3455results about "Computer-aided planning/modelling" patented technology

The invention relates to the technical field of artificial intelligence, can be applied to business scenes such as financial science and technology and medical health, and discloses a strategy generation method and device based on hierarchical reinforcement learning, equipment and a medium. And processing environment state information to generate a sub-target and a specific action, generating a strategy reward signal in combination with state change, carrying out joint training and updating on the dynamic causal graph and the hierarchical reinforcement learning model based on the strategy reward signal, and generating an optimized action strategy. The state evolution relation is modeled by constructing the dynamic causal graph, so that the reinforcement learning can obtain causal understanding of the state change trend, decomposition and optimization of sub-targets and actions are realized in combination with a layered reinforcement learning architecture, the response precision and generalization ability of the action strategy in a complex environment are improved, and the method is suitable for application and popularization. Therefore, the task completion stability and the convergence efficiency of strategy training are improved.

A robotic surgical system includes one or more robotic actuators configured to interact with biological tissue during a surgical procedure. A plurality of sensors include at least one of fiber Bragg grating sensors, piezoelectric strain sensors, or magnetostrictive sensors to capture real-time mechanical, elasticity, or deformation data from biological tissues. deep learning engine trained on a dataset comprising tissue mechanical responses across multiple tissue types, pathological states, and patient demographics. Pre-contact predictive adjustment profiles are generated for anticipated tissue interactions using preoperative imaging data registered to intraoperative coordinates. Intraoperative deviations are detected from predicted mechanical behavior and autonomously recalibrate actuator forces. Upcoming surgical maneuvers are anticipated based on prior task sequences and adjust actuator stiffness or damping properties in preparation for anticipated contact. An emergency override of actuator forces is provided via an anomaly detection module when real-time sensor data deviates beyond a threshold from the predicted safe mechanical response range. A feedback loop iteratively refines the deep learning engine during the procedure using supervised learning updates, anomaly detection, and reinforcement learning strategies. The reinforcement learning model is optionally shared across procedures to optimize distributed actuator force patterns for minimizing localized and cumulative tissue stress.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

The invention relates to the technical field of tumor interventional operations, and discloses a visual navigation method based on a tumor interventional operation robot. The method comprises the following steps: acquiring real-time medical image data of a tumor area containing multi-modal imaging information so as to comprehensively present anatomical details; and performing three-dimensional reconstruction on the image data to generate a tumor area three-dimensional anatomical structure model capable of visually displaying a space structure. Key anatomical feature points are extracted based on the model, space coordinates are calculated, a surgical robot intervention path is planned according to the coordinates, and an initial navigation track is generated; and continuously collecting real-time pose data of the robot in an operation, dynamically matching the real-time pose data with the initial navigation trajectory, adjusting motion parameters according to a matching result, and generating a corrected navigation instruction. The method can reflect the intraoperative anatomy condition in real time, dynamically optimize the path, solve the problems that traditional navigation depends on preoperative static images and lacks real-time adjustment, reduce operative complications and improve the treatment effect of patients.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

Disclosed are approaches that may provide image-guidance to interventionalists by providing true 3D visualization and quantitative feedback in real-time. A guidance system may allow a physician to manipulate a medical device and see a 3D rendering with quantitative feedback floating in mixed reality, next to standard monitors. Image tracking may detect and co-register the medical device's 3D position using, for example, bi-plane C-arm X-ray fluoroscopy and provide a 3D trajectory as quantitative feedback. Patterns in a fluoroscopic image may be used to accurately determine an object's z-position from a single angle projection.

An interactive and dynamic surgical simulation system may be used in the context of a computer-implemented interactive surgical system. The surgical simulation system may provide coordinated surgical imagining. A processor may be configured to execute a simulation of a surgical procedure. The surgical procedure may be simulated in a simulated surgical environment. The processor may generate a first visual representation and a second visual representation. The first visual representation may be of a first portion of the simulated surgical environment. The second visual representation may also be of the first portion of the simulated surgical environment.

A system is disclosed including an ablation probe that includes an antenna, a display, and a controller in communication with the ablation probe and the display. The controller comprises a memory and is operable to receive first and second inputs indicative of an amount of time and a power level, respectively, to energize the ablation probe, retrieve, from the memory, a predicted ablation zone corresponding to the first and second inputs, display, on the display, an image representative of the ablation probe, and overlay, on the image, the predicted ablation zone, energize the ablation probe at the power level, and dynamically overlay, on the image, a progressive ablation zone based on the ablation probe being energized, wherein a size of the progressive ablation zone is retrieved from the memory based on the amount of time the ablation probe has been energized at the power level.

The invention discloses a precise mark-free positioning system applied to an oral cavity. A camera array composed of a plurality of cameras which are annularly or specifically arranged is arranged on a mobile phone; an infrared imaging assembly for solving the problem of cooling water interference in the operation is designed on at least one camera; the processor is configured to integrate the acquired data including preoperative CBCT (cone beam computed tomography), oral scanning data and digital data of occlusal relationship to construct a complete preoperative oral three-dimensional model; establishing a spatial relationship between a visual system formed by registration of the turbine handpiece and the camera array and a preoperative oral cavity three-dimensional model, and obtaining adaptive relative poses among the parts; after the body position of a patient is fixed during an operation, a complete oral environment point cloud is formed for each frame of input data currently collected by the visual system, and the complete oral environment point cloud is fitted with a patient oral model obtained through oral scanning and CT scanning in advance, so that the oral position of the patient is positioned in real time.

The invention discloses a thoracoscope minimally invasive cardiac surgery navigation system based on multi-modal image fusion, and the system comprises the steps: constructing a 5D heart digital twin containing an anatomical structure, a soft tissue boundary, metabolic activity and electrophysiological information through fusing preoperative CT, MRI, PET and intraoperative ultrasonic images; real-time dynamic registration is realized by using an electrocardio gating driven biomechanical model; superposing the multi-color coding navigation information to the visual field of the thoracoscope through a wavelength selection type spectroscope; a dynamic risk scoring model is constructed based on the distance, the speed and the tissue vulnerability, and three-level grading intervention is triggered; a miniature force feedback actuator is integrated to realize closed-loop control; and pre-operation virtual drilling and post-operation federal learning optimization are supported. The system remarkably improves the surgical precision and safety, and is suitable for high-difficulty heart minimally invasive surgeries such as mitral valve repair and atrial fibrillation ablation.

The invention discloses a self-adaptive sensing anti-shake regulation and control method and system for a spinal surgery auxiliary mechanical arm, and relates to the technical field of spinal surgery, and the method comprises the steps: collecting multi-dimensional data of a mechanical arm tail end actuator through a multi-dimensional sensor group, and transmitting the multi-dimensional data to an AeroStead space-level stability calculation platform; the platform carries out filtering processing on the data, and vibration of the mechanical arm and disturbance components caused by external interference are separated; constructing a spine mechanical arm rigid-flexible coupling dynamic disturbance observation and compensation model by using the disturbance component to observe disturbance and generate a compensation amount; calling a spinal operation area three-dimensional reconstruction and dynamic obstacle avoidance mixed density network model, and fusing different images to generate an operation area three-dimensional dynamic model and an obstacle avoidance adjustment signal; a mechanical arm motion control instruction is generated through a force sense position cooperation self-adaptive control algorithm; and the mechanical arm is driven to move for closed-loop regulation and control. According to the method, through fusion of multiple models and algorithms, the disturbance compensation precision, the operation area modeling accuracy and the control collaboration are improved, and the operation safety is guaranteed.

The invention relates to the technical field of intelligent medical treatment, and discloses a cataract surgery navigation control method based on multi-modal fusion, which comprises the following steps: carrying out lightweight preprocessing on an eye fundus image, ultrasonic probe data, a corneal topographic map and intraocular pressure parameters through an edge computing architecture, and constructing an efficient feature extraction network by adopting a knowledge distillation technology; self-adaptive feature fusion is realized based on an uncertainty quantification mechanism, real-time structure recognition is provided by utilizing an augmented reality technology, an intelligent navigation strategy is generated by pre-training a reinforcement learning model, an instrument control system with multilayer safety guarantee is established, and continuous optimization of the system is realized by adopting an online learning mechanism. According to the invention, the precision and safety of the operation are effectively improved, and an effective technical scheme is provided for intelligent navigation control of the cataract operation.

A device to process data associated with a surgical event of a surgery may include a processor. The processor may be configured to receive multiple data streams during the surgical event. The processor may be configured to select a primary data stream based on a surgical data interface via which the primary data stream is received. The processor may be configured to select a secondary data stream based on a surgical data interface via which the second data stream is received. The processor may be configured to identify the surgical data interfaces. The processor may be configured to generate situational data associated with the primary data stream based on the secondary data stream. The situational data may indicate a medical decision-making factor of the surgical event. The primary data stream and the situational data may be sent during the surgical event.

The invention relates to the technical field of medical instruments, and discloses a breast cancer sentinel lymph node positioning system and method, and the system comprises a data collection subsystem, a space positioning subsystem and a central processing subsystem. The method comprises the following steps: acquiring an anatomical structure image, a radioactivity counting rate and fluorescence intensity after performing primary fluorescence, radioactivity and secondary pulse type fluorescence tracer injection in sequence; establishing a global coordinate system and generating an anatomical region of interest; constructing a weighted directed topological graph based on the initial fluorescence data, and obtaining a baseline flow velocity; extracting radionuclide dynamic characteristics based on the radioactive data; a functional flow rate attenuation coefficient is calculated based on the second pulsed fluorescence data. And a multi-factor scoring model is applied, topological information, dynamic characteristics and functional flow velocity attenuation coefficients are fused, and a comprehensive score is calculated to identify the sentinel lymph node. According to the method, the lymphatic flow topological structure, nuclide dynamics and functional flow velocity information are combined, and the positioning accuracy and reliability are improved.

The invention relates to the technical field of medical equipment, and provides a multi-modal lymphedema assessment and surgical navigation system based on image processing, which comprises a 3D scanning modeling module used for acquiring three-dimensional point cloud data of the body surface of a patient through structured light 3D scanning equipment, an iconography examination analysis module used for performing U-Net image segmentation on CT / MRI image data, and an image processing module used for processing the CT / MRI image data. The ultrasonic result calculation module is used for carrying out Canny edge detection on an ultrasonic image to determine the boundary of a surgical site, and the data integration and navigation generation module is used for realizing multi-modal data fusion through mutual information maximization, generating a surgical path based on FMM and carrying out real-time navigation in combination with an AR technology. According to the method, objective evaluation of lymphedema and accurate navigation of the operation are realized through accurate integration of multi-modal data and an image processing technology, the diagnosis and treatment accuracy is effectively improved, the operation risk is reduced, complications are reduced, and a scientific basis is provided for personalized treatment.

Example systems and techniques are disclosed that may determine at least one treatment strategy for a lesion. An example system may include memory configured to store clinical guidance and / or informatics for a PCI procedure and processing circuitry communicatively coupled to the memory. The processing circuitry may be configured to determine the plurality of treatment pathways. The processing circuitry may be configured to obtain angiogram imaging data of a coronary vasculature of a patient. The 2024 / 058837 processing circuitry may be configured to determine the clinical guidance and / or informatics based at least in part on the angiogram imaging data. The processing circuitry may be configured to output for display the angiogram imaging data and at least a portion of the clinical guidance and / or informatics, wherein the at least a portion of the clinical guidance and / or informatics is overlaid onto the angiogram imaging data.

The invention relates to the technical field of intelligent urethral surgical instruments, and particularly discloses a urethral dilation path planning system integrating visual SLAM and force perception, which synchronously acquires image data of the internal environment of the urethra and contact force data between the instrument and tissues through an image sensor and a force sensing unit integrated at the front end of the dilation instrument; constructing a three-dimensional environment model in the urethra by utilizing a visual SLAM technology, and positioning the position of an instrument in real time; the force data and the three-dimensional model are fused to generate a dynamic force distribution diagram, and a safe expansion path is planned based on the distribution diagram and the current position of the instrument; dynamically adjusting the advancing direction and the expansion force of the instrument through a closed-loop control system to enable the instrument to move along a planned path; meanwhile, path deviation and force abnormity are detected in real time through a monitoring mechanism, and model updating and path re-planning are triggered.

The present disclosure relates to surgical systems, devices and methods for planning and performing surgical procedures, including bone fracture repair. The systems and methods disclosed herein can be utilized to establish physical models of anatomical structures.

The invention discloses a point cloud-driven thoracic cavity whole organ dynamic reconstruction and respiration monitoring method and system, and the method comprises the steps: constructing a three-dimensional geometric model corresponding to each target structure in a thoracic cavity based on the thoracic medical image data of a target object, and converting the three-dimensional geometric model into static point cloud data; driving the static point cloud data to perform dynamic deformation simulation in a respiratory cycle based on a respiratory movement rule of the target object to obtain dynamic point cloud data synchronized with a respiratory time phase; performing time-space synchronization association on the dynamic point cloud data and the electrical characteristic parameters, and constructing a digital twin thoracic cavity model; deploying a virtual sensing assembly which dynamically deforms along with the thoracic cavity in the digital twin thoracic cavity model, simulating and monitoring the dynamic breathing process of the target object, and generating a virtual physiological signal; and performing signal processing on the virtual physiological signal to obtain a dynamic reconstruction image reflecting respiratory movement. Continuous simulation of the full-breathing movement process is achieved, and the temporal-spatial resolution and diversity of a virtual database are improved.

The invention provides a wearable exercise and rehabilitation monitoring system based on multi-modal AI, which relates to the field of electrical digital data processing and comprises a distributed multi-modal sensing acquisition module, a hierarchical wireless data aggregation and transmission module, a 3D human body dynamics reconstruction and modeling module and an intelligent action evaluation and feedback module. The distributed multi-modal sensing acquisition module is responsible for realizing multi-dimensional cooperative sensing of human body motion through heterogeneous sensors, and the hierarchical wireless data aggregation and transmission module adopts a master-slave base station architecture to realize efficient aggregation and low-delay transmission of heterogeneous sensor data. The 3D human body dynamics reconstruction and modeling module is used for realizing high-fidelity 3D skeleton model reconstruction based on inverse kinematics solution of multi-sensor fusion; the intelligent action evaluation and feedback module is used for providing personalized training guidance by constructing a standard action library and realizing multi-dimensional similarity quantitative scoring; according to the system, deep fusion of the multi-modal sensor can be realized, and accurate motion monitoring is provided.

The invention relates to the technical field of flexible needle puncture path planning and dynamic obstacle avoidance, in particular to a flexible needle dynamic obstacle avoidance path planning method based on improved BINN and optimized MOPSO, and the method comprises the steps: obtaining a to-be-punctured part, initializing a puncture environment, and updating environment parameters in the puncture environment; determining whether a fixed obstacle exists in the current puncture path of the flexible needle or not based on the environmental parameters, and if yes, adopting optimization MOPSO to avoid the fixed obstacle, and determining a global optimal path; judging whether a moving obstacle exists in the global optimal path or not, if yes, improving the BINN, avoiding the moving obstacle, and outputting a final puncture path; through combination of a multi-target particle swarm optimization algorithm and an improved biologically inspired neural network algorithm, namely combination of MOPSO for preoperative global path planning and BINN for intra-operative local planning, the advantages of comprehensiveness of preoperative planning and real-time performance of intra-operative planning are brought into full play, and efficient and accurate percutaneous puncture with dynamic obstacle avoidance capability is realized.

The invention discloses a breast surgery puncture positioning system, which relates to the technical field of image positioning, and is characterized in that a preoperative medical image and an intraoperative ultrasonic image of a patient are acquired to generate a three-dimensional model, an optimal puncture path is planned by receiving a needle insertion point of a user, and the spatial pose of a puncture needle is tracked; the optimal puncture path and the position and posture of the puncture needle are displayed on the real-time ultrasonic image in an overlapped mode, real-time deviation is calculated, the puncture needle is guided and adjusted to the target focus, and real-time compensation is carried out based on the respiratory signal and / or the displacement of the reference datum. Through the multi-modal image fusion and real-time dynamic tracking technology, the puncture precision and hit rate are remarkably improved, meanwhile, the system intelligently plans a safe path and provides an AR navigation interface, the operation difficulty and dependence on doctor experience are greatly reduced, physiological displacement interference is overcome through respiratory gating and a motion compensation mechanism, and the system has the advantages of being high in accuracy and high in reliability. Accuracy and reliability in the whole operation process are guaranteed, and finally standardized and safe mammary gland puncture diagnosis and treatment operation is achieved.

The invention provides a puncture guiding device and method for an intelligent diagnosis and treatment system and the intelligent diagnosis and treatment system, and belongs to the technical field of intelligent medical treatment, and the puncture guiding device comprises a focus and puncture parameter determining module which is used for determining a focus area and puncture parameters of a target part; the path planning module is used for planning a motion path of the puncture driving component based on the focus area and the puncture parameters and outputting the motion path; the receiving module is used for receiving the real-time monitoring information in the puncture process of the puncture needle on the target part; the displacement determination module is used for determining the displacement of the focus area based on the real-time monitoring information; and the dynamic adjusting module is used for dynamically adjusting the motion path of the puncture driving part based on the displacement and outputting the adjusted motion path. The movement path of the puncture driving component is dynamically adjusted by monitoring the displacement of the focus area and the state of the puncture driving component in real time, so that the puncture process can adapt to the dynamic change of the target part.

Systems and methods are provided for modeling and for providing a graphical representation of tissue heating and electric field distributions for medical treatment devices that apply electrical treatment energy through one or a plurality of electrodes. In embodiments, methods comprise: providing one or more parameters of a treatment protocol for delivering one or more electrical pulses to tissue through a plurality of electrodes; modeling electric and heat distribution in the tissue based on the parameters; and displaying a graphical representation of the modeled electric and heat distribution. In another embodiment, a treatment planning module is adapted to generate an estimated target ablation zone based on a combination of one or more parameters for an irreversible electroporation protocol and one or more tissue-specific conductivity parameters.

The invention relates to the technical field of medical information processing, in particular to a path planning device of a bronchoscope. Firstly, multi-modal medical image data of a plurality of breathing phases of a patient are collected through a construction module, and a three-dimensional model containing a focus, a bronchus and an accompanying blood vessel is generated. Then, the three-dimensional model is loaded to AR display equipment, AR virtual dissection is carried out on the three-dimensional model through a virtual dissection module based on the target operation instruction until the transparency of the focus reaches the set transparency, and a dissection model corresponding to the three-dimensional model is obtained. An initial path is then generated in the anatomical model based on a preset security constraint. Finally, the initial path is dynamically updated through a dynamic planning module in combination with the real-time breathing phase, and a target path is obtained. According to the invention, a focus shielding blind area is broken through, the target fine bronchial segment shielded by the focus is visually presented, and the operation precision and safety of the bronchoscope are improved.

The invention relates to an AI image navigation method, device and equipment for prostatic hyperplasia minimally invasive surgery and a medium thereof. The method comprises the following steps: acquiring a prostate three-dimensional image and an intraoperative real-time image sequence, and fusing the three-dimensional image after preliminary filtering to obtain an optimized and enhanced image; based on the enhanced image and the preoperative three-dimensional image, a three-dimensional offset vector is obtained through a multi-modal registration algorithm combined with an anatomical structure reference, and optimized prostate three-dimensional attitude data is generated in combination with anatomical constraints; combining the attitude data and the three-dimensional image, determining boundary area distribution characteristics, calculating a risk assessment value, mapping a risk level, and generating a path correction instruction to obtain an instrument navigation path if the risk level exceeds a threshold value; and based on the navigation path, constructing a clinical recovery model in combination with the anatomical structure, generating postoperative recovery index simulation data, and performing adjustment and verification until preset requirements are met to obtain a final operation execution scheme. According to the method, precision and individuation of surgical navigation are achieved, and comprehensive technical support is provided for precise implementation of minimally invasive surgery.

The present disclosure provides apparatus and methods to both infer stent expansion (vessel expansion or compliance) and probability of procedural success (vessel patency) from pretreatment diagnostic imaging at the point-of-care and also train an inference model to generate such an inference, thus allowing a physician to choose with greater certainty an optimal treatment tool and treatment protocol for treating a vessel of a patient.