Intranasal neurosurgical robot system based on force feedback guidance and control method thereof

• Main Authors: HUANG KAI, SONG RIHUI, LIANG HONGLI, LI JIAN, WEN WEIPING, WEN YIHUI
• Format: Patent
• Language: Chinese; English
• Published: 02.08.2022
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The invention relates to the technical field of optical communication, in particular to an intranasal neurosurgical robot system based on force feedback guidance and a control method thereof. A force feedback self-adaptive control mode is used, so that the endoscope can be attached to the inner wall of the nose to the maximum extent, and the operable space of other instruments in the operation of a doctor is enlarged as much as possible; according to the robot control method provided by the invention, a focus (or a medical instrument) can be automatically tracked and the RCM central point can be adjusted, so that the visual field of the endoscope is automatically adjusted, and a doctor is thoroughly liberated from the work of holding the endoscope by hand. 本发明涉及光通信技术领域，更具体地，涉及一种基于力反馈引导的鼻内神经外科手术机器人系统及其控制方法。使用了力反馈自适应控制的方式，使内窥镜可以最大程度地贴合鼻内壁，尽可能扩大医生手术中其他器械的可操作空间；本发明提出的机器人控制方法能自动追踪病灶(或者医疗器械)并调整RCM中心点，进而自动调整内窥镜视野，将医生彻底从手持内窥镜的工作中解放。