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Alternative TitleDigestive endoscopy assisting interventional robot control system and method
周圆圆; 李言民; 刘浩; 韩建平; 杨云生; 李洪谊
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention provides a digestive endoscopy assisting interventional robot control method and system, and belongs to the field of medical robots. The digestive endoscopy assisting interventional robot control method comprises the following steps: extracting and processing action messages of an operator operating a main end handle, and obtaining a movement command of a robot according to the set position control and speed control working modes; measuring convey resistance and torsional resistance torque messages according to a force feedback device mounted at an actuator end, removing zero offset and gravity disturbance, and displaying the processed messages on a human-computer interaction interface for prompt; feeding the messages back to a main end control handle to provide force sensing for the operator, wherein when the resistance and the resistance torque exceed the set value, an upper computer alarms, and the convey force and the torque are partially and autonomously adjusted to a safe range; extracting and processing information of a pedal; switching the working modes; and performing the functions of air supply, water supply and suction. The control system comprises a main end control device, a bottom-layer controller, a force feedback device, a position limitation protector, a motor driver, an air pressure adjustor, a photoelectric coupler and a solenoid valve. The digestive endoscopy assisting interventional robot control method and system can improve the security of a digestive endoscopy assisting interventional robot.
PCT Attributes
Application Date2014-01-02
Application NumberCN201410001609.0
Open (Notice) NumberCN104757928A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
周圆圆,李言民,刘浩,等. 一种消化内镜辅助介入机器人的控制系统与控制方法[P]. 2015-07-08.
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