CN114452004A - Control method for position and posture of tail end of surgical robot - Google Patents
Control method for position and posture of tail end of surgical robot Download PDFInfo
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- 240000007643 Phytolacca americana Species 0.000 claims description 8
- 238000001356 surgical procedure Methods 0.000 abstract description 11
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
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- 206010067268 Post procedural infection Diseases 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave 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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention discloses a method for controlling the position and the posture of the tail end of a surgical robot, which comprises the following steps: step S1: establishing a remote center point, and dragging the surgical robot to move the tail end of the surgical robot to the position above the remote center point; the remote center point is a virtual fixed point around which the tail end of the surgical instrument passes through the target position to rotate; step S2: connecting the surgical instrument to a tool mount of the surgical robot; step S3: controlling the surgical instrument through a distal point; step S4: acquiring the expected Cartesian speed of the tail end of the surgical instrument, calculating the target speed of each axis of the robot, and controlling the motion of each axis of the robot according to the target speed. The control method can accurately control the terminal pose of the surgical robot and improve the accuracy and safety of the surgery.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a method for controlling the position and the posture of the tail end of a surgical robot.
Background
The minimally invasive surgery robot can reduce the physical labor of doctors in the surgery process, and simultaneously achieves the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave mode of control: when an operator operates the master hand, the motion of the hand can drive the master hand to move along with the master hand, the sensor at the joint of the master hand can measure motion information, the motion of the master hand is mapped to the slave hand through a master-slave control algorithm, and each joint of the slave hand moves passively to drive the surgical instrument to realize corresponding motion. The distal end of the surgical robot is used to load surgical instruments, the position and attitude of which determine the accuracy of the surgical procedure.
Therefore, how to control the position and posture of the surgical robot tip, and improve the accuracy and safety of the surgery becomes a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a control method for the position and the posture of the tail end of a surgical robot, which can accurately control the tail end posture of the surgical robot and improve the accuracy and the safety of surgery.
In order to achieve the above object, the present invention provides a method for controlling a position and a posture of a distal end of a surgical robot, comprising:
step S1: establishing a remote center point, and dragging the surgical robot to move the tail end of the surgical robot to the position above the remote center point; the remote center point is a virtual fixed point which is surrounded when the tail end of the surgical instrument passes through the target position to rotate;
step S2: connecting the surgical instrument to a tool mount of the surgical robot;
step S3: controlling the surgical instrument through a distal point;
step S4: acquiring an expected Cartesian speed of the tail end of the surgical instrument, calculating a target speed of each axis of the surgical robot, and controlling the motion of each axis of the surgical robot according to the target speed.
Optionally, the surgical robot includes a first arm having at least five axes of motion, a linear guide connected to the first arm, the linear guide being configured to drive the instrument base to perform linear motion, and a second arm connected to the linear guide and configured to drive the surgical instrument to move.
Optionally, the step S1 specifically includes:
inserting a stamp card into the opening at the target location opening;
dragging all the motion shafts to enable the linear guide part to be parallel to the poking card and the instrument seat to be arranged right above the poking card;
and connecting the poking card seat with the poking card to acquire the position of the far center point.
Optionally, the step of connecting the poke card holder and the poke card to obtain the position of the far center point specifically includes:
and acquiring the actual angles or displacements of all the motion shafts according to encoders arranged at all the motion shafts, and calculating the positions of the remote center points according to all the actual angles or displacements.
Optionally, the step of connecting the poke card holder and the poke card to obtain the position of the far center point specifically includes:
and acquiring the position of the stamping card according to the position of the stamping card seat, and obtaining the position of the remote center point by the position of the stamping card and the fixed position offset of the remote center point relative to the stamping card seat.
Optionally, the step S3 specifically includes:
the linear guide part controls the surgical instrument to move linearly to pass through the poking card, and the linear movement distance of the surgical instrument is controlled by means of displacement detected by a displacement sensor arranged on the linear guide part.
Optionally, the step S4 further includes:
keeping a coincident point of the surgical robot and the far center point coincident with each other still, driving the surgical instrument to rotate by taking the coincident point as a spherical center, and acquiring a first constraint angle range of driving motors of all the movement axes;
calculating a second constraint angle range of the drive motors of all the movement axes from the target speed;
and comparing to obtain corresponding coincidence ranges of the first constraint angle range and the second constraint angle range, and controlling all the driving motors to move according to the corresponding coincidence ranges.
Optionally, the step S4 specifically includes:
according to
Calculating first output joint speeds of six mapping axes of a coordinate system of the surgical instrument;
according to
Calculating second input joint speeds of all the motion axes under a base coordinate system, wherein N is equal to the number of the motion axes and is more than or equal to 5;
wherein: j is a function of-1An inverse matrix of a first Jacobian matrix corresponding to the configuration of the six mapping axes, v is an input Cartesian velocity obtained for the six mapping axes,
a six-dimensional vector representing the first output joint velocity;
J-1to reflect the inverse of the second Jacobian matrix corresponding to the configuration of all of the axes of motion,
a six-dimensional vector representing the second input joint velocity;
the six mapping axes comprise two virtual axes at the coincident point, a linear axis corresponding to the linear guide part and three motion axes at the tail end of the second mechanical arm;
vxx-direction velocity, v, representing the coincidence pointyRepresenting the speed, v, of said coincidence point in the y-directionzRepresenting the speed, omega, of said coincidence point in the z directionxThe rotation speed around the x-direction, omega, representing the coincidence pointyThe rotation speed around the y direction, ω, representing the coincidence pointzIndicating the rotational speed around the z direction of the coincident point,
and
representing the first joint output speed for the two virtual axes, respectively.
Optionally, the step S4 is followed by:
and when the operation is finished or stopped, the linear guide part is controlled to pull out the surgical instrument, the connection between the poking clamping seat and the poking clamp is released, and the limitation of all the movement shafts is released.
Compared with the background technology, the method for controlling the position and the posture of the tail end of the surgical robot provided by the invention enables the surgical instrument to surround a virtual fixed point when moving in a patient body by establishing the remote center point, can control the position of the tail end of the surgical instrument by controlling the stretching and retracting speed and the rotating speed of the surgical instrument around the remote center point, and can control the posture of the tail end of the surgical instrument by controlling the movement shaft close to the tail end of the surgical instrument. After the remote center point is established, the surgical instrument is connected with an instrument seat of the surgical robot, the surgical instrument is controlled to penetrate through the remote center point and extend into the body of a patient, the expected Cartesian speed of the tail end of the surgical instrument is obtained through the surgical action to be completed, the target speed of each motion axis of the surgical robot is solved through the inverse kinematics of the expected Cartesian speed, then each axis of the surgical robot is controlled to move according to the target speed, and the accurate control of the tail end of the surgical robot, namely the pose of the tail end of the surgical instrument, is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a surgical robot provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic representation of six mapping axes of the instrument coordinate system of FIG. 1;
FIG. 3 is a schematic view of the axes of motion in the base coordinate system of FIG. 1;
fig. 4 is a flowchart of a method for controlling the position and posture of the surgical robot end according to an embodiment of the present invention.
Wherein:
1-motion axis, 2-linear guide part, 3-instrument seat, 4-surgical instrument, and 5-remote center.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Minimally invasive surgery refers to surgery performed by implanting an elongated endoscope and a tiny surgical instrument 4 into a patient through a small incision. The surgeon can observe the position of the surgical instrument 4 and the surgical procedure while performing the operation by means of the visual inspection device. Compared with the traditional open surgical operation, the utility model has the advantages of small wound, relieving the pain of the patient, quick recovery after the operation, etc.
The surgical robot system can be used for performing minimally invasive surgery and mainly comprises a master manipulator, namely a master robot, a slave manipulator, namely a slave mobile robot and a control system. The master robot is controlled by a doctor to generate a pose signal, the pose signal is acquired and processed to obtain a pose signal for controlling the slave robot, and the slave robot is used for realizing the operation. The invention aims to disclose a method for controlling the position and the posture of the tail end of a surgical robot (a slave mobile robot), thereby improving the accuracy and the safety of surgery.
It should be noted that the surgical robot control method provided in the present invention is not only suitable for a simulated surgery in a teaching mode when the target object is a dummy, but also suitable for a real surgery when the target object is a real person. When a real operation is performed, the target object is a human body, and the target position corresponds to a wound of a patient.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, fig. 1 is a schematic diagram of a surgical robot according to an embodiment of the present invention, fig. 2 is a schematic diagram of six mapping axes of an instrument coordinate system in fig. 1, fig. 3 is a schematic diagram of movement axes of a base coordinate system in fig. 1, and fig. 4 is a flowchart of a method for controlling a position and a posture of an end of a surgical robot according to an embodiment of the present invention.
The control method of the position and posture of the distal end of the surgical robot provided by the present invention can be applied to the surgical robot shown in fig. 1 to 3; the surgical robot comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm adopts a robot with at least 5 motion axes 1, the surgical robot is described by taking a six-axis robot as an example and is called a universal robot, and a coordinate system established at the first motion axis 1 of the universal robot is called a base coordinate system; the end of the first mechanical arm is connected with the linear guide part 2, the second mechanical arm can move linearly along the linear guide part 2, and the second mechanical arm is used for controlling the operation of the surgical instrument 4, for example, the second mechanical arm comprises two motors (equivalent to one degree of freedom) for controlling the opening and closing of the surgical instrument 4.
Two virtual axes of the surgical instrument 4, which are generated by the motion of the first mechanical arm and rotate at the remote center point 5, a linear axis of the linear guide 2, and three motion axes 1 of the second mechanical arm for controlling the motion of the surgical instrument 4 are regarded as an instrument robot having six degrees of freedom, and the coordinate system of the surgical instrument 4 is a coordinate system established by taking the remote center point 5 as a base point. The invention realizes the control of the position and the posture of the tail end of the surgical robot based on the expected Cartesian speed of the surgical instrument 4 in a coordinate system and the output speed of the second joint of each motion axis 1, namely the target speed conversion.
The method for controlling the position and the posture of the tail end of the surgical robot comprises the following four steps:
step S1: establishing a remote center point 5, and dragging the surgical robot to move the tail end of the surgical robot to the position above the remote center point; the remote center point 5 is a virtual stationary point around which the distal end of the surgical instrument 4 rotates through the target position;
step S2: connecting the surgical instrument 4 to an instrument holder 3 of the surgical robot;
step S3: controlling the surgical instrument 4 through a distal point 5;
step S4: acquiring an expected Cartesian velocity of the distal end of the surgical instrument 4, calculating a target velocity of each axis of the surgical robot, and controlling each axis of the surgical robot to move according to the target velocity.
Step S1 is to establish the central point 5, determine the coincidence point of the surgical instrument 4 coinciding with the central point 5 during the rotation process, that is, coinciding with the wound of the patient, so that the distal end of the surgical instrument 4 performs the telescopic rotation around the coincidence point, thereby improving the control accuracy. Specifically, minimally invasive opening is carried out on the surgical site of a patient, a laparoscope is inserted into the minimally invasive opening after the minimally invasive opening is opened, and each moving shaft 1 of the surgical robot is dragged, so that a linear guide part 2 at the tail end of the universal robot is parallel to a poking card, and an instrument seat 3 for installing a surgical instrument 4 is positioned right above the poking card.
And then the poking card is connected with the poking card seat, when the sensor detects that the poking card is connected with the poking card seat, the sensor sends the poking card and the poking card seat in-place information to a control system of the surgical robot, and the motion range of the driving motor arranged on all the motion shafts 1 is restricted through the controller.
Then the surgical instrument 4 is arranged on the instrument base 3 of the surgical robot, the instrument base 3 is fixedly connected with the linear slide block of the linear guide part 2, when the linear slide block moves, the instrument base 3 and the surgical instrument 4 are driven to do linear motion, and a motor for controlling pitching, rolling, yawing and opening and closing of the instrument can move along with the linear slide block together with the instrument base 3.
The specific operation of connecting the stamp card and the stamp card holder may be: when each motion shaft 1 is dragged to move, the actual angles or displacements of all the motion shafts 1 are measured by encoders arranged at the motion shafts 1, and the position of the instrument seat 3 is calculated by dragging the instrument according to the configuration parameters of the surgical robot.
When stabbing the cassette and stabbing the card connection, the position of far away central point 5 is calculated through the position of stabbing the cassette and the fixed offset distance of stabbing the relative cassette of card, and generally speaking, far away central point 5 sets up at the positive center of stabbing the card, and the radial distance of card is stabbed through the offset of the position of stabbing the cassette, sinks to predetermine and can acquire the position of far away central point 5 behind the degree of depth.
Step S3: after the position of the remote center point 5 is acquired, the instrument holder 3 and the surgical instrument 4 are carried down by the linear slider of the linear guide 2, so that the surgical instrument 4 passes through the remote center point 5. The lowering length may be determined by the position of the instrument holder 3, the spacing between the instrument holder 3 and the stab or distal point 5, and the length of the surgical instrument 4, as well as the length of the surgical instrument 4 extending into the patient beyond the distal point 5. The length of the surgical instrument 4 extending into the patient body beyond the remote center point 5 is used as the rotation radius of the tail end of the surgical instrument 4, the point where the surgical instrument 4 is overlapped with the remote center point 5 is used as the overlapping point of the surgical instrument 4, the overlapping point is kept stationary in the tail end rotation process of the surgical instrument 4, the length of the surgical instrument 4 extending into the patient body is different according to the surgical position of the patient, and the remote center point 5 is a virtual stationary point.
Step S4: in the surgical operation, it is necessary to keep the coincident point still, and the tip of the surgical instrument 4 is moved by rotating the six movement axes 1 of the six-axis robot as described above. At this time, all the movement axes 1 need to input a certain constraint condition to constrain the movement of the movement axes 1.
The above constraint conditions are obtained specifically by: keeping the coincident points still, and calculating first constraint angle ranges of the driving motors of all the movement shafts 1 according to constraint conditions that the coincident points are still; and then according to the operation space range of the tail end of the surgical instrument 4, obtaining second constraint angle ranges of the driving motors of all the movement axes 1 through reverse kinematics calculation (at this time, the superposition points do not need to be kept still), and then comparing and obtaining corresponding superposition ranges of the first constraint angle ranges and the second constraint angle ranges, wherein the corresponding superposition ranges simultaneously meet the requirements that the superposition points of the surgical instrument 4 are not fixed and the tail end of the surgical instrument 4 moves according to the target speed. The corresponding overlapping range is input into the control system, and the driving motors of all the motion shafts 1 are controlled to rotate according to the corresponding overlapping range, so that the accurate control of the position and the posture of the tail end of the surgical instrument 4 is met.
Specifically, the step of calculating and acquiring the target speed of each driving motor in the corresponding overlapping range includes:
firstly, operating under a 4-coordinate system of a surgical instrument;
acquiring a desired cartesian velocity v of the distal end of the surgical instrument 4, the desired cartesian velocity comprising a cartesian translational velocity andcartesian rotation speed, in other words v is a six-dimensional vector; then obtaining the inverse matrix j of the Jacobian matrix corresponding to the configuration of the instrument robot, namely the configuration of six mapping axes-1，j-1J is related to the structural parameters of the instrument robot, and when the related parameters of the instrument robot are confirmed-1Is known at the time of operation. The six mapping axes comprise two virtual axes at the coincident point, a linear axis of the linear guide part 2 and three motion axes 1 of the second mechanical arm for controlling the motion of the surgical instrument 4;
according to the following steps:
calculating first output joint velocities of six mapping axes of a surgical instrument coordinate system
A six-dimensional vector representing a first output joint velocity; since the coordinate system of the surgical instrument 4 is a coordinate system established with the remote center point 5 as a base point,
and
respectively representing the first joint output speeds of the two virtual axes,
a first joint output speed representing the linear guide 2 or the linear axis;
and
respectively, represent first joint output speeds of the three axes of motion 1 of the second robot arm or the instrument robot, respectively, used to control the pose of the surgical instrument 4, in the surgical instrument coordinate system.
Secondly, operating under the base coordinate system;
according to
And calculating second input joint speeds of all the movement axes 1 under the base coordinate system, wherein N is equal to the number of all the movement axes 1 of the first mechanical arm or the universal robot and is more than or equal to 5.
Wherein,
six-dimensional vector, J, representing second input joint velocity-1To reflect the inverse of the second Jacobian matrix corresponding to the configuration of all the movement axes 1, when the structural parameters of the multi-axis robot are confirmed, J-1Is known at the time of operation;
And obtaining a second joint input speed of each motion shaft 1 of the first mechanical arm in the base coordinate system through the operation, and controlling the rotating speed of each driving motor in a corresponding overlapping range by the control system according to the second joint input speed.
When the operation is finished or the operation is stopped due to other reasons, the surgical instrument 4 is pulled out of the poking card through the linear guide part 2, the poking card and the poking card seat are separated, and then the control system relieves the limitation on each moving shaft 1.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The method for controlling the position and posture of the distal end of the surgical robot provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A method for controlling the position and attitude of the distal end of a surgical robot, comprising:
step S1: establishing a remote center point, and dragging the surgical robot to move the tail end of the surgical robot to the position above the remote center point; the remote center point is a virtual fixed point which is surrounded when the tail end of the surgical instrument passes through the target position to rotate;
step S2: connecting the surgical instrument to a tool mount of the surgical robot;
step S3: controlling the surgical instrument through a distal point;
step S4: acquiring an expected Cartesian speed of the tail end of the surgical instrument, calculating a target speed of each axis of the surgical robot, and controlling the motion of each axis of the surgical robot according to the target speed.
2. The method as claimed in claim 1, wherein the surgical robot includes a first arm having at least five axes of motion, a linear guide connected to the first arm, the linear guide configured to drive the tool base to move linearly, and a second arm connected to the linear guide and configured to drive the surgical tool to move.
3. The method for controlling the position and orientation of the surgical robot tip according to claim 2, wherein the step S1 specifically includes:
inserting a stamp card into the opening at the target location opening;
dragging all the motion shafts to enable the linear guide part to be parallel to the poking card and the instrument seat to be arranged right above the poking card;
and connecting the poking card seat with the poking card to acquire the position of the far center point.
4. The method for controlling the position and posture of the surgical robot tip according to claim 3, wherein the step of connecting the poke holder and the poke card to obtain the position of the remote center point specifically comprises:
and acquiring the actual angles or displacements of all the motion shafts according to encoders arranged at all the motion shafts, and calculating the positions of the remote center points according to all the actual angles or displacements.
5. The method for controlling the position and posture of the surgical robot tip according to claim 3, wherein the step of connecting the poke holder and the poke card to obtain the position of the remote center point specifically comprises:
and acquiring the position of the stamping card according to the position of the stamping card seat, and obtaining the position of the remote center point by the position of the stamping card and the fixed position offset of the remote center point relative to the stamping card seat.
6. The method for controlling the position and orientation of the surgical robot tip according to claim 4 or 5, wherein the step S3 specifically includes:
the linear guide part controls the surgical instrument to move linearly to pass through the poking card, and the linear movement distance of the surgical instrument is controlled by means of displacement detected by a displacement sensor arranged on the linear guide part.
7. The method for controlling the position and orientation of the distal end of the surgical robot according to claim 6, wherein the step S4 further includes:
keeping a coincident point of the surgical robot and the far center point coincident with each other still, driving the surgical instrument to rotate by taking the coincident point as a spherical center, and acquiring a first constraint angle range of driving motors of all the movement axes;
calculating a second constraint angle range of the drive motors of all the movement axes from the target speed;
and comparing to obtain corresponding coincidence ranges of the first constraint angle range and the second constraint angle range, and controlling all the driving motors to move according to the corresponding coincidence ranges.
8. The method for controlling the position and orientation of the distal end of the surgical robot according to claim 7, wherein the step S4 is specifically:
according to
Calculating first output joint speeds of six mapping axes of a coordinate system of the surgical instrument;
according to
Calculating second input joint speeds of all the motion axes under a base coordinate system, wherein N is equal to the number of the motion axes and is more than or equal to 5;
wherein: j is a function of-1An inverse matrix of a first Jacobian matrix corresponding to the configuration of the six mapping axes, v is an input Cartesian velocity obtained for the six mapping axes,
a six-dimensional vector representing the first output joint velocity;
J-1to reflect the inverse of the second Jacobian matrix corresponding to the configuration of all of the axes of motion,
a six-dimensional vector representing the second input joint velocity;
the six mapping axes comprise two virtual axes at the coincident point, a linear axis corresponding to the linear guide part and three motion axes at the tail end of the second mechanical arm;
vxx-direction velocity, v, representing the coincidence pointyRepresenting the speed, v, of said coincidence point in the y-directionzRepresenting the velocity, ω, of said coincident point in the z directionxThe rotation speed around the x-direction, omega, representing the coincidence pointyThe rotation speed around the y direction, ω, representing the coincidence pointzIndicating the rotation speed around the z direction of the coincident point,
and
representing the first joint output speed for the two virtual axes, respectively.
9. The method for controlling the position and orientation of the surgical robot tip according to claim 8, further comprising, after the step S4:
and when the operation is finished or stopped, the linear guide part is controlled to pull out the surgical instrument, the poking card seat is released from being connected with the poking card, and the limitation of all the motion shafts is released.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011249218.2A CN114452004B (en) | 2020-11-10 | 2020-11-10 | Control method for tail end position and posture of surgical robot |
| PCT/CN2021/128053 WO2022100480A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| EP21891007.3A EP4245238A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| US18/035,947 US20240016559A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
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| CN202011249218.2A CN114452004B (en) | 2020-11-10 | 2020-11-10 | Control method for tail end position and posture of surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024021855A1 (en) * | 2022-07-28 | 2024-02-01 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, and control method and control apparatus therefor |
| CN118303982A (en) * | 2024-04-26 | 2024-07-09 | 北京天智航医疗科技股份有限公司 | Robot telecentric motion control method, system and storage medium based on force interaction |
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