Medical robot and operation thereof
The embodiments relate to a method for operating a medical robotic device with an end effector for performing a diagnostic and/or therapeutic measure, involving predetermining at least one position to be reached by the end effector, evaluating at least two movement sequences of the medical robotic device, by which the end effector reaches the respectively predetermined at least one position, using an optimization criterion to select the movement sequence with the best evaluation result as the optimum movement sequence and implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector, in order to improve the reaching of the predetermined position.
1. A method for operating a medical robotic device comprising a kinematic chain and an end effector positioned at an end of the kinematic chain, wherein the medical robotic device is configured to perform a diagnostic measure, a therapeutic measure, or diagnostic and therapeutic measures, the method comprising:
predetermining at least one position to be reached by the end effector;
evaluating at least two movement sequences of the medical robotic device using an optimization criterion, by which the end effector reaches the respectively predetermined position, wherein the at least two movement sequences comprise different movement sequences having different configurations of the kinematic chain with different accuracies while having a same predetermined position of the end effector, wherein the respective accuracy of a movement sequence of the at least two movement sequences is a function of a position the medical robotic device takes up and a speed with which the position is taken up, and wherein the optimization criterion takes into account inaccuracies expected to occur during different movement sequences due to kinematic robotic properties of the medical robotic device;
selecting the movement sequence of the at least two movement sequences with a best evaluation result as an optimum movement sequence, wherein the optimum movement sequence is the movement sequence with fewest expected inaccuracies due to the kinematic robotic properties of the kinematic chain of the medical robotic device; and
implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector.
2. The method as claimed in claim 1 , wherein the medical robotic device is operated in a mode in which the medical robotic device automatically restricts a capacity for movement of the medical robotic device and is configured only to be moved manually by an operator according to movement sequences provided, wherein the restricted capacity for movement is taken into account when evaluating the movement sequences.
3. The method as claimed in claim 1 , wherein the medical robotic device has an overdefined kinematic, wherein the overdefined kinematic comprises a plurality of different articulations of the kinematic chain with the end effector in the same predetermined position.
4. The method as claimed in claim 3 , wherein the overdefined kinematic comprises at least seven degrees of freedom.
5. The method as claimed in claim 4 , wherein at least one additional degree of freedom for the medical robotic device results from a movement of the medical robotic device as a whole relative to an environment of the medical robotic device.
6. The method as claimed in claim 5 , wherein the end effector and further components of the kinematic chain associated with the end effector are configured to remain unmoved relative to one another during movement of the medical robotic device along a securing rail.
7. The method as claimed in claim 4 , wherein at least one additional degree of freedom for the medical robotic device results from a movement of an operating table relative to the medical robotic device.
8. The method as claimed in claim 1 , wherein at least one degree of freedom for the medical robotic device results from a movement of the medical robotic device as a whole relative to an environment of the medical robotic device.
9. The method as claimed in claim 8 , wherein at least one additional degree of freedom for the medical robotic device results from a movement of an operating table relative to the medical robotic device.
10. The method as claimed in claim 1 , wherein at least one degree of freedom for the medical robotic device results from a movement of an operating table relative to the medical robotic device.
11. The method as claimed in claim 1 ,
wherein the medical robotic device comprises at least one sensor, and
wherein end configurations are selected according to the optimization criterion, in which the at least one sensor in the medical robotic device responds more significantly to external forces expected to act on the end effector during the performance of the diagnostic measure, the therapeutic measure, or the diagnostic and the therapeutic measures.
12. The method as claimed in claim 11 , wherein the at least one sensor is a torque sensor.
13. The method as claimed in claim 11 , wherein the positions, orientations, or the positions and the orientations of the end effector, in which the at least one sensor in the medical robotic device responds more significantly to the external forces, are preferred according to the optimization criterion.
14. The method as claimed in claim 13 , wherein the at least one sensor is a torque sensor.
15. The method as claimed in claim 1 , further comprising:
detecting an external force by a torque sensor of the medical robotic device,
wherein the optimum movement sequence is implemented such that the predetermined position of the end effector is positioned relative to the expected direction of the external force.