CN115778427A - Multi-mode medical ultrasonic detection robot and operation method - Google Patents
Multi-mode medical ultrasonic detection robot and operation method Download PDFInfo
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Abstract
The invention discloses a multi-mode medical ultrasonic detection robot and an operation method, wherein a mechanical arm is connected with a detection component through a terminal six-dimensional force sensor component; a visual component is arranged on the side of the detection component, and the visual component carries out self-scanning ultrasonic detection; the depth camera scans the human body to establish a point cloud map of an environment, and the point cloud map is analyzed through a computer to plan the track of the mechanical arm, so that the medical ultrasonic detection robot can perform autonomous ultrasonic detection; four operation assemblies arranged on the side parts of the detection assemblies are provided for being held by hands, so that the motion control of the mechanical arm is realized; and the forms and the arrangement modes of the six-dimensional force sensor at the operation end, the flexible force sensor and the operation handle can be flexibly replaced and assembled, so that the change of different operation modes is realized. The invention can realize automatic loading and maintaining of detection force, move according to a planned motion path, realize automatic ultrasonic detection and save medical resources.
Description
Technical Field
The invention relates to the field of robots, in particular to the field of medical ultrasonic detection, and specifically relates to a multi-mode medical ultrasonic detection robot and a corresponding operation method.
Background
As an important sign of the development of science and technology and the high-end manufacturing level, the development of robots, particularly medical robot industry, is receiving high attention from various countries and regions around the world. In recent 20 years, with the influx of capital, the iteration of technology, and the application of force feedback technology, high-definition 3D imaging technology and the like in the robot field, the medical robot industry has been vigorously developed. At present, developed countries and regions such as Europe and America are in the leading position in most medical robot fields, and the market share is high.
However, in the field of ultrasonic testing, due to the characteristics of the ultrasonic testing medical field, medical research and medical institutions often face a relatively complex environment, on one hand, medical staff often bear overload physical and mental stress; the complexity of other disease parts is required to complete ultrasonic detection by means of precise operation of doctors, and the work intensity of the doctors is increased. Meanwhile, because the ultrasonic detection doctor needs to hold the detection equipment for a long time for medical detection, the doctor suffers from chronic diseases. Therefore, a multi-mode medical ultrasonic testing robot is needed to help solve the above problems, which not only can perform autonomous testing in the face of a simple part, but also can reduce the body load of a doctor and ensure that the doctor can perform flexible testing operation in the face of ultrasonic testing of a complex part.
Disclosure of Invention
In view of the above problems, the present invention provides a multi-mode medical ultrasonic testing robot and an operation method thereof, which have various operation modes, flexible and various operation modes, and can not only perform automatic ultrasonic testing, but also complete ultrasonic testing under the manual guidance of an ultrasonic doctor. The ultrasonic testing device has a force control testing function, the loading of ultrasonic testing force can be realized by the micro operating force of an ultrasonic doctor, the body load of the doctor is lightened, and meanwhile, the doctor can carry out flexible testing operation when facing the ultrasonic testing of a complex part.
The invention relates to a multi-mode medical ultrasonic detection robot, wherein a six-degree-of-freedom mechanical arm, a tail end six-dimensional force sensor assembly, a visual assembly, a detection assembly and an operation assembly are arranged at the tail end of the mechanical arm.
Wherein, the arm passes through terminal six-dimensional force sensor subassembly and connects the detection subassembly. The detection assembly is a convex array probe connected by a connecting piece, and the convex array probe is ensured to transmit force to the tail end six-dimensional force sensor when being subjected to external force; and a vision assembly is arranged on the side part of the detection assembly, and the vision assembly is used for carrying out self-scanning ultrasonic detection. The depth camera scans the human body to establish a point cloud map of an environment, the point cloud map is analyzed through a computer, and the track planning is carried out on the mechanical arm, so that the medical ultrasonic detection robot can carry out autonomous ultrasonic detection. During autonomous detection, only a detection part needs to be set, the mechanical arm moves according to a planned path, an environment point cloud map is obtained in real time through the visual assembly in the moving process, the tail end moving track of the mechanical arm is planned in real time, and the convex array probe detects the human body part when the six-degree-of-freedom mechanical arm moves.
The side of the detection assembly is provided with an operation assembly interface for connecting the operation assembly, and the operation assembly is used for being held by a hand to realize motion control of the mechanical arm.
Further selectively mounting a flexible force sensor at the side part of the convex array probe; the operation assembly is a vertical rod or an L-shaped rod, and the operation end six-dimensional force sensor and the flexible force sensor are selectively arranged on the vertical section.
Compared with the prior art, the invention has the following effects:
1. in the multi-mode medical ultrasonic detection robot, the design form and the arrangement mode can flexibly replace and assemble the six-dimensional force sensor at the operation end, the flexible force sensor and the operation grip, thereby realizing the change of different operation modes.
2. When the multi-mode medical ultrasonic detection robot adopts a flexible force sensor arrangement mode at the detection end, medical personnel drive the mechanical arm to move by holding the flexible force sensor arranged on the convex array probe shell, adjust the position and the posture of the ultrasonic detection probe and press the ultrasonic probe on a detected object, so that the loading and the holding of detection force are realized, and the ultrasonic detection operation is completed.
3. When the multi-mode medical ultrasonic detection robot adopts a six-dimensional force sensor arrangement mode at an operation end, an operation rod is arranged on the side of a convex array probe, the six-dimensional force sensor at the operation end is arranged between the operation rod and a mechanical arm body, the operation rod has two modes of bending and vertical, medical personnel hold the operation rod, force is measured by the six-dimensional force sensor at the operation end, and therefore the mechanical arm is driven to move, the position and the posture of the ultrasonic detection probe are adjusted, the ultrasonic probe is pressed on a detected object, loading and maintaining of detection force are achieved, and ultrasonic detection operation is completed.
4. When the multi-mode medical ultrasonic detection robot adopts a flexible force sensor arrangement mode at an operation end, the surface of an operation rod is provided with the flexible force sensor, the operation rod has a bending mode and a vertical mode, medical personnel hold the flexible force sensor arranged on the surface of the operation rod to drive a mechanical arm to move, adjust the position and the posture of an ultrasonic detection probe, press the ultrasonic probe on a detected object, realize the loading and the maintaining of detection force and finish the ultrasonic detection operation.
5. The multi-mode medical ultrasonic detection robot is characterized in that a depth camera is mounted at the tail end of a mechanical arm, the mechanical arm drives the depth camera to scan in an automatic detection mode, an ultrasonic detection position is determined, a motion path is planned, an ultrasonic probe is pressed on a detected object by the mechanical arm, detection force loading is achieved, the ultrasonic probe moves according to the planned motion path, automatic ultrasonic detection is achieved, and medical resources are saved.
6. The multi-mode medical ultrasonic detection robot has the advantages that all parts are simple to mount, flexible assembly can be carried out according to actual specific conditions, meanwhile, medical personnel only need small operation force to drive the mechanical arm to move, the position and the posture of the ultrasonic detection probe are adjusted, the ultrasonic probe is pressed on a detected object, the loading and the keeping of the detection force are realized, the workload of an ultrasonic detection doctor is reduced after the ultrasonic detection operation is completed, and the working intensity is reduced.
Drawings
FIG. 1 is an overall structural diagram of a multi-mode medical ultrasonic inspection robot according to the present invention, in which sensors are arranged at inspection ends;
FIG. 2 is an overall structural diagram of the multi-mode medical ultrasonic inspection robot according to the present invention, in which sensors are disposed at the operation end;
FIG. 3 is a schematic view of a six-dimensional force transducer assembly at the distal end of a multi-mode medical ultrasonic inspection robot in accordance with the present invention;
FIG. 4 is a schematic view of a multi-mode medical ultrasonic inspection robot vision module and inspection module according to the present invention;
FIG. 5 is a schematic view of a first operating component of the multi-mode medical ultrasonic inspection robot of the present invention;
FIG. 6 is a schematic structural diagram of a second operating component of the multi-mode medical ultrasonic testing robot according to the present invention;
FIG. 7 is a schematic structural diagram of a third operating component of the multi-mode medical ultrasonic testing robot of the present invention;
fig. 8 is a schematic structural diagram of a fourth operating component of the multi-mode medical ultrasonic testing robot according to the present invention.
In the figure:
1-six-degree-of-freedom mechanical arm 2-tail end six-dimensional force sensor assembly 201-tail end connecting piece
202-end six-dimensional force sensor 203-end sensor connector 3-vision assembly
301-depth camera mount 301 a-camera mount threaded hole 302-depth camera
4-guide detection assembly 401-convex array probe connector 401 a-cylindrical part threaded hole
401 b-connector 402-convex array probe 403-detection end flexible force sensor
5-operating assembly 501-operating end connector 502-sensor upper connector
503-operating end six-dimensional force sensor 504-sensor lower connecting piece 505-operating end bending grip
506-operating end vertical grip 507-flexible force sensor
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention discloses a multi-mode medical ultrasonic detection robot, which comprises a six-degree-of-freedom mechanical arm 1, a tail end six-dimensional force sensor assembly 2, a visual assembly 3, a detection assembly 4 and an operation assembly 5, and is shown in figures 1 and 2.
The distal six-dimensional force sensor assembly 2 includes a distal connector 201, a distal six-dimensional force sensor 202, and a distal sensor connector 203, as shown in FIG. 3.
The end connecting part 201 is a columnar structure, and the upper surface of the end connecting part is fixed with an end flange of the six-degree-of-freedom mechanical arm 1 through a screw. The top surface of the end six-dimensional force sensor 202 is fixed to the lower surface of the end connector 201 by screws. The end sensor connecting piece 203 is of a columnar structure, the top surface of the end sensor connecting piece is fixed with the bottom surface of the end six-dimensional force sensor 202 through screws, and the end sensor connecting piece 203 can be guaranteed to be capable of transmitting to the end six-dimensional force sensor 202 when being subjected to external force. The bottom surface of the end sensor connector 203 is connected to the detection member 4.
The inspection assembly 4 comprises a convex probe connector 401, a convex probe 402 and an inspection end flexible force sensor 403, as shown in fig. 4. The upper part of the convex array probe connector 401 is a cylindrical part 401a, and the top surface of the cylindrical part is fixedly mounted on the bottom surface of the terminal sensor connector 203 through screws. The lower part of the convex array probe connecting piece 401 is provided with two oppositely arranged connecting bodies 401b; the two connecting bodies 401b are both L-shaped structures formed by longitudinal plates and transverse plates; wherein the longitudinal plates of the two connecting bodies 401b are parallel to each other, and the top ends of the longitudinal plates are connected with the bottom surface of the cylindrical part 401 a; the transverse plate ends of the two connecting bodies 401b are oppositely arranged; and arc-shaped grooves are symmetrically formed in the opposite side surfaces of the two transverse plates, and a tail signal connecting wire of the convex array probe 402 is arranged between the two arc-shaped grooves. Further, two screw holes are formed in the transverse plates of the two connecting bodies 401b along the arc-shaped grooves, 4 screw holes are distributed in the circumferential direction on the transverse plates of the two connecting bodies 401b, the 4 screw holes correspond to the screw holes in the circumferential direction at the rear end of the convex array probe 402, and the convex array probe 402 is fixed on the transverse plates of the two connecting bodies 401b by penetrating the screw holes in the corresponding positions through screws; thereby ensuring that the convex array probe 402 can transmit force to the distal six-dimensional force transducer 202 when subjected to an external force.
The vision assembly 3 includes a depth camera mount 301 and a depth camera 302, as shown in FIG. 4. The main body of the depth camera fixing piece 301 is a cylindrical structure, and the inner ring is sleeved on the convex array probe connecting piece 401 and is tightly fixed through a jackscrew. A mounting platform 302a is horizontally designed on one side of the depth camera fixing piece 301 in an extending mode, a lens of the depth camera 302 faces downwards, and the depth camera fixing piece is fixedly mounted on the lower surface of the end portion of the mounting platform 302a through two threaded holes in the back of the depth camera 302 in a matched mode through screws. From this, can acquire visual image in six degrees of freedom arm 1 motion processes through depth camera 302 to establish the point cloud map of environment, and then through carrying out the analysis to the point cloud map, can plan out the motion trail of six degrees of freedom arm 1, carry out the motion according to the motion trail of planning through controlling six degrees of freedom arm 1 from this, make convex array probe 402 detect the human body in six degrees of freedom arm 1 motion processes, realize that medical ultrasonic testing robot independently accomplishes ultrasonic testing's function. Determining the ultrasonic detection position and planning the motion path, pressing the ultrasonic probe on the detected object by the mechanical arm, realizing the loading of the detection force,
the operation component 5 is used for controlling the motion of the six-degree-of-freedom mechanical arm 1, and the invention proposes four operation component 5 structures, wherein the first operation component 5 structure comprises an operation end connecting piece 501, a sensor upper connecting piece 502, an operation end six-dimensional force sensor 503, a sensor lower connecting piece 504 and an operation end bending handle 505, as shown in fig. 5. The operation end connecting member 501 is an L-shaped cylindrical rod, the fixed end is fixed on the side wall of the end connecting member 201 by a screw, and the connecting end is vertically arranged downward. The upper surface of the sensor upper connecting piece 502 with a cylindrical structure is coaxially fixed with the connecting end of the operation end connecting piece 501 through a screw. The top surface of the operation end six-dimensional force sensor 503 is fixedly mounted on the lower surface of the sensor upper connector 502 by screws. The upper surface of the sensor lower connecting piece 504 with a cylindrical structure is fixed with the bottom end of the six-dimensional force sensor 503 at the operation end through a screw. The curved handle 505 at the operating end is an L-shaped cylindrical rod, the top surface of the connecting end of which is fixed with the lower surface of the lower connecting piece 504 of the sensor, the holding end is horizontally arranged, and the end part is provided with a spherical handle.
In addition to the first operating unit 5 structure described above, a second operating unit structure is obtained by replacing the operating end bending grip 505 with the operating end vertical grip 506, as shown in fig. 6. The vertical handle 506 at the operation end is a cylindrical straight rod, the end face of the connecting end is fixed with the lower surface of the lower connecting piece 504 of the sensor, and the end part of the holding end is provided with a spherical handle.
In addition to the first configuration of the operating unit 5, a third configuration of the operating unit 5 is obtained by replacing the operating end six-dimensional force sensor 503, the sensor lower connector 504, and the operating end bending grip 505 with the operating end bending grip 505 having the flexible force sensor 507, as shown in fig. 7. The operating end bending grip 505 with the flexible force sensor 507 comprises an L-shaped cylindrical rod and the flexible force sensor 507; the end face of the connecting end of the L-shaped cylindrical rod is fixedly connected with the upper sensor connecting piece 502 through a screw; the holding end is horizontally arranged, and the end part is designed with a spherical handle. And flexible force sensors 507 are paved on the outer walls of the vertical sections of the L-shaped cylindrical rods.
On the basis of the third operating assembly 5 structure, the curved grip replacement 505 with the flexible force sensor 507 is replaced by an operating end vertical grip 506 with the flexible force sensor 507, so that a fourth operating assembly 5 structure is obtained. The operating end vertical grip 506 with the flexible force sensor 507 comprises a cylindrical straight rod and the flexible force sensor 507; the end face of the connecting end of the cylindrical straight rod is fixed to the lower surface of the sensor upper connecting piece 502, and the end of the holding end is provided with a spherical handle. And a flexible force sensor 507 is laid on the outer wall of the cylindrical straight rod.
The multi-mode medical ultrasonic detection robot based on the structure comprising the four operation components 5 has five operation modes, which are as follows:
operation mode 1:
only the flexible force sensor 507 is arranged at the detection end, that is, the flexible force sensor 507 is arranged on the side part of the convex array probe 402 in the circumferential direction, as shown in fig. 4, medical personnel hold the flexible force sensor 507 at the detection end by hand, apply external force to the convex array probe 402, the flexible force sensor 507 at the detection end detects the external force, drive the six-degree-of-freedom mechanical arm 1 to move according to an ideal moving mode of the medical personnel, and the medical personnel can drive the six-degree-of-freedom mechanical arm 1 to move only by applying small external force to the flexible force sensor 507 at the detection end. In this mode of operation, the operating assembly 5 is not installed.
Operation mode 2:
by adopting the structure of the first operation assembly 5, medical staff holds the operation end bending grip 505 and applies external force to the operation end bending grip 505, the operation end six-dimensional force sensor 503 detects the external force and drives the six-degree-of-freedom mechanical arm 1 to move according to an ideal moving mode of the medical staff, and the medical staff can drive the six-degree-of-freedom mechanical arm 1 to move only by applying small external force to the operation end bending grip 505.
Operation mode 3:
by adopting the structure of the second operation assembly 5, medical staff holds the vertical grip 506 at the operation end, applies external force to the vertical grip 506 at the operation end, the six-dimensional force sensor 503 at the operation end detects the external force and drives the six-degree-of-freedom mechanical arm 1 to move according to the ideal moving mode of the medical staff, and the medical staff can drive the six-degree-of-freedom mechanical arm 1 to move by applying small external force to the vertical grip 506 at the operation end.
Operation mode 4:
by adopting the third operation assembly 5 structure, medical staff holds the operation end bending grip 505 and applies external force to the grip, the bending grip flexible force sensor 507 detects the external force and drives the six-freedom-degree mechanical arm 1 to move according to an ideal movement mode of the medical staff, and the medical staff can drive the six-freedom-degree mechanical arm 1 to move only by applying small external force to the operation end bending grip 505.
Operation mode 5:
by adopting the structure of the fourth operation assembly 5, medical staff holds the vertical grip 506 at the operation end and applies external force to the vertical grip 506 at the operation end, the flexible force sensor 507 on the vertical grip 506 at the operation end detects the external force and drives the six-degree-of-freedom mechanical arm 1 to move according to an ideal moving mode of the medical staff, and the medical staff can drive the six-degree-of-freedom mechanical arm 1 to move only by applying small external force to the vertical grip 506 at the operation end.
The multi-mode medical ultrasonic detection robot obtains multiple operation modes through multiple designed operation component structures, and can be selected according to different operation preferences of operators.
In the five modes of motion control of the six-degree-of-freedom mechanical arm 1, the multi-mode medical ultrasonic detection robot can perform autonomous scanning ultrasonic detection through the visual component 3, a simple part (such as a large-area flat part of the abdomen) of a human body can be scanned by the depth camera 302 to build a map, the analysis is performed through a computer, and the track planning is performed on the six-degree-of-freedom mechanical arm 1, so that the medical ultrasonic detection robot can perform autonomous ultrasonic detection, the consumption of medical resources is reduced, and the working intensity of medical personnel is reduced. During autonomous detection, only a detection part needs to be set, the six-degree-of-freedom mechanical arm 1 moves according to a planned path, an environment point cloud map acquired in real time through the visual component 3 in the moving process plans the tail end moving track of the six-degree-of-freedom mechanical arm 1 in real time, and the convex array probe 402 detects the human body part when the six-degree-of-freedom mechanical arm 1 moves. The convex array probe detects the human body part when the mechanical arm moves, and finally the whole inspection process is finished.
Claims (7)
1. A multi-mode medical ultrasonic detection robot is characterized in that: the tail end of the mechanical arm is provided with a six-degree-of-freedom mechanical arm, a tail end six-dimensional force sensor assembly, a visual assembly, a detection assembly and an operation assembly;
the mechanical arm is connected with the detection assembly through a tail end six-dimensional force sensor assembly; the detection assembly is a convex array probe connected by a connecting piece, and the convex array probe is ensured to transmit force to the tail end six-dimensional force sensor when being subjected to external force; a visual component is arranged on the side of the detection component, and is used for carrying out autonomous scanning ultrasonic detection, wherein a depth camera is used for scanning a human body to establish a point cloud map of an environment, the point cloud map is analyzed by a computer, and a track of a mechanical arm is planned, so that the medical ultrasonic detection robot can carry out autonomous ultrasonic detection; during autonomous detection, only a detection part needs to be set, the mechanical arm moves according to a planned path, an environment point cloud map is obtained in real time through a visual assembly in the moving process, the real-time planning of the motion track of the tail end of the mechanical arm is realized, and a convex array probe detects the part of a human body when the six-freedom-degree mechanical arm moves;
an operation assembly is selectively arranged on the side of the detection assembly and is used for being held by a human hand to realize the motion control of the mechanical arm;
further selectively mounting a flexible force sensor at the side part of the convex array probe; the operation assembly is a vertical rod or an L-shaped rod, and the operation end six-dimensional force sensor and the flexible force sensor are selectively arranged on the vertical section.
2. The multi-mode medical ultrasound inspection robot of claim 1, wherein: the top surface of the tail end six-dimensional force sensor is fixed with the lower surface of the columnar tail end connecting piece through a screw; the upper surface of the tail end connecting piece is fixed with a tail end flange of the mechanical arm; the top surface of the columnar tail end sensor connecting piece is fixed with the bottom surface of the tail end six-dimensional force sensor, so that the tail end sensor connecting piece can be transmitted to the tail end six-dimensional force sensor when being subjected to external force; the bottom surface of the end sensor connecting piece is connected with a detection component.
3. The multi-mode medical ultrasound inspection robot of claim 1, wherein: the connecting piece in the detection assembly is provided with two oppositely arranged connecting bodies; the two connecting bodies are both L-shaped structures consisting of longitudinal plates and transverse plates; wherein the longitudinal plates of the two connecting bodies are parallel to each other and are arranged oppositely at the end parts of the transverse plates; arc-shaped grooves are symmetrically formed in opposite side faces of the two transverse plates, and a tail signal connecting wire of the convex array probe is arranged between the two arc-shaped grooves; furthermore, screw holes are formed in the transverse plates of the two connecting bodies along the arc-shaped grooves, screw holes distributed along the circumferential direction are formed in the transverse plates of the two connecting bodies and correspond to the circumferential screw holes in the rear end of the convex array probe, and the convex array probe is fixed to the transverse plates of the two connecting bodies by penetrating the screw holes in the corresponding positions through screws.
4. The multi-mode medical ultrasound inspection robot of claim 1, wherein: the vision assembly includes a depth camera mount and a depth camera; wherein the depth camera fixing piece is sleeved on the side part of the detection assembly and is tightly propped and fixed; a mounting platform is horizontally arranged on one side of the depth camera fixing piece in an extending mode, and the depth camera is fixedly mounted on the lower surface of the end portion of the mounting platform.
5. The multi-mode medical ultrasound inspection robot of claim 1, wherein: the operation assembly has four structures, the operation assembly of the first structure is an L-shaped rod with a segmented structure, the end part of the longitudinal segment is connected with the detection assembly, and an operation end six-dimensional force sensor is arranged between the operation assembly and the detection assembly; a grip is arranged at the end part of the transverse section;
the operation assembly of the second structure is a straight rod with a segmented structure, is vertically arranged, is connected with the detection assembly at the top, and is provided with an operation end six-dimensional force sensor between the operation assembly and the detection assembly; a handle is arranged at the bottom end;
the operating assembly of the third structure is an L-shaped rod, and a flexible force sensor is arranged on the vertical section; a grip is arranged at the end part of the transverse section;
the operating assembly of the fourth structure is a straight rod which is vertically arranged, and a flexible force sensor is arranged on the operating assembly.
6. The multi-modal medical ultrasound inspection robot of claim 5, wherein: the operating assembly of the L-shaped rod and the straight rod is designed into a sectional structure, and the six-dimensional force sensor is installed on the vertical part.
7. The multi-mode medical ultrasound inspection robot of claim 1, wherein: there are five modes of operation:
mode 1: the flexible force sensors are only arranged on the side part of the convex array probe in the circumferential direction, the flexible force sensors on the side part of the convex array probe are held by hands to apply external force to the convex array probe, and the flexible force sensors detect the external force to drive the six-degree-of-freedom mechanical arm to move according to an ideal moving mode;
mode 2: installing an operation assembly, wherein the operation assembly adopts an L-shaped rod, and an operation end six-dimensional force sensor is arranged between the operation assembly and the detection assembly; the hand-held operation assembly applies external force, the six-dimensional force sensor at the operation end detects the external force, and the six-degree-of-freedom mechanical arm is driven to move according to an ideal moving mode;
mode 3: an operation assembly is installed, the operation assembly adopts a vertical rod, and an operation end six-dimensional force sensor is arranged between the operation assembly and the detection assembly; the hand-held operation assembly applies external force, the six-dimensional force sensor at the operation end detects the external force, and the six-degree-of-freedom mechanical arm is driven to move according to an ideal moving mode;
mode 4: installing an operation assembly, wherein the operation assembly adopts an L-shaped rod, and a flexible force sensor is installed on a vertical section; the hand-held operation assembly applies external force, and the flexible force sensor detects the external force to drive the six-degree-of-freedom mechanical arm to move according to an ideal moving mode;
mode 5: installing an operating assembly, wherein the operating assembly adopts a vertical rod, and a flexible force sensor is installed on the vertical rod; the hand-held operation assembly applies external force, and the flexible force sensor detects the external force to drive the six-degree-of-freedom mechanical arm to move according to an ideal moving mode.
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