331 results about "Medical robot" patented technology

The invention relates to the technical field of medical robot systems, and discloses a nerve plexus intelligent positioning anesthesia puncture robot system based on multi-modal fusion, which performs time-space synchronization on ultrasonic image flow and contact force data. The frequency domain analysis module extracts a main peak frequency by using optical flow field frequency domain transformation, and generates a probability mask for marking pulsatile tissues. The viscoelasticity verification module calculates phase lag parameters of visual deformation and contact force, identifies tissue rheological properties and calculates a dynamic damping coefficient. The deformation compensation module calculates a mechanical residual error based on a reference mechanical model, and inversely calculates the mechanical residual error into space deformation displacement of the tissue. The feedback control module combines the probability mask and the deformation displacement to generate a motion instruction. According to the invention, through multi-modal data fusion, precise identification of tiny blood vessels, dynamic identification of tissue attributes and real-time compensation of soft tissue conceding deformation are realized.

The invention discloses a control method for a mechanical arm of a medical robot, which comprises the following steps: determining the magnitude and direction of a force applied to a tail end joint of a surgical instrument in real time, the surgical instrument being mounted on the tail end joint of the mechanical arm; under the condition that the force borne by the tail end of the surgical instrument is smaller than a first set threshold value, the direction opposite to the direction of the force borne by the tail end of the surgical instrument serves as the traction direction, and the operation point of the surgical instrument on the body of the patient serves as a fixed point; the rotation speed and the rotation direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point are determined; and the mechanical arm is controlled to move according to the rotating speed and the rotating direction of the mechanical arm around the fixed point and the axial translation speed and the axial translation direction of the mechanical arm relative to the fixed point. The invention further provides electronic equipment, a computer readable medium and a medical robot.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The invention relates to a robot track synchronization control method. According to the technical scheme, efficient collection and over-distance transmission of neural signals are achieved through the quantum entanglement technology, the brain movement intention is analyzed in combination with a high-sensitivity sensor and an intelligent algorithm, an instruction is transmitted to a robot power driving system through a low-delay communication architecture, and real-time synchronization of man-machine tracks is achieved through a two-way feedback system. Meanwhile, the movement flexibility of the robot is improved by adopting a lightweight design, the problems of high delay, low precision, poor interaction experience and the like in traditional man-machine synchronous control are solved, and the method can be widely applied to the fields of exoskeleton robots, industrial collaborative robots, rehabilitation medical robots and the like. The method has the advantages of being low in delay, high in precision, capable of improving interaction experience and wide in application range.

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.

The invention relates to the technical field of ultrasonic medical robots, and discloses a superficial ultrasonic scanning path planning method and device based on an SVD-improved RRT algorithm. The superficial ultrasonic scanning path planning method is applied to ultrasonic medical robot equipment, and specifically comprises the following steps: S101, receiving a data acquisition request sent by a main control end, controlling a Kinect camera to acquire a superficial depth image, processing 20 groups of calibration board images through a Matlab calibration tool box, and executing a corner detection algorithm to identify checkerboard corners, and optimizing and solving the internal reference matrix of the infrared camera. According to the method, SVD plane fitting and an improved RRT algorithm are fused, the precision and efficiency of an ultrasonic scanning path are remarkably improved, in the point cloud processing stage, statistical filtering and voxel gravity center down-sampling synergistically act, point cloud noise is reduced by 90%, meanwhile, more than 95% of three-dimensional features are reserved, a high-fidelity data basis is provided for path planning, and the method has good application prospects. SVD plane fitting forcibly passes through the center of mass, and the error is smaller than or equal to 0.5 mm

The invention provides a reinforcement learning training method and system based on a multi-target structured reward function, and the method comprises the steps: an environment simulation layer comprises a physical engine and a blood vessel environment simulator, and is used for simulating the physical movement and interaction of a catheter in a blood vessel, and providing an environment state for a reward calculation layer; the reward calculation layer performs calculation through a plurality of independent calculation modules and finally generates a comprehensive reward value through a composite reward aggregator; the reinforcement learning layer learns and optimizes a navigation strategy according to the comprehensive reward value; and the monitoring evaluation layer monitors each performance index in the training process and adaptively adjusts the weight of each reward component in the reward calculation layer according to the index change. According to the invention, a major breakthrough of reinforcement learning in medical robot training is realized. Compared with a traditional single reward function method, the intelligent agent which is really thought by experts can be trained, and the method not only pursues to quickly reach a target, but also knows how to safely and stably complete operation.

The invention belongs to the technical field related to medical robots, and discloses a rigid-flexible coupling pneumatic humanoid dexterous finger and a dexterous hand. The dexterous finger comprises a sectional corrugated pipe actuator, a rigid cover plate, a rigid bottom plate, a flexible finger pulp patch and a one-way stretchable fabric; a cooperative structure of rigid supporting, flexible driving and contact adaptation is formed through a preset assembly relation; by designing the wave number of the corrugated pipe at each joint of the pneumatic dexterous finger, the bending proportion of each joint is ensured to accord with the human hand movement rule; the one-way stretchable fabric can restrain ineffective upheaval at the joints, and the energy conversion efficiency is improved. The dexterous hand can integrate five anthropomorphic-size dexterous fingers, and the palm notch angle, the thumb turning direction angle and the flexible palm patch are all engraved with the physiological characteristics and structure of the hand of the human body. According to the pneumatic dexterous hand, personification of the pneumatic dexterous hand in appearance and movement modes is achieved, flexibility and bearing stability are both considered, and the pneumatic dexterous hand can meet the requirements of multiple scenes such as medical care and industrial assembly.

The invention belongs to the technical field of medical robots and minimally invasive surgery, and provides a robot control system and method for blue laser vaporization surgery of prostatic hyperplasia. Mapping the nuclear magnetic image volume data to a deformation field under an ultrasonic acquisition coordinate system, and deforming the preoperative nuclear magnetic image to an intra-operative ultrasonic space by using the deformation field to complete image registration; fusing the registered image with a stereoscopic vision system; the spatial depth of the surface of the target tissue is obtained from the endoscopic image so as to supplement navigation information; according to the utility model, the prostate deformation and probe posture change adaptive capacity in an operation is improved, the real-time visual closed-loop regulation and control capacity is improved, and the characteristics of small light spots, shallow heat diffusion, excellent hemostasis and the like of blue laser are combined, so that the vaporization and hemostasis precision in a tiny blood vessel dense area is ensured, and the problems of large tissue trauma and the like are avoided.

The invention discloses an intelligent ward patrol robot, and relates to the technical field of intelligent medical robots, the intelligent ward patrol robot comprises a robot body, and the robot body is internally provided with a multi-mode sensing unit, an edge calculation unit, a federal learning unit and a decision execution unit. According to the multi-mode sensing unit, a polarization type 3D camera, a 60 GHz millimeter wave radar and an environment sensor array are integrated in a robot body. By installing the multi-mode sensing unit, the non-contact emotion recognition function is achieved, in combination with contact detection of the intelligent bracelet on the signs of the patient, the bottleneck of non-contact emotion and sign cooperative monitoring is broken through, the emotion sensing ability of the patient is improved, and the medical service quality is improved.

The invention discloses a robot-assisted execution system and method based on a pre-planned puncture scheme, and belongs to the technical field of medical robots. The method comprises the following steps: acquiring medical image data including a target area and a forbidden area; for the target area, a discrete candidate trajectory set is generated in a preset candidate trajectory generation cone, and each candidate trajectory is a space path connecting one point in the generation cone and the target area; performing a rigid geometric constraint check on the discrete candidate trajectory set to screen out candidate trajectories having geometric interference with the forbidden area to obtain a preliminarily purified candidate trajectory subset; executing a flexible quality index evaluation on each candidate trajectory in the candidate trajectory subset, and obtaining a comprehensive quality index for each trajectory; selecting a preferred execution track from the subset according to the comprehensive quality index; and the robot execution system is controlled, and puncture operation is completed according to the optimal execution track. The safety and clinical interpretability of a puncture path are improved.

The invention relates to the technical field of medical robots, in particular to a surgical robot and a remote motion center dynamic adjustment method for the surgical robot, and the method comprises the steps: building a kinematics constraint model between a tool axis of a surgical tool and a robot base coordinate system; on the basis of a visual sensor and a hand-eye transformation matrix, a pose measurement value of the remote motion center point under a robot base coordinate system is obtained in real time; fusing a pose state prediction quantity driven by a robot motion instruction and the pose measurement value, and generating an optimal estimation pose and a state covariance matrix of the remote motion center point; according to the state covariance matrix, determining whether the remote motion center point has a large offset; when it is judged that the large-amplitude offset occurs, a safety strategy is triggered to control the surgical robot. According to the technical scheme, dynamic tracking and real-time adjustment of the remote motion center point in the operation are achieved, and the problems that a traditional scheme is insufficient in flexibility and poor in safety are solved.

The invention provides an intelligent control method and system for a body-equipped robot based on man-machine interaction data, and relates to the technical field of medical robots, and the method comprises the steps: building a 5G network two-way transmission channel between a control end and a surgical robot end; through a 5G network two-way transmission channel, synchronously transmitting two types of data streams between the control end and the surgical robot end, namely a control instruction data stream generated by the control end and a surgical image data stream collected by the surgical robot end; in the transmission process of the two types of data streams, real-time network time delay is continuously monitored, whether the current network time delay exceeds a preset time delay threshold value or not is judged, and the preset time delay threshold value can be dynamically corrected according to the network state; and when it is judged that the current network delay exceeds the preset delay threshold, dynamically deploying a plurality of network probes on the 5G network two-way transmission channel. According to the invention, the real-time performance, the accuracy and the safety of the remote operation can be ensured.

The invention relates to the technical field of medical robots, and particularly discloses a complex scene simulation and motion assisting robot which comprises two sets of symmetrically-arranged unilateral training platforms, and each unilateral training platform comprises a supporting base, a front-back displacement platform, a left-right displacement platform, a vertical displacement platform, a rotation driving mechanism and a pedal mechanism. The pedal mechanism at least comprises a bottom plate, a pedal plate and a pedal driving mechanism used for driving the pedal plate to independently move relative to the bottom plate. Two groups of symmetrical unilateral training platforms work cooperatively, each platform is integrated with four-degree-of-freedom basic motion units composed of front-back, left-right and vertical displacement platforms and rotary driving mechanisms, and then is combined with a pedal mechanism with independent active driving capability; various daily and complex exercise scenes such as walking on the flat ground, going up and down stairs, trudge on mountains, surfing and the like can be reproduced, a highly-simulated dynamic environment is provided for rehabilitation training, the exercise simulation dimension is wider, and the precision is higher.

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.

The embodiment of the invention discloses a medical equipment control system based on a clinical test scheme. According to one specific embodiment, the system comprises a scheme generation server, a document abstract extraction server, a data analysis server and a medical robot, and the document abstract extraction server is used for generating a query argument tree and a retrieval information result set based on text information and document request information; generating an ideal answer vector set according to the retrieval information result set; querying the ideal answer vector set to generate a retrieval result group; processing the retrieval result group to obtain a literature abstract; the data analysis server is used for performing instruction conversion on the query information to obtain a query instruction and executing the query instruction to obtain an information query result; and the scheme generation server is used for generating a clinical test scheme and sending the clinical test scheme to the medical robot to execute clinical test operation. According to the embodiment, the system response time and the waste of test samples can be reduced.

A connecting mechanism is used for connecting a mechanical arm and an executing mechanism and comprises a first connecting part arranged at the tail end of the mechanical arm and electrically connected with a power source and a signal source to which the mechanical arm is connected; the second connecting part is arranged at the tail end of the actuating mechanism and is electrically connected with an actuator and a signal receiver of the actuating mechanism; one of the first connecting part and the second connecting part comprises at least two telescopic conductors, the other comprises at least two contact conductors, and when the executing mechanism is installed at the tail end of the mechanical arm, the telescopic conductors are compressed and abut against the contact conductors respectively, so that the power source can be electrically connected with the executing mechanism, and the power source is electrically connected with the mechanical arm. The signal source can be electrically connected with the signal receiver. According to the connecting mechanism, rapid electrical connection between the mechanical arm and the executing mechanism can be achieved, and manual operation of operators is not needed. The utility model further provides the medical robot, the mechanical arm of the medical robot is connected with the executing mechanism through the connecting mechanism, and the medical robot can quickly disassemble and assemble different executing mechanisms.

The invention relates to the technical field of medical robots and image guidance, and discloses a target area operation method, device, equipment and medium based on a perceptual image, and the method comprises the steps: obtaining the perceptual image data of a target area, recognizing the boundary of the target area based on the perceptual image data, and planning and generating an operation path according to the boundary of the target area, and controlling the execution component to execute operation along the operation path, acquiring a contact feedback signal of the operation tool in the execution process, adjusting the operation state of the execution component, detecting interference information of the execution component in real time, dynamically correcting the operation path according to a detection result, and realizing autonomous perception and operation control of the target area. According to the method, a closed-loop autonomous control mechanism from sensing to operation is constructed by fusing sensing image recognition, path planning, execution control and real-time feedback correction processes, and accurate recognition and path adaptive adjustment of a target area in a dynamic environment are realized.

The invention discloses a tracheal intubation path feature extraction method and device based on AI analysis, and relates to the technical field of intelligent medical robotics.The method comprises the steps that an optical flow method is used for preprocessing an input matrix, an epiglottis deformation displacement field is calculated, the epiglottis deformation displacement field is imported into ANSYSMechical for finite element analysis, and a three-dimensional tracheal path topological graph is obtained; carrying out fluid-solid mechanical joint simulation on the three-dimensional air pipe path topological graph by adopting a COMSOLMultiphysics multi-physics coupling solver, so as to obtain a lifting parameter; an impedance control instruction is generated according to the lifting parameters, and the cooperative mechanical arm is driven to execute the impedance control instruction; and on the basis of the multi-modal data of the laryngoscope after the impedance control instruction is executed, updating the material parameters of ANSYSMechical through a strategy gradient algorithm. According to the method, the problem that optimization of closed-loop feedback driving parameters is missing is solved through a target function gradient direction and step size zooming mechanism.

The invention provides a medical robot control method and device, electronic equipment and a storage medium, relates to the field of artificial intelligence, and is applied to the fields of financial science and technology and medical treatment. The method comprises the following steps: calling a decision planning model for planning based on prediction task understanding data obtained by reasoning initial multi-perception modal data and initial robot associated data to obtain sample decision planning data; constructing a first reward function based on the initial multi-perception modal data, the sample multi-perception modal data and the sample voice instruction data, and constructing a second reward function based on the sample task understanding data and the prediction task understanding data; determining a third reward function based on the state transition data of the medical robot, and constructing a fourth reward function based on the control feedback information; and performing decision planning on the target multi-perception modal data, the target voice instruction data and the current robot association data according to the decision planning model trained by the four reward functions. The control accuracy of the medical robot can be improved.

The invention provides a patrol robot based on a deep learning algorithm and a big data analysis model, and relates to the technical field of medical robots. Comprising a physiological data integration module, a behavior state recognition module, an equipment conflict regulation and control module, a task grading execution module and a control instruction scheduling module. According to the method, the physiological signals of the multiple devices are integrated according to the time pushing sequence, overlapping and synchronous fluctuation sections among the signals are recognized, high-precision time sequence alignment is achieved, linkage features are extracted in combination with patient action tracks and signal fluctuation consistency, the accuracy of abnormal state recognition is improved, the device data processing sequence is arranged according to the sudden change amplitude, and the accuracy of abnormal state recognition is improved. Key signal priority judgment is strengthened, non-emergency operation compresses a calling period according to response time and function classification, high-frequency task execution efficiency is improved, operation instructions are screened and cooperatively distributed according to the emergency degree, the execution process and the field response speed are optimized, and diagnosis and treatment regulation and control capacity and intervention timeliness in a severe scene are enhanced.

The present disclosure relates to a medical robot system (2) comprising a medical instrument (4), a movable robot arm (10), a guide device (14), a control unit (30), and a navigation system (34), wherein a stop geometry (8) of the instrument (4) is fixed relative to an instrument tip (6) of the instrument (4), and the control unit (30) is configured to position the robot arm (10) such that the stop geometry (8) of the instrument (4) abuts the counter-stop geometry (16) of the guide device (14) when the instrument tip (4) reaches a predetermined insertion depth (E) along a pre-planned trajectory (T). Furthermore, the present disclosure relates to a control method for the medical robot system (2).

The invention relates to the technical field of intelligent medical robots, in particular to a management system based on robot user interaction records and an interaction recording method.The management system comprises a front-end system and a rear-end system, the front-end system is arranged on a front-end robot, and the rear-end system is arranged on a rear-end robot. Comprising a robot multi-modal data acquisition module and a physiotherapy execution and monitoring module. The back-end system comprises a user interaction and preliminary diagnosis module, a cold-dampness quantitative evaluation and physiotherapy scheme generation module, a curative effect visual display module and an optimization and regeneration physiotherapy scheme module. The system aims at objectively and quantitatively evaluating the health state of a user and generating and executing a personalized physical therapy scheme through interaction between a robot and the user and a multi-modal sensing technology, continuously monitoring and optimizing in the process, and finally feeding back the curative effect to the user in a visual manner, so that the user experience is improved. And a complete'evaluation-treatment-feedback-optimization 'closed-loop management system is formed.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

The application belongs to the technical field of medical robots, and discloses an endoscope abnormal bending detection method, system, terminal and storage medium, which comprises the following steps: acquiring relative motion data between an endoscope distal end and an instrument box; acquiring an endoscope image sequence, and analyzing an endoscope motion state according to the endoscope image sequence; acquiring push force change data detected by a force sensor; and performing fusion analysis according to the relative motion data, the endoscope motion state and the push force change data to obtain an endoscope abnormal bending detection result. The application combines multi-modal information of displacement, vision and push force sensors, and accurately identifies the abnormal bending condition of the endoscope through real-time data monitoring and analysis.

This invention discloses a long bone fracture robot, relating to the field of medical robot technology. The robot includes an upper fixation ring, a lower fixation ring, and six sets of sliding components connected between them. These six sets of sliding components are spatially distributed and form a parallel mechanism. Each sliding component includes a lead screw assembly and a drive assembly. The lead screw assembly includes a lead screw and at least one U-shaped joint, with the U-shaped joint connecting the end of the lead screw to the corresponding fixation ring. The two rotation axes of the U-shaped joint maintain a non-compatibility distribution structure with a preset distance in space to increase the joint's swing angle range and improve multi-directional load-bearing capacity. The drive assembly converts the rotational motion of the motor into the linear motion of the lead screw through gear transmission, realizing the extension and retraction of the sliding components. This invention can avoid unusual configurations within a larger workspace, providing safer, more precise, and more efficient assistance in fracture reduction surgery.

1. Name of the designed product: robot control handle. 2. Use of the designed product: for controlling medical robot. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

The application is suitable for the field of medical robots, and provides a compact multi-drive interventional surgery robot slave end, which comprises a first passage power mechanism and a second passage power mechanism arranged in a height direction on a slave end body; a plurality of first driving mechanisms connected to the first passage power mechanism, and a plurality of second driving mechanisms connected to the second passage power mechanism; the plurality of first driving mechanisms and the plurality of second driving mechanisms are located on the same side of the slave end body and are in the same horizontal plane; in a working state, the plurality of first driving mechanisms and the plurality of second driving mechanisms respectively drive a plurality of elongated medical instruments to move, so that more elongated medical instruments are delivered through double channels, simple surgery and complex surgery can be compatible, the overall structure is compact, the machine space and the surgery space are saved, and the instruments are convenient for manual installation and adjustment.

The invention relates to the technical field of rehabilitation medical robots, and particularly provides a joint angle vector generation method and a gait control method.The generation method comprises the steps that a first gait phase and multi-sensor data at the current moment are obtained; the first gait phase is the gait phase of the lower limb exoskeleton robot at the previous moment, and the multi-sensor data comprises multi-modal motion data and visual data; predicting a second gait phase according to the first gait phase and the multi-modal motion data; the second gait phase is the gait phase of the lower limb exoskeleton robot at the current moment; adjusting a reference joint angle vector and a time scaling factor of a self-adaptive joint angle vector generator of which the weight is optimized in advance according to the visual data, and then generating an expected joint angle vector according to the second gait phase by utilizing the adjusted self-adaptive joint angle vector generator; according to the method, the joint angle vector which adapts to the current environment and is high in gait bionic performance can be generated.

The invention discloses a humanoid robot arm system and method for a manual treatment integrated training glove, and belongs to the technical field of medical robots. The system comprises a humanoid robot hand, a training glove and intelligent terminal application software. The human-shaped robot hand is made by covering a hand skeleton plate with hydrogel to have the elastic touch feeling and appearance highly imitating the human hand, and touch force monitoring, heating and three-dimensional vibration function modules are integrated in the hand; the training glove is integrated with a finger joint bending degree and pose sensor, can be connected with or separated from the robot arm, and supports combined training and remote control training of the robot arm; and the intelligent terminal application software manages data and is connected with the cloud server. The method comprises the steps of collecting manipulation data of a trainer, driving a robot arm to reproduce manipulation, and generating expert-level treatment data by fusing a cloud expert database or large model optimization. According to the invention, digitalization of expert manipulation treatment, high-precision robot reproduction and intelligent improvement are realized, and the robot is suitable for scenes such as tumor edema, stroke rehabilitation, massage physiotherapy relaxation and the like.