to the subsidiary mark of end effector between coordinate system;
camt
tPoit is the transition matrix that the subsidiary coordinate corresponding to mark of end effector is tied between image capturing device coordinate system;
camt
pPoit is the transition matrix that the subsidiary coordinate corresponding to mark of patient is tied between image capturing device coordinate system;
pPot
imit is the transition matrix that patient image's coordinate is tied to corresponding to the subsidiary mark of patient between coordinate system.
Track Pick-up module 135, being initial for generating according to relative position relation with current location, take setting as the movement locus of target.
In the present embodiment, Track Pick-up module 135 carries out according to correlative positional relation the movement locus that computing must obtain in end effector corresponding to operating theater instruments to setting.
Coordinates measurement device 150, for obtaining motion path according to setting and end effector current location adjustment movement locus.
In the present embodiment, the movement locus that computing obtains for operating theater instruments in end effector to patient carry out the position of performing the operation, namely the straight path between setting, therefore, if carry out end effector by this straight path to move the collision that may occur in end effector between operating theater instruments and patient body, and then cause patient injury, coordinates measurement device 150 pairs of movement locus are needed to adjust, make end effector avoid colliding with patient body in the process of motion, improve the security in operating robot control procedure.
Drive unit 170, for driving end effector according to motion path.
In the present embodiment, drive unit 170 calculates by the inverse solution of robot kinematics the angle etc. should rotated in each joint of operating robot according to motion path and drives parameter, and then end effector can be moved according to motion path successively.
The control system of above-mentioned operating robot, end effector current location and patient position is obtained by carrying out positive location to the end effector of operating robot and patient, and then computing obtains taking setting as the movement locus of target, and the motion of end effector is controlled according to the motion path that adjustment movement locus obtains, to complete the medical operating that in end effector, operating theater instruments is carried out patient, achieve the ACTIVE CONTROL of operating robot.
As shown in figure 12, in another embodiment, the control system of above-mentioned operating robot also comprises force feedback equipment 210 and passive control device 230.
Force feedback equipment 210, for the information that exerted a force by drag operation triggering collection.
In the present embodiment, when carrying out drag operation to force feedback equipment 210, gather in drag operation process the force information put in force feedback equipment 210.
Passive control device 230, for the treatment of force information, and is mapped as the movement instruction of end effector.
In the present embodiment, passive control device 230 processes the force information collected, to reject the disturbing factor in force information, and then by process after force information MAP be the movement instruction of end effector, make operating robot compliantly along with pulling to move, realize the Shared control of operating robot in Passive Control process.
In one embodiment, force information is force and moment, and above-mentioned passive control device 230 also for removing in force and moment zero partially and the interference of gravity, and is mapped as the speed of end effector, according to speed generation movement instruction according to preset ratio.
In the present embodiment, after eliminate force and moment in drag operation process zero is inclined and gravity disturbs, the force and moment collected is converted as the speed in end effector according to preset ratio by passive control device 230, and generate the movement instruction corresponding with drag operation, for according in force feedback equipment pull track, force and moment obtains controlling the straight path of operating robot from current location to setting, realizes the accurate manipulation of operating robot.
Coordinates measurement device 150 is also for generating motion path according to setting and patient position by movement instruction.
In the present embodiment, coordinates measurement device 150 pairs of movement instructions carry out adjustment and generate motion path, and then avoid end effector to collide with patient body in the process of motion.
The control method of above-mentioned operating robot and system, first the end effector of operating robot and patient are positioned and obtain setting and patient position, carrying out computing in conjunction with patient image, to obtain with setting be initial movement locus, and movement locus is adjusted, to ensure end effector in the process of carrying out moving according to movement locus for patient body can be encountered, improve security, under the effect of mobile phone robot, avoid doctor's prolonged operations to operate quote fatigue.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (2)
1. a control method for operating robot, comprises the steps:
The end effector of operating robot and patient are positioned and obtains end effector current location and patient position respectively;
The described end effector to operating robot and patient position the step obtaining end effector current location and patient position respectively:
Gather the image marked in described end effector and patient respectively; Described end effector and patient are all accompanied with mark, for calibration position, described mark be individually fixed in end effector and patient health on be coated with the gauge point of reflectorized material, by taking the image obtaining marking in the image of mark and patient during end performs to end effector and patient; End effector current location and patient position is calculated according to the image of described mark;
Carrying out computing according to patient position and patient image, to obtain described end effector with current location be initial, and take setting as the movement locus of target, described movement locus is the straight path between described end effector to setting;
Describedly carrying out computing according to patient position and patient image to obtain described end effector with current location be initial, is that the step of the movement locus of target is with setting:
Obtain patient image, the mark in described patient image and patient is carried out the position be marked in described patient image that registration process obtains in described patient;
The position obtained by described registration, patient position and end effector current location carry out the relative position relation that computing obtains between described end effector and patient;
It is initial for generating according to described relative position relation with current location, take setting as the movement locus of target;
Adjust described movement locus according to described setting and end effector current location and obtain motion path, make described end effector avoid colliding with patient body according to described motion path in the process of motion;
Described end effector is driven according to described motion path; Described motion path calculates by the inverse solution of robot kinematics the angle should rotated in each joint of operating robot and drives parameter, and then end effector can be moved according to motion path successively;
Described drive the step of described end effector according to described motion path before also comprise:
By drag operation triggering collection force information;
Process described force information, and be mapped as the movement instruction of described end effector;
According to described setting and patient position, described movement instruction is generated motion path;
Described force information is force and moment, the described force information of described process, and the step being mapped as the movement instruction of described end effector is:
To remove in described force and moment zero partially and the interference of gravity, and be mapped as the speed of end effector according to preset ratio, according to described speed generation movement instruction.
2. a control system for operating robot, is characterized in that, comprising:
Locating device, obtains end effector current location and patient position respectively for positioning the end effector of operating robot and patient;
Described locating device comprises:
Image capture module, for gathering the image marked in described end effector and patient respectively, described end effector and patient are all accompanied with mark, for calibration position, described mark be individually fixed in end effector and patient health on be coated with the gauge point of reflectorized material, by taking the image obtaining marking in the image of mark and patient during end performs to end effector and patient;
Identification module, for calculating end effector current location and patient position according to the image of described mark;
Active control device, for carrying out computing according to patient position and patient image, to obtain described end effector with current location be initial, take setting as the movement locus of target, described movement locus is the straight path between described end effector to setting;
Described active control device comprises:
Registration process module, for obtaining patient image, carries out the position be marked in described patient image that registration process obtains in described patient by the mark in described patient image and patient;
Computing module, position, patient position and end effector current location for being obtained by described registration carry out the relative position relation that computing obtains between described end effector and patient;
Track Pick-up module, being initial for generating according to described relative position relation with current location, take setting as the movement locus of target;
Coordinates measurement device, obtains motion path for adjusting described movement locus according to described setting and end effector current location, makes described end effector avoid colliding with patient body in the process of motion according to described motion path;
Drive unit, for driving described end effector according to described motion path; Described motion path calculates by the inverse solution of robot kinematics the angle should rotated in each joint of operating robot and drives parameter, and then end effector can be moved according to motion path successively;
Force feedback equipment, for the information that exerted a force by drag operation triggering collection;
Passive control device, for the treatment of described force information, and is mapped as the movement instruction of described end effector;
Described coordinates measurement device is also for generating motion path according to described setting and patient position by described movement instruction;
Described force information is force and moment, and described passive control device also for removing in described force and moment zero partially and the interference of gravity, and is mapped as the speed of end effector, according to described speed generation movement instruction according to preset ratio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210132653.6A CN102768541B (en) | 2012-04-28 | 2012-04-28 | The control method of operating robot and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210132653.6A CN102768541B (en) | 2012-04-28 | 2012-04-28 | The control method of operating robot and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102768541A CN102768541A (en) | 2012-11-07 |
| CN102768541B true CN102768541B (en) | 2015-12-09 |
Family
ID=47095968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210132653.6A Active CN102768541B (en) | 2012-04-28 | 2012-04-28 | The control method of operating robot and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102768541B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104757928A (en) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | Digestive endoscopy assisting interventional robot control system and method |
| CN106725856B (en) * | 2016-11-23 | 2020-05-05 | 深圳市罗伯医疗科技有限公司 | Control method and control device of surgical robot |
| CN109512509B (en) * | 2018-12-27 | 2020-07-03 | 中国科学院深圳先进技术研究院 | Compliance control method, device and equipment for robot |
| CN115813563B (en) * | 2023-02-20 | 2023-07-14 | 北京壹点灵动科技有限公司 | Surgical robot control device, storage medium, and processor |
| CN116725730B (en) * | 2023-08-11 | 2023-12-05 | 北京市农林科学院智能装备技术研究中心 | Pig vaccine injection method, system and storage medium based on visual guidance |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030144649A1 (en) * | 2002-01-16 | 2003-07-31 | Modjtaba Ghodoussi | Tele-medicine system that transmits an entire state of a subsystem |
| US20040176751A1 (en) * | 2002-08-14 | 2004-09-09 | Endovia Medical, Inc. | Robotic medical instrument system |
| CN101193603A (en) * | 2005-06-06 | 2008-06-04 | 直观外科手术公司 | Laparoscopic ultrasound robotic surgical system |
| CN102300512A (en) * | 2008-12-01 | 2011-12-28 | 马佐尔机器人有限公司 | Robot Guided Oblique Spinal Stabilization |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1803102A (en) * | 2005-12-02 | 2006-07-19 | 北京航空航天大学 | Constrained operation programming method based on medicinal image predisplayed puncture trail |
-
2012
- 2012-04-28 CN CN201210132653.6A patent/CN102768541B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030144649A1 (en) * | 2002-01-16 | 2003-07-31 | Modjtaba Ghodoussi | Tele-medicine system that transmits an entire state of a subsystem |
| US20040176751A1 (en) * | 2002-08-14 | 2004-09-09 | Endovia Medical, Inc. | Robotic medical instrument system |
| CN101193603A (en) * | 2005-06-06 | 2008-06-04 | 直观外科手术公司 | Laparoscopic ultrasound robotic surgical system |
| CN102300512A (en) * | 2008-12-01 | 2011-12-28 | 马佐尔机器人有限公司 | Robot Guided Oblique Spinal Stabilization |
Non-Patent Citations (2)
| Title |
|---|
| Design and control strategy of robotic spinal surgical system;Haiyang Jin 等;《Proceedings of the 2011 IEEE/ICME International Conference on Complex Medical Engineering》;20110531;第628页左栏第1段到第629页左栏第2段，图1-4、10 * |
| 一种基于图像导航的骨外科手术机器人系统;孙立宁 等;《哈尔滨工程大学学报》;20060430;第27卷(第2期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102768541A (en) | 2012-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102768541B (en) | The control method of operating robot and system | |
| CN103356295B (en) | Soft lens operation aided arm prosthesis system and control method thereof | |
| CN110111880B (en) | Artificial potential field path planning method and device based on obstacle grading of flexible needle | |
| KR101280665B1 (en) | Robot, medical work station, and method for projecting an image onto the surface of an object | |
| WO2019233227A1 (en) | Visual navigation-based dental robot path planning system and method | |
| JP2021072900A (en) | Systems and methods for offscreen indication of instruments in teleoperational medical system | |
| CN107928791A (en) | A kind of robot assisted piercing method, system and device | |
| US20220168047A1 (en) | Medical arm system, control device, and control method | |
| WO2024027647A1 (en) | Robot control method and system and computer program product | |
| US11013397B2 (en) | Endoscope apparatus and controlling method thereof | |
| CN107448822A (en) | A kind of operation shadowless lamp and its control method based on target following and Gesture Recognition | |
| CN105962879A (en) | Pose control system and control method of capsule endoscope and capsule endoscope | |
| CN113855287B (en) | Oral implantation operation robot with evaluation of implantation precision and control method | |
| CN114445497A (en) | Image positioning method, image positioning device, dynamic image generating method, dynamic image generating device, dynamic image generating system and storage medium | |
| CN111283689A (en) | Device for assisting movement of limb dysfunction patient and control method | |
| CN110363811A (en) | Control method and device for grabbing equipment, storage medium and electronic equipment | |
| CN114310957A (en) | Robot system for medical detection and detection method | |
| CN109717957A (en) | Control system based on mixed reality | |
| CN108460820B (en) | Micro mobile device control device and method based on image feedback | |
| CN107616837A (en) | A kind of Visual servoing control intra medullary nail far-end lock-screw hammers into method and system | |
| WO2022199650A1 (en) | Computer-readable storage medium, electronic device, and surgical robot system | |
| CN116212254A (en) | Automatic robot-assisted ultrasonic guided radiotherapy system and method thereof | |
| US20220378521A1 (en) | System and method of gesture detection and device positioning | |
| CN107133619A (en) | A kind of eyeball position adaptive location method and its device | |
| CN104758062A (en) | Device and method for performing operation according to somatosensory action signals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |