Surgical robot arm apparatus, surgical robot arm control method and program

• 1. 机器人手臂的控制装置及控制方法、装配机器人、机器人手臂的控制程序及机器人手臂的控制用集成电路 [P] . 中国专利： CN102292194B . 2015.03.04
• 2. 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序、及机器人手臂控制用集成电子电路 [P] . 中国专利： CN101909829B . 2012.08.29
• 3. ROBOTIC SURGICAL APPARATUS, SURGICAL INSTRUMENT, AND METHOD OF ATTACHING SURGICAL INSTRUMENT TO ROBOT ARM [P] . US2021113283A1 . 2021-04-22

  机译： 机器人外科设备，手术器械和将手术器械附着到机器人手臂的方法

• 4. METHOD FOR ROBOTIC ARM HIGH-PRECISION FORCE FEEDBACK IN STATIONARY OR LOW-SPEED WORKING CONDITION, ROBOTIC ARM-ASSISTED SURGICAL METHOD, AND NONVOLATILE COMPUTER-READABLE MEDIUM HAVING PROCESSOR-EXECUTABLE PROGRAM CODE [P] . WO2021243945A1 . 2021-12-09

  机译： 机器人臂高精度力反馈中的静止或低速工作状态，机器人臂辅助手术方法，以及具有处理器可执行程序代码的非易失性计算机可读介质

• 5. CONTROL METHOD FOR SURGICAL ROBOT ARM, COMPUTER DEVICE, AND SURGICAL ROBOT ARM [P] . WO2021147265A1 . 2021-07-29

  机译： 手术机器人臂，计算机设备和外科机械手臂的控制方法

• 1. Development and Proof-of-Concept Study of a Novel Intraoperative Surgical Planning Tool for Robotic Arm-Assisted Total Knee Arthroplasty [J] . Daniel Farley, Gladius Lewis 世界工程和技术（英文） . 2020,第003期
• 2. Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control [J] . Zhaoyue XU, Lin DU, Haopeng WANG, 应用数学和力学（英文版） . 2019,第001期
• 3. Intelligent Robust Control of Redundant Smart Robotic Arm Pt I: Soft Computing KB Optimizer - Deep Machine Learning IT [J] . Alena V.Nikolaeva, Sergey V.Ulyanov 人工智能进展(英文) . 2020,第001期
• 4. Intelligent Robust Control of Redundant Smart Robotic Arm Pt II: Quantum Computing KB Optimizer Supremacy [J] . Alena V.Nikolaeva, Sergey V.Ulyanov 人工智能进展(英文) . 2020,第002期
• 5. Surgical Outcomes of Robotic Radical Hysterectomy Using Three Robotic Arms versus Conventional Multiport Laparoscopy in Patients with Cervical Cancer [J] . Yim Ga Won, Kim Sang Wun, Nam Eun Ji, Yonsei Medical Journal . 2014,第5期
• 6. Submandibular gland resection via the trans-hairline approach: A preclinical study of a novel flexible single-port surgical system and the surgical experiences of standard multiarm robotic surgical systems [J] . Yang Tsung-Lin, Li Hong, Holsinger Floyd Christopher, Head and neck: Journal for the sciences and specialities of the head and neck . 2019,第7期
• 7. A flexible, single-arm robotic surgical system for transoral resection of the tonsil and lateral pharyngeal wall: Next-generation robotic head and neck surgery [J] . Holsinger F. Christopher The Laryngoscope: A Medical Journal for Clinical and Research Contributions in Otolaryngology, Head and Neck Medicine and Surgery, Facial Plastic and Reconstructive Surgery .. . 2016,第4期
• 8. Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms [C] . Marcello Bonfe, Nicola Preda, Cristian Secchi, IFAC World Congress . 2014
• 9. Development of a gaze controlled robotic surgical camera. [D] . Sivadasan, Anand. 2006
• 10. Surgical Outcomes of Robotic Radical Hysterectomy Using Three Robotic Arms versus Conventional Multiport Laparoscopy in Patients with Cervical Cancer [O] . Ga Won Yim, Sang Wun Kim, Eun Ji Nam, 2014
• 11. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014
• 12. Method and apparatus for hybrid position/force control of multi-arm cooperating robots [R] . 1989

• 1. Flex Sensor Based Robotic Arm Controller Using Micro Controller [J] . Abidhusain Syed ,Zamrrud Taj H. Agasbal ,Thimmannagouday Melligeri . 软件工程与应用（英文） . 2012,第5期
• 2. 运用护理程序对准分子激光手术患者围手术期心理护理的探讨 [C] . 弯春红 ,魏莉莉 . 中华护理学会第2届国际手术室护理学术交流会议 . 2009
• 3. 基于鲁棒控制的机器人手臂轨迹跟踪控制方法的研究 [A] . 窦福谈 . 2017