Title:
CONTROL METHOD FOR LOCATION AND ORIENTATION OF SURGICAL ROBOT END, AND CONTROL METHOD FOR SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/100480
Kind Code:
A1
Abstract:
A control method for the location and the orientation of a surgical robot end, and a control method for a surgical robot. The control method for the location and the orientation of a surgical robot end comprises establishing a remote center point, and dragging a surgical robot, causing an end to move above the remote center point, the remote center point being a virtual fixed point about which an end of a surgical instrument rotates when turning past a target location (S1); connecting a surgical instrument to an instrument base of the surgical robot (S2); controlling the surgical instrument to pass the remote center point (S3); obtaining an expected Cartesian speed of an end of the surgical instrument, calculating a target speed for each axis of the surgical robot, and controlling movement of each axis of the surgical robot according to the target speeds (S4).
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Inventors:
HUANG YU (CN)
WANG LIAO (CN)
WANG LIAO (CN)
Application Number:
PCT/CN2021/128053
Publication Date:
May 19, 2022
Filing Date:
November 02, 2021
Export Citation:
Assignee:
CHONGQING JINSHAN MEDICAL ROBOTICS CO LTD (CN)
International Classes:
A61B34/00; A61B17/00; A61B34/35; A61B34/37
Domestic Patent References:
| WO2020197422A2 | 2020-10-01 |
Foreign References:
| CN111345894A | 2020-06-30 | |||
| CN109091238A | 2018-12-28 | |||
| US20170239005A1 | 2017-08-24 | |||
| CN101773400A | 2010-07-14 | |||
| CN109771037A | 2019-05-21 | |||
| CN202011249218A | 2020-11-10 | |||
| CN202011246738A | 2020-11-10 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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