US 12,343,102 B2
Method for controlling a mechanical arm of a surgical robot following the movement of a surgical bed and a device therefor
Zhiqiang Li, Chengdu (CN)
Assigned to CHENGDU BORNS MEDICAL ROBOTICS INC., Chengdu (CN)
Filed by Chengdu Borns Medical Robotics Inc., Sichuan (CN)
Filed on Sep. 25, 2023, as Appl. No. 18/372,463.
Application 18/372,463 is a continuation of application No. 18/079,757, filed on Dec. 12, 2022, granted, now 11,801,106.
Application 18/079,757 is a continuation of application No. 17/509,489, filed on Oct. 25, 2021, granted, now 11,547,505, issued on Jan. 10, 2023.
Claims priority of application No. 202011150378.1 (CN), filed on Oct. 23, 2020.
Prior Publication US 2024/0016563 A1, Jan. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 34/20 (2016.01); G16H 20/40 (2018.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/20 (2016.02); G16H 20/40 (2018.01); A61B 2034/2055 (2016.02); A61B 2034/301 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A method for controlling a mechanical arm of a surgical robot following the movement of a surgical bed, the method comprising the following steps:
storing and defining an early warning region adjacent to an operating region proximal to a patient positioned on the surgical bed;
detecting in real time if a change of posture of the surgical bed occurs;
calculating region offsets of the early warning region corresponding to the change of posture of the surgical bed when the change of posture of the surgical bed is detected, and updating the early warning region based on the region offsets;
synchronously calculating offsets of a first mechanical arm, a second mechanical arm and an endoscopy mechanical arm corresponding to the change of posture of the surgical bed when the change of posture of the surgical bed is detected, the offsets include target three-dimension coordinates of a tool tip of each of the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm;
adjusting in real time the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm;
detecting in real time if the tool tip of any of the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm after the adjusting enters into the early warning region; and
if at least one tool tip entering into the early warning region is detected, adjusting in real time the mechanical arm of the at least one tool tip until it is confirmed that no tool tip enters into the early warning region.