Control methods of single-port surgical robots

摘要

A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.

主权项

1. A control method of a single-port surgical robot, the single-port surgical robot including a slave device including a surgical instrument having a proximal end and a distal end, the distal end including an elbow and an end effector, and a master device to control motion of the slave device, the method comprising:
setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using a position of the virtual incision port and the set operating position of the end effector; calculating a first movement angle of each joint used to move the elbow using the calculated target position of the elbow; and calculating a second movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector, wherein the calculating of the target position of the elbow calculates the target position of the elbow such that the target position of the elbow is positioned in a straight line that connects the position of the virtual incision port and the set operating position of the end effector to each other with the elbow being bent at an elbow angle such that the straight line does not pass through the proximal end of the surgical instrument.