67 results about "Medical robot" patented technology

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.

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.

The present teachings provide for a hand-held robotic system for use with a saw blade or other surgical tool. The hand-held robotic system also includes an instrument with a hand-held portion, a blade support coupled to the hand-held portion by a plurality of actuators, the actuators configured to move the blade support or tool support in a plurality of degrees of freedom relative to the hand-held portion. The system includes a localizer and a control system coupled to the localizer and the plurality of actuators. The control system is configured to control each of the plurality of actuators and / or the tool drive motor.

This application relates to the field of medical devices and discloses a multi-arm orthopedic medical robot, including a mounting frame, a camera, a robotic arm, and orthopedic instruments. It also includes a receiving cylinder hinged to the top of the orthopedic instruments via a set of hinge blocks, the inner cavity of which is filled with a sealing fluid; and a telescopic column, which is sealed within the receiving cylinder. This invention utilizes multiple sets of fluid guide ports at the bottom of the telescopic column to allow the sealing fluid to flow along these ports during relative sliding of the receiving cylinder and the telescopic column, maintaining their telescopic function. Once the robotic arm has adjusted the angle of the orthopedic instruments, the receiving cylinder and the telescopic column cease relative movement, becoming a rigidly connected unit. In this state, the reaction force generated during drilling, hammering, or other operations on bone areas by the orthopedic instruments is directly transmitted to the mounting frame through the receiving cylinder and the telescopic column, thereby protecting the robotic arm and maintaining the stability of the device.

The application discloses a biological implant robot machining posture planning and error compensation method based on a global stiffness model, belongs to the technical field of biological manufacturing and surgical robot auxiliary machining, and comprises the following steps: a biomechanical stiffness atlas covering the whole posture space of the implant is constructed by sparse modal sampling combined with an inverse distance weighting algorithm. The application effectively solves the problem that the cell responses are inconsistent due to the machining quality differences of different regions of the complex curved surface implant through the global surface biological activity consistency, and significantly improves the long-term success rate of implant surgery. The application is easy to deploy on the existing medical robot through hardware pollution. Through micron-level functional molding, the micron-level biological texture depth is accurately controlled, and the manufacturing level of the personalized implant is improved from simple geometric shape customization to a new height of surface biological function customization.

The utility model is suitable for medical robot field provides a kind of instrument state detection device, including instrument connector, mounting seat and position detection mechanism, instrument connector is movably connected with mounting seat, instrument connector has initial position and state change position relative to mounting seat, instrument one end is fixedly installed in instrument connector, under the action of external force, part or whole of instrument connector moves between initial position and state change position, position detection mechanism is configured as detector whether instrument connector has moved to state change position. Still provide a kind of interventional operation robot, including the instrument state detection device of above. The detection mode of the utility model is simple, and the quality of instrument connector is lighter, when interventional operation robot operates, less by external influencing factor, for example, the interference of factors such as vibration, acceleration, inclination angle to straight detection is small, can effectively improve the stability of straight detection, benefit the normal operation of equipment.

The application provides a community self-service nasopharyngeal automatic brushing detection robot, and relates to the technical field of medical robots, which comprises: when a user uses, the height of the seat is adjusted to an adaptive position by controlling the extension and retraction of the extension cylinder on the top surface of the base through a control panel, a servo motor drives a gear and a chain linkage to rotate a first semi-open storage seat and a second semi-open storage seat, and a storage tube provided with a sampling brush head and an empty storage tube are respectively rotated to be directly below a clamping assembly, the clamping assembly is matched to accurately position the storage tube and the empty storage tube, a 360-degree mechanical arm on the top surface of an operation table is rotated, a mechanical claw at the tail end of the mechanical arm is moved to the first semi-open storage seat, one sampling brush head is grabbed from the storage tube, then the 360-degree mechanical arm is flexibly rotated according to the flexible rotation degree to accurately move the sampling brush head to the nasopharynx of the user, and a nasopharyngeal brushing detection action is completed.

1. Name of the product in this design: AI Medical Robot. 2. Application of this design: This design is applicable to the field of infrared thermal imaging and has functions such as AI medical intelligent detection, thermal monitoring, thermal diagnosis, thermal measurement, and thermal research. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D rendering 2.

The application provides a multi-task priority scheduling method and system for a medical robot, and belongs to the technical field of robots, and specifically comprises: a time period division module responsible for determining a scheduling processing method of the medical robot in a time period, using the scheduling processing method and an idle control method to determine available robots, a task acquisition module responsible for collecting task data, a priority evaluation module for calculating a total priority score of a task priority through a multi-dimensional priority evaluation model, dividing priority levels, a robot state acquisition module for collecting the current position, load, equipment health state and function adaptation state of each available robot in real time, and a scheduling and distribution module for sorting candidate robots meeting preset conditions according to priority levels based on the task priority and the state of the available robots, and selecting the robot with the smallest load and the closest distance to distribute the task, thereby improving the reliability of the distribution processing.

The application discloses a surgical robot, relates to the technical field of medical robots, and aims to solve the technical problem that the mechanical arm is poor in universality and cannot simultaneously be compatible with multiple surgical tools. The surgical robot comprises a mechanical arm and a universal interface. The universal interface comprises a first connecting piece and a second connecting piece. The first connecting piece is arranged at the distal end of the mechanical arm, the second connecting piece is arranged at the proximal end of the surgical tool, and the first connecting piece and the second connecting piece are detachably connected and matched, so as to assemble the surgical tool on the mechanical arm. The mechanical arm provided by the application has the advantages of strong universality and simultaneous compatibility with multiple surgical tools, thereby enabling a single mechanical arm to simultaneously meet multiple surgical requirements, greatly reducing the production and development cost of the mechanical arm, providing convenience for medical staff to implement surgery, and effectively saving indoor space.

The present application belongs to the technical field of medical robot control, and provides an active modeling control method for a magnetically driven flexible endoscope, which comprises the following steps: acquiring an actual bending angle of a tip of the endoscope; calculating a nominal control input current by using a nominal controller; constructing an extended discrete state space model of the magnetically driven flexible endoscope; performing real-time estimation on the extended discrete state space model by using a nonlinear state estimation algorithm; constructing a quadratic cost function containing an estimated value of the modeling error, and obtaining an optimal compensation control input current by minimizing the quadratic cost function; adding the nominal control input current and the optimal compensation control input current to obtain an actual input current, which is output to a driving mechanism to control the bending angle of the flexible endoscope. The present method can reduce the phase lag phenomenon of a conventional controller, and greatly reduce the steady-state and dynamic tracking errors.

The present disclosure relates to medical robots, in particular to a magnetic capsule endoscope autonomous control method and system combining Tube model predictive control and reinforcement learning, which solves the problems of poor robustness and low accuracy of existing control algorithms. The method introduces a reinforcement learning method to control the movement of the mechanical arm on the basis of the Tube MPC model predictive control framework, drives the movement of the capsule endoscope through the movement of the mechanical arm, and improves the trajectory tracking accuracy and posture stability in the navigation and scanning process of the capsule endoscope. The compensation control quantity for controlling the movement of the mechanical arm is generated by the trained reinforcement learning agent.

The embodiment of the utility model provides a kind of based on magnetic drive microthorn device of prestrain, microthorn system and pharmaceutical composition, it is related to medical robot technical field.Microthorn device includes microneedle, first magnetic deformation layer and second magnetic deformation layer;One side of first magnetic deformation layer is closely connected with second magnetic deformation layer, and the other side of first magnetic deformation layer has microneedle;First magnetic deformation layer and second magnetic deformation layer can be deformed synchronously under the action of magnetic field.Microthorn device simple structure and safe;It is self-bending and gathered state when there is no magnetic field, and it is flat state when there is magnetic field, conducive to realizing long-range wireless magnetic drive navigation and the function of no external magnetic field intestinal anchoring;Mechanical interlocking between it and intestinal tissue, it is expected to realize efficient, accurate drug residence, to provide the function of slow-release drug release, and it is expected to be popularized and applied in treating gastrointestinal diseases.

This invention discloses a drilling path planning method, storage medium, and device for cochlear implantation, belonging to the field of path planning technology in cochlear implantation. This invention solves the problems of low efficiency and easy introduction of path deviation in existing path planning methods. The invention preprocesses preoperative three-dimensional CT images and integrates anatomical structural models to extract three-dimensional spatial geometric information of key tissues within the temporal bone, including the facial nerve and cochlea. Subsequently, combined with prior medical knowledge, the drilling path for the cochlear implant electrode is automatically planned in three-dimensional space to minimize damage to key nerves and ensure surgical safety. The path planning method of this invention is applicable to cochlear implantation surgery assisted by medical robots, significantly reducing reliance on the doctor's subjective judgment, improving the individualized adaptability and efficiency of path design, and effectively avoiding path deviation caused by human subjective judgment. This invention can be applied to path planning in cochlear implantation surgery.

Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.

This invention provides a method and system for soft tissue collaborative surgery control based on a humanoid robot. It relates to the fields of medical robotics, computer vision, and remote teleoperation. The method includes: displaying, via a display terminal, image stream information acquired in real time by the humanoid robot for the surgical operation area, wherein the surgical operation area includes the area where a first instrument held by a first robotic hand of the humanoid robot is located; in response to detecting a grasping operation representing soft tissue grasped by the first instrument, obtaining the tissue deformation rate of the grasped soft tissue; generating, based on the tissue deformation rate of the grasped soft tissue, a prompt message for indicating the tissue stretching state on the display terminal; and sending the prompt message to the display terminal for display.

The application discloses a kind of based on anti-step sliding mode self-disturbance mechanical arm trajectory tracking control method and system, belong to robot control technical field.The system includes: sliding mode tracking differentiator, for the desired trajectory arrangement transition process and extract high-quality differential signal;Linear extended state observer, for real-time estimation system state and total disturbance, improve observation speed and noise suppression ability;Anti-step sliding mode controller, for generating control torque and ensuring the stability of closed-loop system and tracking desired trajectory in finite time.The application integrates anti-step method and sliding mode control into the framework of self-disturbance, overcomes the defects of slow convergence speed, stability proof difficulty and other defects of traditional self-disturbance control, significantly improves the trajectory tracking accuracy and robustness of mechanical arm in complex disturbance environment, suitable for high-precision operation scenarios such as industrial robot, medical robot.

This invention belongs to the field of medical robot technology, specifically relating to a rollable, wrap-around multi-point force sensing film, an actuator arm, and a force sensing method. The invention comprises, from bottom to top, a lower highly elastic base membrane, a distributed heterogeneous lower electrode layer, a PVDF piezoelectric film, a distributed heterogeneous upper electrode layer, and the lower highly elastic base membrane, stacked sequentially. The PVDF piezoelectric film includes a dense sensing segment at the distal end, a uniformly distributed segment in the middle, and a sparse sensing segment at the proximal end. In use, it is rolled up along its length as a rolling axis to form a rollable, wrap-around multi-point force sensing film. This invention, by directly using a flexible film integrating distributed PVDF piezoelectric units as electronic skin to wrap the sidewall of a catheter, not only significantly improves spatial sensing efficiency but also achieves an optimal balance between sensing accuracy and sensing range with a limited number of sensing units, enabling the flexible surgical actuator arm to possess gradient tactile sensing capabilities similar to biological nerves.

This application provides an intelligent control method and system for a microsurgical robot, belonging to the field of medical robot control technology. The method includes: acquiring visual information and multi-dimensional force information for the surgical instruments when executing each surgical step based on a step-time library; calculating the visual deviation of the instrument tip based on the visual information and calculating force anomaly indicators based on the multi-dimensional force information; using the currently executed surgical step as the decision context, determining whether preset anomaly triggering conditions are met based on the visual deviation and force anomaly indicators; if so, pausing the currently executed surgical step, determining a correction strategy based on the depth confidence level, and determining the correction amount corresponding to the correction strategy under predefined safety space geometric constraints; generating a transition trajectory based on the correction amount, and controlling the surgical instruments to execute the transition trajectory. This application can realize an intelligent decision-making closed loop based on the semantics of the surgical steps and multi-modal perception fusion.

The present specification relates to the technical field of medical robots, and specifically discloses a cerebral hemorrhage surgery planning system and method, wherein the system comprises: an image storage device configured to store preoperative brain image data of a target object; an image processing device configured to read the preoperative brain image data of the target object from the image storage device; further configured to identify a cerebral hemorrhage type of the target object based on the preoperative brain image data; and further configured to determine a target cerebral hemorrhage surgery mode of the target object according to the preoperative brain image data and the cerebral hemorrhage type. The above scheme can realize automatic hematoma type identification and personalized surgery planning, and improve the efficiency and reliability of surgery planning.

This application provides a medical robot, which includes an imaging system, a power unit, and a controller. The imaging system includes joint components and an image acquisition device. The power unit includes a drive unit and a feed motion unit. The drive unit is configured to drive the joint components to move and change the position and orientation of the image acquisition device. The feed motion unit is configured to drive the imaging system to move in a straight line. The controller is configured to send control signals to the drive unit and the feed motion unit. In response to the control signals, the drive unit drives the joint components to swing to simultaneously change the position and orientation of the image acquisition device, while the feed motion unit drives the imaging system to move in a straight line to maintain the distance between the image acquisition device and the power unit substantially constant.

The utility model relates to medical electrical equipment technical field discloses a kind of brake control circuit suitable for medical robot system, comprising: power input module, for receiving DC power voltage;The input end of starting drive module is connected power input module, the output end is connected the power end of brake, for when powering on system to brake provides first voltage to drive brake starting;Delay control module is connected with starting drive module, for after powering on system to starting drive module is carried out conduction time control, so that first voltage is only loaded to brake within preset time;The input end of constant voltage maintaining module is connected power input module, the output end is connected the power end of brake, for after starting drive module output is closed, continuously to brake provides stable second voltage to maintain the working state of brake.The utility model gives consideration to the dual needs of starting response speed and long-time stability, improves the response efficiency and service life of control circuit.

This application discloses an automatic motion hotspot search method and system for TMS that integrates multimodal priors and Bayesian optimization, relating to the fields of medical robotics, neuromodulation, and medical image processing. The method includes: acquiring medical image data of the subject, extracting prior center coordinates, delineating a search space based on these coordinates, and generating a set of candidate stimulus poses; iteratively performing the search operation until a termination condition is met. Each iteration includes: based on the current Gaussian process model and the candidate set, using Bayesian optimization to determine the next target pose and calculating a comprehensive physiological efficacy score; updating the posterior distribution of the Gaussian process model using this pose and score. When the iteration terminates, the pose with the highest score in historical observations is output as the motion hotspot; if multiple poses have the same highest score, the one closest to the prior center coordinates is selected. This application achieves fully automatic and precise localization from individualized prior guidance to data-driven closed-loop optimization.

This invention relates to the field of medical robotics and embodied intelligence, specifically to a dual-arm robot control method and electronic device based on VLA model and cognitive alignment of thought chain. The method includes the following steps: S1, multimodal task scene perception; S2, full-modal space alignment based on multidimensional state lexicalization and low-rank adaptive alignment; S3, dynamic intervention mechanism based on cognitive alignment assessment; S4, end-to-end joint space motion generation based on reparameterization; S5, compliant execution of cognitive-motor dual-loop closed-loop. This invention constructs a multimodal state vector by fusing robotic arm motion data, a six-dimensional force sensor at the end effector, and a third-view camera. Based on a deep learning fusion model, it performs feature extraction and correlation analysis to objectively and quantitatively assess the user's dual-arm motor ability. This allows for the capture of the subject's motion details and neuromuscular coordination characteristics, quantitative characterization of the subject's dual-arm motor ability, dynamic monitoring of the user's dual-arm motor ability progress, and scientific quantification.

The application discloses a robot-assisted lumbar puncture method based on a visual force sense fusion Mamba network, and belongs to the technical field of medical robots and artificial intelligence. The physical perception preprocessing module decouples pure puncture force by using a LuGre friction model; a force-aware encoder is used to initialize state parameters based on a Kelvin-Voigt dynamics equation, and the physical hidden state of soft tissue is deduced; a haptic-render decoder is used to reconstruct a three-dimensional stiffness field, and a virtual force body rendering technology is used to predict tissue resistance in advance; finally, a soft-acting controller is used for safety braking and soft adjustment based on stiffness prediction. The application solves the problems of lack of physical interpretability of a black box model, spatiotemporal dislocation of visual and force sense signals and difficulty in real-time capturing of weak "empty feeling" in the prior art, and significantly improves the safety and accuracy of lumbar puncture surgery.