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Robot-assisted trocar automatic butt joint method and device

A robot-assisted and automatic docking technology, applied in trocars, surgical robots, computer-aided surgery, etc.

Pending Publication Date: 2022-03-11
GUANGZHOU WEIMOU MEDICAL INSTR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention provides a robot-assisted trocar automatic docking method and device to solve the technical problem of how to automatically judge the trocar position and posture

Method used

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  • Robot-assisted trocar automatic butt joint method and device
  • Robot-assisted trocar automatic butt joint method and device
  • Robot-assisted trocar automatic butt joint method and device

Examples

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Embodiment 1

[0048] Please refer to figure 1 , figure 1 A robot-assisted trocar automatic docking method provided for an embodiment of the present invention includes steps S1 to S4; wherein, this embodiment uses a five-degree-of-freedom series-parallel ophthalmic surgery robot and a multifunctional welding magnifying glass camera. The series-parallel ophthalmic surgical robot consists of a first joint for two-axis translation and rotation, a second joint, and a slide rail joint for Z-axis movement of the end effector. The first joint is provided with a first linear motor and a As for the second linear motor, the third linear motor and the fourth linear motor are arranged on the second joint, and the fifth linear motor is arranged on the end slide rail joint. The multifunctional welding magnifying glass camera is rigidly mounted to the syringe at the end of the robot in a preset direction by a 3D printed bracket.

[0049] In step S1, the data set of the trocar is obtained, and the preset ...

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Abstract

The invention provides a robot-assisted trocar automatic docking method and device, and the method comprises the steps: obtaining a data set of trocar, and carrying out the training through a preset U-Net network, and obtaining a first model; detecting the position of the trocar in the to-be-detected image through the first model, and outputting position information, meeting preset conditions, of the trocar; according to the position information, meeting the preset condition, of the trocar, parameterizing the rotation angle of the trocar to obtain a rotation matrix of the trocar; according to the rotation matrix of the trocar, the orientation of the trocar is obtained, and according to the orientation of the trocar, an instrument at the tail end of the robot is controlled to be in butt joint with the trocar. Compared with the prior art, the position of the trocar is detected through the U-Net network, the orientation of the trocar is obtained, butt joint of an instrument at the tail end of a robot and the trocar can be accurately controlled, the pose of the trocar can be automatically judged, and the trocar can adapt to in-vivo operation items poor in visibility.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot-assisted trocar automatic docking method and device. Background technique [0002] Autonomous navigation is a vital part of robot-assisted surgery. At present, the common automatic navigation technology is mainly based on medical imaging data such as magnetic resonance and CT. Through image processing technology, a visualized three-dimensional model is generated to provide a predetermined route for the movement of the robot. However, this type of off-line modeling method is poorly adaptable, and requires repeated modeling for different samples, and the modeling work needs to be completed before surgery. Therefore, this type of method is only suitable for surgical projects with poor visibility, and requires a complete Image data, so the requirements for image data are higher. Contents of the invention [0003] The invention provides a robot-assisted trocar automatic dockin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/20A61B34/10A61B17/34G06N3/04G06N3/08G06T7/73
CPCA61B34/30A61B34/20A61B34/10A61B17/34G06T7/73G06N3/08A61B2034/301A61B2034/101A61B2034/2065G06T2207/20081G06T2207/20084G06N3/048G06N3/045A61B90/361A61B2034/2055G06T2207/30021G06T2207/10024G06T7/77
Inventor 林生智晏丕松
Owner GUANGZHOU WEIMOU MEDICAL INSTR CO LTD
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