METHOD AND SYSTEM FOR PREVENTING A COLLISION BETWEEN MECHANICAL ARMS AND MEDICAL ROBOT Russian patent published in 2022 - IPC A61B34/30 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medicine, namely, to a system and a method for preventing a collision between the mechanical arms of a surgical robot. Surgical robot comprises at least two mechanical arms. One mechanical arm from said at least two mechanical arms comprises the main part containing joints. Method includes: positioning multiple discrete points on each mechanical arm; determining the first coordinate information of each discrete point in the global coordinate system; obtaining a first relative distance between two discrete points located on different mechanical arms, according to the first coordinate information; determining a first interaction force at each discrete point, applied by each of the discrete points on the other mechanical arm, according to the first relative distance and the preset corresponding correlation between the first relative distance and the first interaction force; and obtaining a force in the Cartesian coordinate system for each mechanical arm according to the resultant force of the first interaction forces, wherein each one corresponds to each discrete point and each of the discrete points on the other mechanical arm, and ensuring that the force in the Cartesian coordinate system is perceived by the operator.

EFFECT: reduction in the risk of mutual interference and collision between the mechanical arms.

22 cl, 12 dwg