CN113116528A - Sliding table motion control method and device of laparoscopic surgery robot - Google Patents
Sliding table motion control method and device of laparoscopic surgery robot Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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Abstract
The invention relates to the technical field of surgical robots, in particular to a sliding table motion control method and device of a laparoscopic surgical robot. The method comprises the following steps: determining a motion control area of the sliding table on the mechanical arm; acquiring an acting force applied to the sliding table and determining the current speed of the sliding table; acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit; and sending the output speed to a motor, and controlling the motor to drive the sliding table to move. The process that the sliding table moves from the initial position to the target position is variable-speed movement, and the output speed of the sliding table is controlled to be zero by controlling the acting force when the sliding table moves to the target position, so that the stability and the accuracy of the operation of a doctor using a surgical instrument can be ensured.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a sliding table motion control method and device of a laparoscopic surgical robot.
Background
With the development of laparoscopic techniques and surgical robots, the application range of laparoscopic surgery is continuously expanded, and surgeries requiring precise operations and being long in time are continuously developed. The surgical robot can partially replace boring, repeated and tired operations, and can complete difficult operations in traditional laparoscopic surgeries such as small pipeline anastomosis and the like by using the stability of a robot system image and fine surgical instruments. In a high-difficulty operation, a doctor needs to frequently switch surgical instruments to complete the operation operations such as cutting, separating, stripping, suturing and knotting, and meanwhile, the surgical instruments are arranged on the sliding table, so how the sliding table on the mechanical arm of the surgical robot can accurately, stably and safely drive the surgical instruments to a target position has great influence on the success rate of the whole operation.
At present, most of sliding table motion control methods of laparoscopic surgery robots only depend on human hands, and accuracy of surgical instruments moving to target positions is greatly reduced.
Disclosure of Invention
The problem solved by the invention is how to improve the accuracy of the movement of the surgical instrument to the target position.
In order to solve the above problems, the present invention provides a sliding table motion control method of a laparoscopic surgical robot, comprising:
determining a motion control area of the sliding table on the mechanical arm;
acquiring acting force applied to the sliding table and determining the current speed of the sliding table;
acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
and sending the output speed to a motor, and controlling the motor to drive the sliding table to move.
Optionally, the determining a motion control area of the sliding table on the robot arm includes:
obtaining a motor code disc value, obtaining a position numerical value of the sliding table on the mechanical arm according to the motor code disc value, and detecting pressure in a control key to determine the movement direction of the sliding table;
and determining the motion control area of the sliding table on the mechanical arm according to the position value of the sliding table and the motion direction of the sliding table.
Optionally, the detecting the pressure in the control key to determine the moving direction of the sliding table includes: when detecting that the upper key in the control keys is pressed, determining that the sliding table moves towards the upper end of the mechanical arm, and when detecting that the lower key in the control keys is pressed, determining that the sliding table moves towards the lower end of the mechanical arm.
Optionally, the acquiring the acting force applied to the sliding table and determining the current speed of the sliding table includes:
detecting the pressures at the previous moment and the next moment in the control key, and converting the pressures at the previous moment and the next moment into the acting forces at the previous moment and the next moment respectively;
and obtaining the acceleration of the sliding table according to the acting force at the previous moment and the acting force at the next moment, and obtaining the current speed of the sliding table according to the acceleration.
Optionally, the magnitude of the pressure is proportional to the magnitude of the force.
Optionally, the rate of change of the acceleration is different within different ones of the motion control zones.
Optionally, when the sliding table moves towards one end of the mechanical arm, the motion control area is set to be an area a and an area B, when the sliding table moves towards the other end of the mechanical arm, the motion control area is set to be an area C and an area D, the calculation relations between the acceleration and the acting force in the area a and the area C are both set to be F ═ ma, the calculation relations between the acceleration and the acting force in the area B and the area D are both set to be F ═ ma + cv, a is the acceleration of the sliding table, F is the acting force, m is the mass of the sliding table, v is the real-time speed of the sliding table, and C is a coefficient.
Optionally, when it is detected that the sliding table moves at the output speed and impacts the mechanical arm, the motor is controlled to drive the sliding table to perform deceleration movement.
Optionally, the highest speed limit of the area A and the area C is 50mm/s, and the highest speed limit of the area B and the area D is 10 mm/s.
The present invention also provides a sliding table movement control device of a laparoscopic surgery robot, comprising:
the selection module is used for determining a motion control area of the sliding table on the mechanical arm;
the calculation module is used for acquiring acting force applied to the sliding table and determining the current speed of the sliding table;
the screening module is used for acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
and the control module sends the output speed to the motor and controls the motor to drive the sliding table to move.
The invention has the technical effects that: the process that the sliding table moves from the initial position to the target position is variable-speed movement, and the output speed of the sliding table is controlled to be zero by controlling the acting force when the sliding table moves to the target position, so that the sliding table can stably and accurately stay at the target position, and the stability and the accuracy of the operation of a doctor by using a surgical instrument can be ensured. Meanwhile, the highest speed limit is set, so that the movement speed of the sliding table does not exceed the controllable range, the phenomenon that the movement speed of the sliding table collides with the mechanical arm too fast can be prevented, the movement speed of the sliding table can be adjusted in time, and the movement safety of the sliding table on the mechanical arm is guaranteed. In addition, set up the highest speed limit and use motor drive slip table, can inject the distance of slip table motion in every monocycle, promote the precision of slip table motion in every monocycle, drive the slip table motion several centimetres at every turn from the staff promptly and promote to the motor drives the slip table motion several millimetres at every turn to can make the slip table move to the target location through accurate regulation and control.
Drawings
Fig. 1 is a schematic structural view of a robot arm of a laparoscopic surgical robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a slide table movement control method of a laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural view illustrating a motion control region of a laparoscopic surgical robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a slide table movement control method of a laparoscopic surgical robot according to an embodiment of the present invention;
reference numerals:
1. a control key; 2. a sensor; 3. a sliding table; 4. a robotic arm.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, 2 and 4, an embodiment of the present invention provides a method for controlling movement of a sliding table 3 of a laparoscopic surgical robot, including:
the method comprises the following steps: determining a motion control area of the sliding table 3 on the mechanical arm 4;
step two: acquiring an acting force applied to the sliding table 3 and determining the current speed of the sliding table 3;
step three: acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
step four: the output speed is sent to the motor, and the motor is controlled to drive the sliding table 3 to move.
In this embodiment, a control system is required to control the movement control method of the slide table 3 of the laparoscopic surgical robot. Specifically, the control system needs to determine a motion control area of the sliding table 3 on the mechanical arm 4, and determine the acceleration of the sliding table 3 at the previous moment, the speed at the previous moment and the motion direction; then, the acceleration and the speed of the sliding table 3 at the next moment, namely the current speed, can be obtained through calculation; determining the highest speed limit according to a motion control area where the sliding table 3 is located at the previous moment, comparing the highest speed limit with the current speed, and taking the minimum value as the output speed; the output speed is input into the motor, and the motor regulates and controls the movement speed of the sliding table 3 at the next moment. The sliding table 3 performs a cyclic single-cycle movement, and each single cycle includes the four steps, wherein in the last single cycle, the sliding table 3 performs a deceleration movement until the sliding table stops at a target position. Meanwhile, the process of moving the sliding table 3 from the initial position to the target position is roughly divided into two stages: an acceleration stage and a deceleration stage. Specifically, when the sliding table 3 starts to move from the start position, the speed is zero, so that the sliding table needs to enter an acceleration stage for acceleration movement, and when the sliding table 3 approaches the target position, the sliding table 3 needs to enter a deceleration stage for deceleration movement. Meanwhile, when the moving speed of the sliding table 3 reaches the highest speed limit in the motion control area in the acceleration stage, the process that the sliding table 3 moves from the initial position to the target position is roughly divided into three stages: acceleration stage, uniform speed stage and deceleration stage.
In summary, when the sliding table 3 moves from the initial position to the target position at a constant speed all the time, the speed of the sliding table 3 is not zero when the sliding table 3 moves to the target position, and therefore the sliding table is not stopped at the target position, and when the process that the sliding table 3 moves from the initial position to the target position is a variable speed motion, the output speed of the sliding table 3 can be controlled to be zero by controlling the magnitude of the acting force when the sliding table 3 moves to the target position, so that the sliding table 3 can be stably and accurately stopped at the target position, and thus the stability and the accuracy of the operation performed by the doctor using the surgical instrument can be ensured. Meanwhile, the highest speed limit is set, so that the movement speed of the sliding table 3 does not exceed the controllable range, that is, the movement speed of the sliding table 3 is prevented from impacting the mechanical arm 4 too fast, and therefore the movement speed of the sliding table 3 can be adjusted in time, and the safety of the movement of the sliding table 3 on the mechanical arm 4 is guaranteed. In addition, set up the highest speed limit and use motor drive slip table 3, can inject the distance of 3 movements of slip table in every single cycle, promote the precision of slip table 3 at every single cycle internal motion, drive slip table 3 at every turn from the staff promptly and move several centimetres promotion to the motor and drive slip table 3 at every turn and move several millimetres to can make slip table 3 move the target location through accurate regulation and control.
Alternatively, as shown in fig. 4, the control system determining the motion control area of the slide table 3 on the robot arm 4 includes: and acquiring a motor code disc value, acquiring a position numerical value of the sliding table 3 on the mechanical arm 4 according to the motor code disc value, and detecting pressure in the control key 1 to determine the movement direction of the sliding table 3, wherein the control key 1 comprises an upper key and a lower key, and the upper key and the lower key are respectively provided with a sensor 2. Specifically, when the upper key is pressed, the sensor 2 in the upper key detects that the pressure transmits a signal of upward movement of the sliding table 3 to the control system, and when the lower key is pressed, the sensor 2 in the lower key detects that the pressure transmits a signal of downward movement of the sliding table 3 to the control system; and determining a motion control area of the sliding table 3 on the mechanical arm 4 according to the position value of the sliding table 3 and the motion direction of the sliding table 3. Specifically, as shown in fig. 2, the arrow direction is the movement direction of the slide table 3, and when the slide table 3 moves downward, the movement control area includes an a area and a B area, and when the slide table 3 moves upward, the movement control area includes a C area and a D area, where the a area and the D area are arranged in the upper half portion of the robot arm 4, and the B area and the C area are arranged in the lower half portion of the robot arm 4.
In this embodiment, the control system obtains the motor code wheel value, and calculates according to the motor code wheel value to obtain the position value of the sliding table 3 on the mechanical arm 4, and at the same time, determines the moving direction of the sliding table 3 by detecting whether the control key 1 is pressed by an upper key or a lower key. Specifically, when the sliding table 3 is determined to be at the upper half part of the mechanical arm 4 according to the obtained motor code wheel value, and the control system also detects that the sliding table 3 moves downwards, it can be judged that the movement control area is in the area a; when the sliding table 3 is determined to be at the lower half part of the mechanical arm 4 according to the obtained motor code wheel value, and the control system also detects that the sliding table 3 moves downwards, the motion control area can be judged to be in the area B; when the sliding table 3 is determined to be at the lower half part of the mechanical arm 4 according to the obtained motor code wheel value, and the control system detects that the sliding table 3 moves upwards, the motion control area can be judged to be in the area C; when the sliding table 3 is determined to be at the upper half part of the mechanical arm 4 according to the acquired motor code wheel value and the control system also detects that the sliding table 3 moves upwards, the motion control area can be judged to be in the area D.
Alternatively, as shown in fig. 4, the control system acquiring the force applied to the slide 3 and calculating the current speed of the slide 3 includes: detecting the pressure at the previous moment and the pressure at the next moment on the control key 1, and respectively converting the pressure at the previous moment and the pressure at the next moment into acting force at the previous moment and the acting force at the next moment; and calculating to obtain the acceleration of the sliding table 3 according to the acting force at the previous moment and the acting force at the next moment, and calculating to obtain the current speed of the sliding table 3 according to the acceleration.
In the present embodiment, it is not easy for a human hand to precisely control the speed of the slide table 3, but it is easy to control the amount of pressure applied to the control key 1, according to common knowledge. By pressing a human hand on the control key 1 and pressing the control key 1, the pressure acting on the control key 1 can be converted by the control system into an acting force acting on the sliding table 3 at the same time, i.e. the greater the pressure acting on the control key 1, the greater the acting force acting on the sliding table 3. Therefore, the acting force for driving the sliding table 3 can be adjusted by manually controlling the pressure acting on the control key 1, and therefore the sliding table 3 can do different movements by adjusting the pressure acting on the control key 1 by a human hand. Meanwhile, as the control key 1 comprises an upper key and a lower key, different acting forces in different directions can be applied to the sliding table 3 by pressing different keys. Specifically, when the sliding table 3 moves upward in an accelerated manner, the upper key is continuously pressed, and the pressing pressure is increased, so that the sliding table 3 can perform accelerated movement with an increased acceleration amplitude; when the sliding table 3 moves upwards in an accelerated manner, the upper key is continuously pressed, and the pressing pressure is reduced, so that the sliding table 3 can do accelerated movement with reduced acceleration amplitude; when the sliding table 3 moves upward in an accelerated manner, the upper key is released and the lower key is pressed, so that a counterforce can be provided, and the sliding table 3 moves upward in a decelerated manner.
Alternatively, as shown in fig. 3 and 4, the rate of change of acceleration is different in different motion control zones.
In the present embodiment, in the areas a and C, the movable distance of the sliding table 3 on the mechanical arm 4 is large, and in order to save the time for adjusting the position of the surgical instrument, the sliding table 3 needs to move at a fast speed, specifically, the acceleration is linearly distributed in proportion to the change rate of the acting force during the movement of the sliding table 3, and the acceleration gradually increases and the increase amplitude gradually increases. In the areas B and D, the movable distance of the slide table 3 on the robot arm 4 is small, and the slide table 3 may collide with the robot arm 4 when the moving speed is too fast, so that the slide table needs to move at a slower speed, specifically, the acceleration is distributed in a proportional curve relative to the change rate of the acting force during the moving process of the slide table 3, and the acceleration gradually increases and the increase amplitude gradually decreases.
Alternatively, as shown in fig. 3 and 4, the calculation relation between the acceleration and the applied force in the areas a and C is set to be F ═ ma, the calculation relation between the acceleration and the applied force in the areas B and D is set to be F ═ ma + cv, a is the acceleration of the slide, F is the applied force, m is the mass of the slide 3, v is the real-time speed of the slide, and C is the coefficient.
In this embodiment, when the movement control area of the slide table 3 on the robot arm 4 is the area a or the area C, the movement speed v of the slide table 3 at the previous time is detected1And acceleration a1Detecting the pressure S exerted on the control key 1 at the previous and next moments1And S2Will S1And S2The acting force F for driving the sliding table 3 at the previous moment and the later moment can be obtained by conversion in the input control system1And F2Wherein F is1＝ma1，F2＝ma2，a2The acceleration of the slide table at the next moment. Calculating the motion speed process at the next moment: calculating F1And F2The difference value of the difference value is delta F, and the delta F is substituted into a calculation relation of the acceleration and the acting force to obtain the acceleration a of the sliding table 3 at the next moment2＝ΔF/m+a1V is to be1、a2And substituting the time difference t between the previous moment and the next moment into a calculation formula of the speed to obtain the movement speed at the next moment, namely the current speed v2＝v1+a2t. The current speed v2When v is compared with the highest speed limit of 50mm/s2>At 50mm/s, the control system uses a reaction force to act on the slide table 3 and adjusts the current speed v2Reduced to 50mm/s and taken as the output speed; when v is2<At 50mm/s, v is directly added2As the output speed.
Movement control of the slide 3 on the robot arm 4When the region is B region or D region, detecting the output speed v of the sliding table 3 in the previous period0(ii) a Detecting the moving speed v of the sliding table 3 at the previous moment in the period1And acceleration a1Detecting the pressure S exerted on the control key 1 at the previous and next moments1And S2And then S is1And S2The acting force F for driving the sliding table 3 at the previous moment and the later moment can be obtained by conversion in the input control system1And F2Wherein F is1＝ma1+cv0，F2＝ma2+cv1，a2The acceleration of the slide table at the next moment. Calculating the motion speed process at the next moment: calculating F1And F2The difference of (d) gives Δ F. Substituting the delta F into the calculation relation of the acceleration and the acting force to obtain the acceleration a of the sliding table 3 at the next moment2＝[ΔF-c(v1-v0)]/m+a1V is to be1、a2And substituting the time difference t between the previous moment and the next moment into a calculation formula of the speed to obtain the movement speed at the next moment, namely the current speed v2＝v1+a2t. The current speed v2Comparing with the highest speed limit of 10mm/s when v is2>At 10mm/s, the control system uses a reaction force to act on the sliding table 3 and adjusts the current speed v2Reduced to 10mm/s and used as output speed; when v is2<At 10mm/s, v is directly added2As the output speed.
Alternatively, when the control system detects that the slide table 3 is moving at the output speed and is about to strike the slide table 3, the control system controls the motor to drive the slide table 3 to decelerate and cushion. In general, the ramp 3 performs buffer deceleration only when approaching the end of the robot arm 4 in the zones B and D.
In the present embodiment, when the slide table 3 moves toward and approaches one end, care needs to be taken to prevent the slide table 3 from hitting the robot arm 4 during the movement, and damaging the surgical instrument, the slide table 3, and the robot arm 4. The speed at which the ramp 3 moves needs to be regulated to control the distance the ramp 3 moves. When control system learns through detection calculation that slip table 3 can strike arm 4 when moving towards one end with certain output speed, can provide reaction force automatically and act on slip table 3 in order to reduce the moving speed of slip table 3, can not strike arm 4 when slip table 3 moves with this speed to security in the promotion operation.
Optionally, the highest speed limit of the area A and the area C is 50mm/s, and the highest speed limit of the area B and the area D is 10 mm/s.
In this embodiment, a smaller maximum speed limit is set, and the movement distance of the sliding table 3 in each single period can be shortened, so that the movement distance of the sliding table 3 can be accurately regulated and controlled, and the accuracy of the movement of the sliding table 3 to the target position can be ensured.
Another embodiment of the present invention provides a sliding table 3 movement control apparatus of a laparoscopic surgery robot, including:
the selection module is used for determining a motion control area of the sliding table 3 on the mechanical arm 4;
the calculation module is used for acquiring acting force applied to the sliding table 3 and determining the current speed of the sliding table 3;
the screening module is used for acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
and the control module sends the output speed to the motor and controls the motor to drive the sliding table 3 to move.
In this embodiment, the selection module needs to determine and select a motion control area of the sliding table 3 on the mechanical arm 4, and determine the acceleration of the sliding table 3 at the previous moment, the speed at the previous moment, and the motion direction at this moment; then, the calculation module can calculate and obtain the acceleration of the sliding table 3 at the next moment and the speed at the next moment, namely the current speed; the screening module determines the highest speed limit according to the motion control area where the sliding table 3 is located at the previous moment, compares the highest speed limit with the current speed, and takes the minimum value as the output speed; the control module inputs the output speed into the motor and controls the motor to regulate and control the movement speed of the sliding table 3 at the next moment.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A sliding table movement control method of a laparoscopic surgery robot, comprising:
determining a motion control area of the sliding table (3) on the mechanical arm (4);
acquiring an acting force applied to the sliding table (3) and determining the current speed of the sliding table (3);
acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
and sending the output speed to a motor, and controlling the motor to drive the sliding table (3) to move.
2. The slide motion control method of a laparoscopic surgical robot according to claim 1, wherein said determining the motion control region of the slide (3) on the robot arm (4) comprises:
obtaining a motor code disc value, obtaining a position value of the sliding table (3) on the mechanical arm (4) according to the motor code disc value, and detecting pressure in the control key (1) to determine the movement direction of the sliding table (3);
and determining the motion control area of the sliding table (3) on the mechanical arm (4) according to the position value of the sliding table (3) and the motion direction of the sliding table (3).
3. The slide motion control method of a laparoscopic surgical robot according to claim 2, wherein said detecting the pressure in the control button (1) to determine the moving direction of the slide (3) comprises: when detecting last button among control button (1) receives pressure, then confirm slip table (3) towards the upper end motion of arm (4), when detecting lower button among control button (1) receives pressure, then confirm slip table (3) towards the lower extreme motion of arm (4).
4. The slide motion control method of a laparoscopic surgical robot according to claim 2, wherein said acquiring a force applied to said slide (3) and determining a current velocity of said slide (3) comprises:
detecting the pressures of the control key (1) at the previous moment and the next moment, and converting the pressures at the previous moment and the next moment into the acting forces at the previous moment and the next moment respectively;
and obtaining the acceleration of the sliding table (3) according to the acting force at the previous moment and the acting force at the next moment, and obtaining the current speed of the sliding table (3) according to the acceleration.
5. The method of controlling a movement of a slide table of a laparoscopic surgical robot according to claim 4, wherein a magnitude of said pressure is proportional to a magnitude of said acting force.
6. The slide motion control method of a laparoscopic surgical robot according to claim 4, wherein a rate of change of said acceleration is different in different said motion control regions.
7. The method for controlling the movement of a sliding table of a laparoscopic robot according to claim 4, wherein when the sliding table (3) moves toward one end of the robot arm (4), the movement control area is set to a zone a and a zone B, when the sliding table (3) moves toward the other end of the robot arm (4), the movement control area is set to a zone C and a zone D, the calculation relations between the acceleration and the applied force in the zone a and the zone C are both set to F ═ ma, the calculation relations between the acceleration and the applied force in the zone B and the zone D are both set to F ═ ma + cv, a is the acceleration of the sliding table, F is the applied force, m is the mass of the sliding table (3), v is the real-time velocity of the sliding table (3), and C is a coefficient.
8. The slide motion control method of a laparoscopic surgical robot according to claim 1, wherein said transmitting said output speed to a motor and controlling said motor to drive said slide (3) to move comprises: and when the sliding table (3) is detected to move at the output speed and impact the mechanical arm (4), controlling the motor to drive the sliding table (3) to perform deceleration movement.
9. The slide motion control method of a laparoscopic surgical robot according to claim 7, wherein the highest speed limit of said area a and said area C is 50mm/s, and the highest speed limit of said area B and said area D is 10 mm/s.
10. A sliding table movement control device of a laparoscopic surgery robot, comprising:
the selection module is used for determining a motion control area of the sliding table (3) on the mechanical arm (4);
the calculation module is used for acquiring acting force applied to the sliding table (3) and determining the current speed of the sliding table (3);
the screening module is used for acquiring the highest speed limit in the motion control area, comparing the current speed with the highest speed limit, setting the highest speed limit as an output speed when the current speed is greater than the highest speed limit, and setting the current speed as the output speed when the current speed is less than the highest speed limit;
and the control module sends the output speed to the motor and controls the motor to drive the sliding table (3) to move.
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| CN202110405332.8A Active CN113116528B (en) | 2021-04-15 | 2021-04-15 | Sliding table motion control method and device of laparoscopic surgery robot |
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| WO2024073933A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市爱博医疗机器人有限公司 | \interventional surgical robot catheter guide wire action control method and related device thereof |
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| CN113116528B (en) | 2022-05-17 |
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