FIELD: medicine.
SUBSTANCE: invention relates to medicine, namely to methods for preventing the unintentional movement of the wire conductor of an interventional surgical robot. The method includes the first stage and the second stage. At the first stage, the values of the distance from the wire conductor to the inner wall of the body cavity and the values of the resistance of the inner wall of the body cavity to the movement of the wire conductor when the wire conductor moves in the body cavity are obtained. At the second stage, the wire conductor is controlled to perform the corresponding movement according to the ratio between the distance value and the specified distance threshold value and/or the ratio between the resistance value and the specified resistance threshold value. When the value of the distance between the end of the wire conductor and the inner wall of the cavity exceeds the specified threshold value of the distance, while the resistance value does not exceed the specified threshold value of the resistance, the wire conductor is automatically controlled to continue the current movement. When the specified threshold value of resistance is reached, the movement of the wire conductor is automatically stopped and the subsequent automatic control of the reverse movement of the wire conductor is carried out until the resistance value becomes lower than the specified threshold value of resistance.
EFFECT: effective prevention and real-time assessment of dangerous movements of the wire conductor of the interventional surgical robot is achieved.
6 cl, 5 dwg
