结石定位方法、装置、结石定位瞄准系统以及电子设备
By combining a collaborative robotic arm and an ultrasonic probe, the device can be controlled by a single handle to locate stones and automatically calculate the target pose of the robotic arm. This solves the problems of disjointed operation and low efficiency in traditional methods, and improves the automation and efficiency of stone location.
CN121606346BActive Publication Date: 2026-07-17ULTRASOUND ASSISTED MEDTECH PTE LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ULTRASOUND ASSISTED MEDTECH PTE LTD
- Filing Date
- 2026-01-30
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
In existing technologies, the process of locating stones requires doctors to frequently operate multiple independent motion mechanisms, resulting in inconsistent operations, low efficiency, and difficulty in ensuring consistency.
Method used
Using a collaborative robotic arm and an ultrasonic probe, a single handle control device assists in the multi-axis movement of the robotic arm and automatically calculates the target pose of the robotic arm to achieve precise positioning of the stones.
Benefits of technology
It improves the automation and operational continuity of stone localization, enhances overall localization efficiency, and solves the problems of cumbersome procedures and low efficiency in traditional methods.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN121606346B_ABST
Abstract
本申请提供了一种结石定位方法、装置、结石定位瞄准系统以及电子设备，在响应于针对手柄控制设备的操控操作，控制协作机械臂运动的过程中，当检测到包含目标结石的超声图像数据时，冻结超声图像数据；响应于针对超声图像数据中结石位置的标记操作，基于超声探头在标记时刻相对于初始位置的当前位移量、目标结石在超声图像坐标系中的结石二维位置以及协作机械臂末端相对于基座的器械末端当前位姿，确定为使冲击波源的焦点对准标记操作所识别的目标结石，协作机械臂末端需要移动至的目标位姿，本方案实现了通过单一手柄控制设备控制协助机械臂多轴运动并自动计算机械臂目标位姿，提升了结石定位的自动化程度、操作连贯性与整体定位效率。
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