Title:
SURGICAL ROBOT, CONTROL METHOD, SYSTEM, AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/095946
Kind Code:
A1
Abstract:
A surgical robot, a control method, a system, and a readable storage medium. The surgical robot comprises a manipulation end. The method for controlling a surgical robot comprises: setting a safe zone and a warning boundary located outside the safe zone according to edge information of a surgical object; on the basis of a distance function between the current pose of the manipulation end and the warning boundary, combining first feedback information fed back by the manipulation end and second feedback information generated on the basis of an external environmental force, compensating for driving information applied to the manipulation end by the surgical robot, so as to reduce, eliminate or limit, after the manipulation end goes beyond the safe zone, the driving impact of the external environmental force on the manipulation end.
Inventors:
YANG JUNJUAN (CN)
GE YINMING (CN)
HE CHAO (CN)
LI TAO (CN)
PENG WEILI (CN)
GE YINMING (CN)
HE CHAO (CN)
LI TAO (CN)
PENG WEILI (CN)
Application Number:
PCT/CN2021/128828
Publication Date:
May 12, 2022
Filing Date:
November 04, 2021
Export Citation:
Assignee:
SUZHOU MICROPORT ORTHOBOT CO LTD (CN)
International Classes:
A61B34/00
Foreign References:
| CN112336461A | 2021-02-09 | |||
| US20140222207A1 | 2014-08-07 | |||
| US20140039517A1 | 2014-02-06 | |||
| CN106965175A | 2017-07-21 | |||
| CN111870349A | 2020-11-03 | |||
| CN110114031A | 2019-08-09 |
Other References:
See also references of EP 4241715A4
Attorney, Agent or Firm:
SHANGHAI SAVVY IP AGENCY CO., LTD. (CN)
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