Abstract: A surgical robot, a graphical control device and a graphical display method thereof, the surgical robot including: a display; at least two manipulators; and a controller configured to: when a first manipulator is detected to be in an operational mode, obtain state information of the joint assembly sensed by the sensors of the first manipulator; obtain a kinematic model of the first manipulator; acquire configuration parameters of a virtual camera; combine the configuration parameters of the virtual camera, the kinematic model of the first manipulator and the state information thereof so as to generate an image model of the first manipulator from a viewing point of the virtual camera; and display the image model of the first manipulator in a first display window of the display. The surgical robot facilitates doctors observing the posture state of the manipulators that are used during a surgical process.

Abstract: An inerter-based metamaterial for low-frequency vibration attenuation includes a structural matrix material and an inerter array. The inerter array can be embedded within the structural matrix material. The inerter array can include a first inerter cell oriented along a first attenuation axis and a second inerter cell oriented along a second attenuation axis different from the first attenuation axis. The first inerter cell can include a first inerter. The second inerter cell can include a second inerter. The first inerter and the second inerter can be microinerters. The first inerter cell and the second inerter cell can be separated from each other by at least a portion of the matrix material. The first inerter cell and the second inerter cell can each include a first end and a second end and can each be connected to the matrix material at both the first end and the second end.

Abstract: A surgical robot includes a camera arm, a surgical arm, an input part, and a control device coupled to the camera arm, the surgical arm, and the input part. The control device is configured to: acquire an operation image of surgical area acquired by the camera arm; if the operation image contains a sub-image of the surgical arm, recognize a feature part of the surgical arm from the sub-image as a first feature part; acquire a control command inputted by the input part, obtain a kinematic model of the surgical arm according to the control instruction; obtain a second feature part matching the first feature part from the kinematic model; obtain actual motion information of the first feature part and target motion information of the second feature part; compare the actual motion information with the target motion information to determine whether the surgical robot has a motion error.

Abstract: A surgical robot, a graphical control device and a graphical display method thereof, the surgical robot including: a display; at least two manipulators; and a controller configured to: when a first manipulator is detected to be in an operational mode, obtain state information of the joint assembly sensed by the sensors of the first manipulator; obtain a kinematic model of the first manipulator; acquire configuration parameters of a virtual camera; combine the configuration parameters of the virtual camera, the kinematic model of the first manipulator and the state information thereof so as to generate an image model of the first manipulator from a viewing point of the virtual camera; and display the image model of the first manipulator in a first display window of the display. The surgical robot facilitates doctors observing the posture state of the manipulators that are used during a surgical process.