17 results about "Medical robotics" patented technology

This invention belongs to the field of medical robotic arm technology, and more particularly to a needle-holding robotic arm for minimally invasive surgery, comprising a handle, a protective shell, and a crank shell. The invention features an anti-tipping wheel located inside the crank shell near the shaft. The rim of this anti-tipping wheel presses firmly against the surface of the wire rope, effectively preventing the wire rope from slipping out of the groove in the reel during high-speed or large-angle transmission. This ensures that the gripper's movements are consistent with the surgeon's intentions, avoiding missed steps due to skipped threads or slack, thereby improving the safety and precision of the surgery. Simultaneously, the wire rope is driven by gear transmission inside the protective shell, and the pitch axis controls the pitch angle of the gripper. This allows the surgeon to control the opening and closing of the gripper and the pitch angle simultaneously or separately through a single finger gripping operation, enabling complex actions such as needle clamping, needle rotation, and suturing within confined human cavities. This significantly improves the instrument's operational flexibility and surgical efficiency.

This utility model relates to a medical robotic gripper, belonging to the field of minimally invasive surgical instrument technology. It includes a working part, a transition connecting part, and a gripping part. The gripping part includes a handle. A finger shaft is placed on the left side of the handle, extending through the handle and into its interior. A gripping finger is fixedly connected to the bottom surface of the finger shaft. A winding wheel is connected to the finger shaft. A transition shaft is rotatably connected inside the handle. A transition winding wheel is fixedly installed on the outer peripheral wall of the transition shaft. A reversing shaft is rotatably connected inside the handle. A reversing shaft wheel is fixedly installed on the outer peripheral wall of the reversing shaft. This medical robotic gripper adopts a modular design, facilitating assembly by medical personnel, simplifying the mechanical structure, reducing the quantity and cost of consumables for minimally invasive surgery, lowering the learning threshold, and reducing the cost of minimally invasive surgery procedures and training. Furthermore, the gripping finger facilitates use by different operators, making it more convenient and practical.

The application discloses a somatosensory simulation platform rehabilitation effect driving control method based on a reverse generation model, belongs to the technical field of medical robots and rehabilitation training equipment, and constructs a single / multimodal somatosensory stimulation-response database; a golden sample set with a peak value of neural activation is screened; a neural-physical reverse mapping model based on a probability generation mechanism is established, a conditional probability distribution from a neural activation feature space to a physical stimulation parameter feature space is learned; a target neural activation is set, and an expected physical stimulation parameter is generated by using the trained model; a kinetic safety filter is constructed to generate a final safety control instruction; and the safety control instruction is used to drive the somatosensory simulation platform to move. The application further provides a somatosensory simulation platform rehabilitation effect driving control system based on a reverse generation model, which comprises a data acquisition and screening module, a reverse reasoning calculation module, a safety control module and a collaborative execution module. The application improves the effect, accuracy and safety of somatosensory simulation training.

The invention discloses a dynamic safe multi-mode sleep control robot system and method, and relates to the technical field of intelligent medical robotics.The system comprises a negative electric wave generation module, a multi-device cooperation bus, a robot body and an emergency early warning module, the negative electric wave generation module outputs 0.1-15 Hz adjustable square waves and is provided with a brain wave feedback adjusting unit, and the multi-device cooperation bus is connected with the robot body; the bus is connected with multiple devices through a TSN protocol, the robot body comprises a six-degree-of-freedom mechanical arm and a silent movable chassis, the mechanical arm has quadruple safety protection, the early warning module comprises a millimeter wave radar and AI false positive filtering, breathing, heartbeat and turning-over abnormity can be monitored, and the method comprises three-level verification of reinforcement learning activation equipment, sleep quality evaluation matrix building and apnea setting. The system can dynamically adapt to the sleep stage, the sleep aiding effect and safety are improved, and the false alarm rate is reduced.

The disclosure provides an electrical control system, method and electrical management platform of a medical robot, the electrical control system comprising a master station and an industrial computer in communication connection, a general control module and a motor control module, the master station being used to acquire target processing information, generate general control instructions and motion control instructions, the general control module being used to control the general module based on the general control instructions; the industrial computer being used to control the motor control module to perform motion control on the motor executive mechanism based on the motion control instructions; the communication speed between the industrial computer and the motor control module is higher than the communication speed between the master station and the general control module. The disclosure sets a double host computer architecture composed of the master station and the industrial computer, the two host computers work in cooperation and interact information, the electrical control efficiency of the medical robot is higher; meanwhile, the high-speed signal and the low-speed signal are separated, and the reliability of the overall network topology structure of the medical robot system is enhanced.

The application relates to a mechanical arm, an emergency unlocking device is arranged on a mechanical arm body, a brake assembly comprises a driving part, a brake part and a reset part, the driving part is drivingly assembled with the brake part, the driving part is used for driving the brake part to move to an unlocking position of the brake assembly, so that the brake assembly is converted to an unlocking state; the reset part is drivingly assembled with the brake part, the reset part is used for driving the brake part to move to a brake position of the brake assembly, so that the brake assembly is converted to a brake state; the unlocking assembly is non-contact drivingly matched with the brake part, the unlocking assembly is used for driving the brake part to move to the unlocking position of the brake assembly by using a non-contact force, so that the brake assembly is converted to the unlocking state. In the process of the emergency unlocking state in the brake state, a non-contact force is adopted, the mode does not cause damage to the structure of the mechanical arm, such as an opening setting part, and therefore the original design rigidity of medical instruments such as the mechanical arm can be met.

1. Name of the product in this design: Medical robotic arm (2). 2. Purpose of this design: Medical assistance. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model. 5. The product in this design is a long and slender item, and its length is drawn using an abbreviated method. 6. Other situations requiring explanation: Part A is a partial enlarged view of point A in the main view; Part B is a partial enlarged view of point B in the bottom view; and Part C is a partial enlarged view of point C in the left view.

The disclosure provides a remote medical robot control method and a control system for controlling a remote medical robot, which can be applied to the technical field of medicine and the technical field of mechanical control. The remote medical robot control method comprises: in response to the master-slave mapping frequency of the communication signal between the master end and the slave end not satisfying the frequency threshold, extracting the real-time pose sequence of the slave end from the control information for controlling the slave end, the master end being used for responding to user operation and interacting with the slave end through the communication signal, and the slave end being used for controlling the remote medical robot to perform actions based on the control information; inputting the real-time pose sequence into a target prediction model to obtain a predicted pose sequence; performing trajectory interpolation on the predicted pose sequence according to the trajectory path of the predicted pose sequence to obtain a target pose sequence, the target master-slave mapping frequency satisfying the frequency threshold; inputting the target pose sequence into the controller of the slave end to generate a control instruction; and controlling the remote medical robot based on the control instruction.

A medical manipulator relates to the technical field of medical instruments and comprises a fixing plate, a dovetail seat is arranged on the fixing plate, and a dovetail slide rail is slidably connected into the dovetail seat; a rack is arranged on the dovetail slide rail; the lower end of the dovetail sliding rail is connected with a gripper assembly. The dovetail seat comprises a dovetail body; one side of the dovetail body is fixedly connected with two positioning bearings through short plug screws; the other side of the dovetail body is connected with a bearing fixing block through a long plug screw; the bearing fixing block is fixedly connected with two positioning bearings through short plug screws; bearing adjusting blocks are arranged at the upper end and the lower end of the dovetail body; external screw bearings are arranged on the two bearing adjusting blocks; according to the mechanical arm, the dovetail base and the dovetail sliding rail are adopted for accurate positioning, the gear drives the rack to move, the grabbing stroke of the mechanical arm can be adjusted at will, and the positioning accuracy is high; the manipulator device is small in size and low in energy consumption.

The invention relates to the technical field of dental medical robots, and provides an oral cavity intelligent robot positioning system based on real world recognition, which comprises a real scene data acquisition and labeling module, a real environment data acquisition and labeling module and a real scene data processing module, establishing an identification rule system containing a dangerous structure, an operation-related structure and a safety attribute through structured labeling; the oral cavity internal positioning and planting path matching module is used for constructing an implant position model based on CT and oral scanning data and realizing rapid matching of planting paths; the dangerous area real-time judgment and avoidance module integrates AI image recognition and spatial distance calculation functions and is used for monitoring the operation environment in real time and triggering graded safety control in the operation process; and the system hardware and technology fusion optimization module adopts a lightweight hardware architecture of a humanoid robot and a dexterous hand. The robot can sense and recognize a real operation scene, a dangerous structure is automatically avoided, the operation process is simplified, the labor cost is reduced, and the operation safety and efficiency are improved.

A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.

Robotic telemanipulation system with adaptable level of autonomy, including: - a control device for a user; - at least one manipulation device; and - a bidirectional data transmission device; wherein the control device is designed to convert user inputs into control signals for controlling the manipulation device and to transmit the control signals to the manipulation device via the data transmission device, wherein the manipulation device is designed to receive control signals from the bidirectional data transmission device, to convert the control signals into actions of the manipulation device and to return feedback signals via the data transmission device to the control device, wherein the control device is further configured to output the feedback signals of the manipulation device to the user and wherein the control device comprises a database and / or a database interface and a control unit, wherein the control unit is designed to receive initial information from the database and / or a database interface and / or to store secondary information in the database and / or to transfer it to the database interface for storage, where the control unit selects a degree of autonomy for converting user inputs into control signals for the manipulation device, depending on the initial information. characterized by the fact that The control unit is trained to choose the level of autonomy in a process of reciprocal learning, whereby the robotic telemanipulation system initially acts with little or no autonomy and, over the course of a user's usage time, the system acts more autonomously based on knowledge of the user's preferences.

Systems and methods relating to medical technology are disclosed. For example, a medical robotic system can include first and second robotic arms. An introducer can be coupled to the first robotic arm. The introducer can include a first opening, a second opening, and a channel connecting the first opening and the second opening. A flexible elongate medical tool can be coupled to the second robotic arm. The second robotic arm can be configured to drive the flexible elongate medical tool through the introducer coupled to the first robotic arm and into a patient.

The application belongs to the technical field of tactile communication and intelligent human-computer interaction, and discloses a multi-point tactile intelligent encoding and decoding device, system and method. An acquisition end obtains original tactile signals, and extracts features through a neural network self-encoder. A weighted fusion module based on an attention mechanism dynamically groups and quantizes residual errors of the encoded features in combination with channel state information (CSI), so as to realize low-code-rate compression transmission. A perception end inversely quantizes received data and reconstructs signals, and optimizes output tactile signals in combination with a multi-scale perception calibration mechanism, so that the output tactile signals are closer to original inputs in the human perception dimension. A multi-point tactile feedback device obtains vibration feedback corresponding to real-time multi-channel vibration tactile signals based on the reconstructed signals. The application realizes efficient compression, low-delay transmission and high-quality reconstruction of tactile signals by fusing a deep learning architecture and a psychological tactile perception model, and is suitable for virtual reality, remote operation, medical robots and other high-precision tactile interaction scenes.

A locking device (10) includes: a first connecting mechanism (1), a first positioning mechanism (3) connected to the first connecting mechanism (1); a second connecting mechanism (2), and a second positioning mechanism (4) connected to the second connecting mechanism (2), wherein the second positioning mechanism (4) has at least two positioning parts (41); wherein the second connecting mechanism (2) is rotatably connected to the first connecting mechanism (1), wherein the second positioning mechanism (4) is capable of rotating relative to the first positioning mechanism (3) about its own axis, and the first positioning mechanism (3) is capable of locking or unlocking any one of the positioning parts (41) of the second positioning mechanism (4). By cooperating with the first positioning mechanism (3) and the corresponding positioning parts, the second connecting mechanism (2) and the first connecting mechanism (1) can be locked together after the second connecting mechanism (2) rotates relative to the first connecting mechanism (1) by a certain angle, without the need for a servo motor or stepper motor, thereby achieving control of the rotation angle of the first connecting mechanism (1) and the second connecting mechanism (2), and thus reducing the cost of the locking device. A medical robotic arm (100) is also provided.

The application discloses a medical mechanical arm, which comprises a driving part, a flexible arm, a wrist joint part and a multifunctional composite medical operation instrument terminal, wherein the multifunctional composite medical operation instrument terminal is used for performing operation in a human body, and the multifunctional composite medical operation instrument terminal comprises a clamping part, an outer sleeve, an inner rotating cylinder, an illuminating lamp and a camera. The clamping part is used for clamping relevant tissues. The inner rotating cylinder can drive the clamping part to rotate so as to adjust the clamping angle. The illuminating lamp is used for providing illumination during operation, and the camera is used for providing video shooting during operation. The illuminating lamp and the camera can be adjusted in angle and position. The application adopts a flat clamping mode, is reliable and stable, does not hurt organs, and the angle of the video shooting device and the illumination device can be adjusted in a large range, which is beneficial to accurate operation. The application has compact and reasonable structure, high practicability, and great economic and social values.

The application provides a high-precision control method for an auxiliary robot, and relates to the field of medical robot motion control. The method is used for an auxiliary robot system with strong nonlinearity, unobservable mode and complex disturbance. Trajectory sample data is collected first, and an original high-dimensional linearization state space model is constructed through a dynamic state feature extraction algorithm. Then, an unobservable subsystem is extracted and stability constraints are applied to obtain an optimized high-dimensional linearization model. A low-dimensional reduced linear state space model is constructed by using a state energy truncation reduction method, and a nominal controller and a state observer are designed based on the model. At the same time, an adaptive estimation learner is constructed to estimate complex disturbance in real time, and a disturbance compensation signal is combined to form an overall robust control system. The application effectively improves the suppression and processing capacity of the auxiliary robot system on strong nonlinearity, unobservable mode and complex disturbance, and realizes high-precision trajectory tracking control.