XU, Kai,ZHAO, Jiangran,DAI, Zhengchen,YANG, Zhixiong,ZHU, Zhijun,LIANG, Bo
申请号：
EP17845498
公开号：
EP3508167A4
申请日:
2017.08.31
申请国别(地区):
EP
年份:
2020
代理人:
摘要：
The present invention relates to a flexible surgical tool system which comprises a flexible surgical tool system constituted by a multi-degree-of-freedom mechanical arm, the flexible surgical tool, the remote control device and a controlling computer and a method for controlling the same with motion constraints, the method comprises: obtaining a target posture of the surgical actuator according to a status signal of the remote control device； obtaining a current posture of the surgical actuator according to joint position values of the multi-degree of freedom mechanical arm and bending angle values of the sections of the flexible surgical tool； according to the target posture of the surgical actuator and the current posture of the surgical actuator, obtaining the desired velocity of the surgical actuator； obtaining a motion limitation condition applied by the sheath to the outer sleeve, and according to the motion limitation condition and the desired velocity of the surgical actuator, obtaining joint velocity of the multi-degree-of-freedom mechanical arm and bending velocity of the sections of the flexible surgical tool； obtaining a target joint position value of the multi-degree-of-freedom mechanical arm, a target bending angular value of the sections of the flexible surgical tool, and transmitting them to a corresponding controller to drive each section； ending the control loop and repeating the operations in the above steps.
