ROBOTIC SURGICAL SYSTEM OF MINIMAL INVASIVE INTERVENTION AND METHOD OF ITS MANAGEMENT

摘要

1. A method for controlling a medical system of minimal invasive intervention, comprising a manipulator (10) having an executive body (12) equipped with a force / torque sensor (30) having 6 degrees of mobility (6-DOF), which has a coordinate system (X, Y, Z) a sensor with three mutually perpendicular axes, and a minimally invasive intervention instrument (14) having a first end (16) fixed to the actuator, a second end (20) located behind the external center of rotation (23), which limits the tool to moved ii, and the tool rod (18), the longitudinal axis of which is collinear with the axis (Z) of the tool coordinate system (X, Y, Z) of the sensor, the method includes determining the position of the tool relative to the external center (23) of rotation, including determining the vector of the original the distance from the original coordinate system (X, Y, Z) of the sensor to the external center of rotation 23, which, in turn, includes moving the instrument (14) of the minimum invasive intervention along two axes (X, Y) of the coordinate system (X, Y, Z) sensor perpendicular to the axis (Z) in trumenta, respectively, until the reaction force along both axes (X, Y) is below a predetermined threshold value; and determining the position of the external center of rotation (23) along the axis (Z) of the tool, using the law of the lever, in particular by turning the tool (14) to achieve sufficient contact force, measuring the moment vector module and the force vector module corresponding to this contact force, and calculating the position of the external center (23) of rotation along the axis (Z) of the tool by dividing the moment vector module by the force vector module.