530 results about "Medical robot" patented technology

Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes.

An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed.

Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

A manipulator includes a yaw axis and a pitch axis disposed as joints on a distal end of a joint shaft and which are actuatable by motors, a needle variable in orientation by the joints, a coaxial connector disposed at a position closer to a proximal end of the manipulator than the joint shaft, and a coaxial cable providing within the joint shaft at least a portion of an electrical connection between the coaxial connector and the needle. A small board providing an impedance matching circuit, and which includes a coil and a capacitor, is interposed between the coaxial connector and the coaxial cable.

The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis.

An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

The invention provides an impedance control method for a flexibility joint mechanical arm based on a connection and damping configuration, and belongs to the technical field of robot controlling. The problem in a traditional mechanical arm control method that during the flexibility joint mechanical arm control process, due to the fact that the residual oscillation is large, the aim of stable control cannot be achieved is solved. The technical points are that according to a CAD three-dimensional model, a kinetic parameter and a kinematic parameter of the flexibility joint mechanical arm are obtained; according to the parameter identification, a key parameter of a flexibility joint is obtained; a kinetic equation of the flexibility joint mechanical arm is established; a gravity compensation algorithm and an external force compensation algorithm based on the motor position are established; a gravity compensation value and an external force compensation value of the mechanical arm are calculated and obtained; a minimum Hamiltonian function value on the expectation balance position of motor position information is calculated and obtained; an expectation connection matrix and a damping matrix in the impedance control are calculated; an impedance control rule of the flexibility joint based on the connection matrix and the damping matrix are obtained. The impedance control method for the flexibility joint mechanical arm based on the connection and the damping configuration can be used for controlling service robots, medical robots and space robots.

A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.

Provided herein are systems, modules and methods of using the same for in-situ real time imaging guidance of a robot during a surgical procedure. The systems comprise a plurality of modules that intraoperatively link an imaging modality, particularly a magnetic resonance imaging modality, a medical robot and an operator thereof via a plurality of interfaces. The modules are configured to operate in at least one computer having a memory, a processor and a network connection to enable instructions to generally control the imaging modality, track the robot, track a tissue of interest in an area of procedure, process data acquire from imaging modality and the robot and visualize the area and robot. Also provided are non-transitory computer-readable data storage medium storing computer-executable instructions comprising the modules and a computer program produce tangibly embodied in the storage medium.

The invention discloses an ultrasound-guided prostate puncture biopsy robot, relating to the technical field of medical robots. A base is clamped on a bed body, a patient lies on the bed body on the side with the knees in a bent state and with the body back to an ultrasonic scanning probe and a puncture mechanism, a horizontal arm and a connecting plate are enabled to swing to a proper horizontal position by adjusting a rotating joint III and a rotating joint II, then an upper transverse plate and a lower transverse plate are driven by a stepping motor VI to swing to a proper height, a stepping motor I and a stepping motor V drive an arc-shaped sliding block II and an arc-shaped sliding block I in a linked manner so that the arc-shaped sliding block II and the arc-shaped sliding block I slide on an arc-shaped rack I and an arc-shaped rack II respectively, thus the ultrasonic scanning probe is rapidly and accurately positioned to the rectum of a patient, a rotating joint I rotates to enable the ultrasonic scanning probe to enter the rectum and reach the position near the prostate for performing scanning, and the puncture mechanism completes the puncture biopsy task. The ultrasound-guided prostate puncture biopsy robot is small in size, and is capable of assisting a doctor in automatically, quickly and accurately carrying outing the prostate scanning and puncture biopsy operations.

The invention discloses a photodynamic therapy system, belonging to the field of medical equipment. The system comprises an image processing device, a treatment planning device and a medical robot, wherein the image processing device is used for acquiring an image sequence of a focus position, dividing the acquired image sequence and reconstructing a three-dimensional image of the focus position;the treatment planning device is used for planning the treatment according to the three-dimensional image of the focus position reconstructed by the image processing device, and determining the treatment scheme; and the medical robot is used for clamping a laser optical fiber and carrying out laser irradiation according to the treatment scheme determined by the treatment planning device. The system utilizes the medical robot to replace a doctor and clamp the laser optical fiber for implementing the laser irradiation for a patient, so as to complete the photodynamic therapy, thus reducing the dependence of the photodynamic therapy on the operating skills of the doctors and further improving the accuracy and the effect of the photodynamic therapy.

The invention provides a hand-eye coordination control system and method of a split type minimally invasive surgery robot, belongs to the field of medical robot manipulation and aims to solve the problem that hand-eye coordination inconformity occurs frequently in the control process of an existing minimally invasive surgery robot. The hand-eye coordination control system comprises a main console, a first instrument holding arm, a second instrument holding arm, a mirror holding arm, a first surgical instrument, a peritoneoscope and a second surgical instrument. The main console is provided with a 3D display system, a 3D display, a first main operation hand, a second main operation hand, an industrial personal computer and an industrial router, and the peritoneoscope is mounted on the mirror holding end of the mirror holding arm.