Title:
METHOD AND SYSTEM FOR LIMITING MOVEMENT AREA OF ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/029922
Kind Code:
A1
Abstract:
Disclosed in the present application are a method and system for limiting a movement area of a robot. The method comprises: establishing a stiffness-damping model of a virtual spring according to a displacement offset between an initial position and an actual position of an actuator at a robot arm tail end of a robot in each of the directions of multiple degrees of freedom; and setting the respective stiffness values of the virtual springs in the directions of the multiple degrees of freedom, so as to limit the movement of the actuator in a pre-planned target area. In the present application, the stiffness in each of the directions of multiple degrees of freedom is set by using a stiffness-damping model of a virtual spring, such that motions in the directions of the multiple degrees of freedom are restrained. When an external force is applied to the multiple degrees of freedom, displacement is very small in the direction of the degree of freedom where the stiffness is large, such that displacement may not even occur. In this way, an actuator can be limited in a target area, thereby preventing a patient from being hurt by the actuator deviating from the target area.
Inventors:
ZHANG YILING (CN)
LIU XINGYU (CN)
LIU XINGYU (CN)
Application Number:
PCT/CN2022/111535
Publication Date:
March 09, 2023
Filing Date:
August 10, 2022
Export Citation:
Assignee:
BEIJING LONGWOOD VALLEY MEDICAL TECH CO LTD (CN)
ZHANG YILING (CN)
ZHANG YILING (CN)
International Classes:
A61B34/30; A61B34/00
Domestic Patent References:
| WO2021067597A1 | 2021-04-08 |
Foreign References:
| CN113842217A | 2021-12-28 | |||
| CN113842213A | 2021-12-28 | |||
| CN113907889A | 2022-01-11 | |||
| CN113855236A | 2021-12-31 | |||
| CN113842214A | 2021-12-28 | |||
| CN113850851A | 2021-12-28 | |||
| CN111956325A | 2020-11-20 | |||
| CN113319857A | 2021-08-31 | |||
| CN112568996A | 2021-03-30 | |||
| CN109333497A | 2019-02-15 |
Attorney, Agent or Firm:
BEIJING TRUST OF ZHIGUO IP AGENCY CO., LTD. (CN)
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