Title:
CONTROL METHOD AND APPARATUS FOR REAMING TOOL OF SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/257473
Kind Code:
A1
Abstract:
A control method and apparatus for a reaming tool of a surgical robot. The control method for a reaming tool comprises: acquiring, in a base coordinate system, an initial posture of a reaming tool and the position coordinates of a key point thereof; on the basis of a preset transformation matrix, transforming the reaming tool from the initial posture to a movement posture; and fixing the position coordinates of the top end of the reaming tool, controlling, by means of a robotic arm, the reaming tool to perform reaming at the movement posture, and adjusting the pose of the reaming tool according to a movement trajectory of the origin of a flange of the robotic arm. The control method further comprises: when a coordinate difference between the current position coordinates of a spherical center of an inner spherical surface of an acetabular cup and the position coordinates of a reaming depth limiting point is less than or equal to a preset threshold value, controlling, by means of the robotic arm, the reaming tool to stop moving.
Inventors:
ZHANG YILING (CN)
LIU XINGYU (CN)
LIU XINGYU (CN)
Application Number:
PCT/CN2022/073123
Publication Date:
December 15, 2022
Filing Date:
January 21, 2022
Export Citation:
Assignee:
BEIJING LONGWOOD VALLEY MEDICAL TECH CO LTD (CN)
ZHANG YILING (CN)
ZHANG YILING (CN)
International Classes:
B25J9/16; A61B34/30; A61F2/34; A61F2/46
Foreign References:
| CN113400305A | 2021-09-17 | |||
| CN112641510A | 2021-04-13 | |||
| CN112790867A | 2021-05-14 | |||
| CN111870348A | 2020-11-03 | |||
| CN110587594A | 2019-12-20 | |||
| US20190021796A1 | 2019-01-24 | |||
| CN112809686A | 2021-05-18 | |||
| CN111358563A | 2020-07-03 |
Attorney, Agent or Firm:
BEIJING TRUST OF ZHIGUO IP AGENCY CO., LTD. (CN)
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