Construction of a Teleoperational Interventional Surgery Robot System

Abstract

A remote human-machine collaboration for the positioning arm for interventional operation is proposed. The existing research orientation of the arm is combined for further study. 1) Operator's end position is detected based on the determined position and posture of the target, and the position and posture mapping mechanism between the operator and the end effector of the arm is researched based on the virtual motion prediction. 2) The strategy of telepresence is realized based on the bidirectional force mapping between the operator and the positioning arm. 3) The mechanism of man-machine cooperative control and safety control mechanism of the precise positioning of the arm is studied. 4) The recognition, tracking, force feedback and other verification and evaluation work of the robotic arm positioning process based on remote motion following is completed. The key problem is the realization of the telepresence of telecontrol and teleoperation of the interventional operation positioning arm, and bi-directional perception of human in the loop. Remote precise positioning of the arm based on human action recognition, action following and force telepresence based on operational force detection and collision force feedback is implemented. The research work is directly satisfied with the clinical needs.