Title:
MECHANICAL ARM MATCHING METHOD, SURGEON CONSOLE, AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/041386
Kind Code:
A1
Abstract:
A mechanical arm matching method, a surgeon console, and a computer-readable storage medium. According to the method described above, when the surgeon console receives a mechanical arm switching instruction that instructs a master operation end to switch from manipulating a first slave mechanical arm to manipulating a second slave mechanical arm, current posture data of a target surgical instrument, a current joint position of the master operation end, and historical configuration data of the master operation end corresponding to the second slave mechanical arm when the master operation end manipulates the second slave mechanical arm at a previous time can be firstly obtained, then target posture data of the master operation end are determined by comprehensive analysis of the data described above, and then the master operation end is controlled to move according to the target posture data so as to be matched with the second slave mechanical arm in use after switching. Therefore, the influence of too large following motion range of a master operation arm of the master operation end on user operation can be avoided, and the master operation end is precisely controlled to automatically adjust to a posture state that is matched with the second slave mechanical arm and is the same as or similar to the configuration to which the user has previously adapted.
Inventors:
MIAO YANNAN (CN)
PENG XIAONING (CN)
SUN XIAOJUN (CN)
MA SHENYU (CN)
WANG JIAYIN (CN)
PENG XIAONING (CN)
SUN XIAOJUN (CN)
MA SHENYU (CN)
WANG JIAYIN (CN)
Application Number:
PCT/CN2023/112022
Publication Date:
February 29, 2024
Filing Date:
August 09, 2023
Export Citation:
Assignee:
SHANGHAI MICROPORT MEDBOT GROUP CO LTD (CN)
International Classes:
A61B34/37; A61B34/30; A61B34/35; B25J3/00
Foreign References:
| CN113876434A | 2022-01-04 | |||
| CN109806002A | 2019-05-28 | |||
| CN103533909A | 2014-01-22 | |||
| US20200100852A1 | 2020-04-02 | |||
| US20020082612A1 | 2002-06-27 | |||
| CN105431104A | 2016-03-23 |
Attorney, Agent or Firm:
BEIJING SANYOU INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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