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CONTROL METHOD FOR SURGICAL ROBOT ARM, COMPUTER DEVICE, AND SURGICAL ROBOT ARM
CONTROL METHOD FOR SURGICAL ROBOT ARM, COMPUTER DEVICE, AND SURGICAL ROBOT ARM
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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
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摘要
Disclosed are a control method for a surgical robot arm, a computer device, and the surgical robot arm. The control method comprises: performing calculation according to a target point to obtain a telecentric fixed point (F) on an execution rod (1424), and controlling a preoperative positioning assembly (12) to advance a first movable platform (1446) of a telecentric control assembly (144) along a first coordinate axis of a movable coordinate system (S202); performing calculation according to the coordinate of the telecentric fixed point (F) and the trajectory coordinate of an end point (T) to obtain a first origin coordinate of an origin (O M) of the first movable platform (1446) in a stationary coordinate system (S204); performing calculation according to the coordinates of the hinge point of the telecentric control assembly (144) in the stationary coordinate system to obtain the length of a first telescopic element of the telecentric control assembly (144) (S206); and controlling the first movable platform (1446) to move to a designated pose, and determining the designated pose according to the first origin coordinate and the length of the first telescopic element (S208), and thereby realizing the telecentric fixed point (F), and solving the problems of the large structural dimensions of the surgical robot arm and the interference between the surgical robot arms.
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机译：公开了一种用于外科机器人臂，计算机装置和外科机器人臂的控制方法。控制方法包括：根据目标点执行计算，以在执行杆（1424）上获得远心固定点（F），并控制术前定位组件（12）以提前远心的第一可移动平台（1446）控制组件（144）沿着可移动坐标系的第一坐标轴（S202）;根据远心固定点（f）的坐标进行计算，以及结束点（t）的轨迹坐标，以获得第一可移动平台的原点的第一起源坐标（O m ） （1446）在固定坐标系中（S204）;根据静止坐标系中的远心控制组件（144）的铰接点的坐标进行计算，以获得远心控制组件（144）的第一伸缩元件的长度（S206）;并控制第一可移动平台（1446）以移动到指定的姿势，并根据第一起点坐标和第一伸缩元件的长度确定指定的姿势（S208），从而实现远心固定点（F），并解决外科机器人臂的大结构尺寸的问题及外科机械臂之间的干扰。
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