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1. WO2022002155 - MASTER-SLAVE MOTION CONTROL METHOD, ROBOT SYSTEM, DEVICE, AND STORAGE MEDIUM

Publication Number WO/2022/002155
Publication Date 06.01.2022
International Application No. PCT/CN2021/103725
International Filing Date 30.06.2021
IPC
A61B 34/37 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 34/35 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
CPC
A61B 2034/2065
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2065Tracking using image or pattern recognition
A61B 2034/2072
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2072Reference field transducer attached to an instrument or patient
A61B 2034/302
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
302specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/35
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
Applicants
  • 北京术锐技术有限公司 BEIJING SURGERII TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 徐凯 XU, Kai
  • 杨皓哲 YANG, Haozhe
  • 吴百波 WU, Baibo
  • 王翔 WANG, Xiang
Priority Data
202010627477.801.07.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) MASTER-SLAVE MOTION CONTROL METHOD, ROBOT SYSTEM, DEVICE, AND STORAGE MEDIUM
(FR) PROCÉDÉ DE COMMANDE DE MOUVEMENT MAÎTRE-ESCLAVE, SYSTÈME DE ROBOT, DISPOSITIF ET SUPPORT D'ENREGISTREMENT
(ZH) 主从运动的控制方法、机器人系统、设备及存储介质
Abstract
(EN) A master-slave motion control method (100), a robot system (200, 400), a device, and a storage medium, which relate to the field of robots. The master-slave motion control method (100) comprises: determining the current posture (101) of a master operator (410), wherein the current posture comprises the current position and the current attitude; on the basis of the current posture of the master operator (410) and a relationship between the postures of the master operator (410) and a slave tool (420), determining a target posture (103) of the slave tool (420); and on the basis of the target posture of the slave tool (420), generating a control signal (105) of the slave tool (420). Remote operation of the slave tool (420) by the master operator (410) can be implemented, and the precision of the master operator (410) when controlling the remote operation of the slave tool (420) can be improved.
(FR) Procédé de commande de mouvement maître-esclave (100), système de robot (200, 400), dispositif et support d'enregistrement, qui se rapportent au domaine des robots. Le procédé de commande de mouvement maître-esclave (100) comprend : la détermination de la posture actuelle (101) d'un opérateur maître (410), la posture actuelle comprenant la position actuelle et l'attitude actuelle; sur la base de la posture actuelle de l'opérateur maître (410) et d'une relation entre les postures de l'opérateur maître (410) et d'un outil esclave (420), la détermination d'une posture cible (103) de l'outil esclave (420); et sur la base de la posture cible de l'outil esclave (420), la génération d'un signal de commande (105) de l'outil esclave (420). Le fonctionnement à distance de l'outil esclave (420) par l'opérateur maître (410) peut être mis en œuvre, et la précision de l'opérateur maître (410) lors de la commande du fonctionnement à distance de l'outil esclave (420) peut être améliorée.
(ZH) 一种主从运动的控制方法(100)、机器人系统(200,400)、设备及存储介质,涉及机器人领域。其中,主从运动的控制方法(100),包括:确定主操作器(410)的当前位姿(101),当前位姿包括当前位置和当前姿态;基于主操作器(410)的当前位姿及主操作器(410)与从动工具(420)的位姿关系,确定从动工具(420)的目标位姿(103);以及基于从动工具(420)的目标位姿,生成从动工具(420)的控制信号(105)。可以实现主操作器(410)对从动工具(420)的遥操作,提高主操作器(410)对从动工具(420)遥操作的控制精度。
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