560 results about "Robotic assisted" patented technology

The invention provides a multi-modal image analysis-based robot-assisted wound treatment method and system, and relates to the technical field of robots, and the method comprises the steps: collecting a multi-modal image of a to-be-treated wound, determining an image registration result, obtaining a wound region image through a multi-scale fusion algorithm and wound region segmentation, and carrying out the type classification of wound tissues. A wound tissue type classification result is obtained; performing surrounding shooting on a wound area to obtain a wound multi-view image, registering subsequent depth maps frame by frame by taking a first frame of depth map as a reference, accumulating point cloud data, determining a wound three-dimensional point cloud, generating a wound three-dimensional reconstruction result by combining a curved surface evolution algorithm, and determining a wound parameter measurement result; based on the wound tissue type classification result and the wound parameter measurement result, a robot path planning algorithm is adopted, the optimal movement track of the robot is generated, the movement parameters of the robot are adjusted in real time through a robot control algorithm of vision and force feedback, and wound adjuvant therapy is completed.

The invention relates to the technical field of robot welding, in particular to an industrial robot auxiliary welding device which comprises a mounting base. The welding unit is connected with the mounting base and is used for realizing multi-angle welding of the fixed workpiece; the circulating fixing unit is arranged on the outer side of the welding unit, is connected with the mounting base, and is used for independently supporting a plurality of workpieces and automatically fixing and unbinding the workpieces during station switching so as to realize circulating machining; wherein the circulating fixing unit comprises an induction type automatic fixing assembly, a self-locking type driving control assembly and an auxiliary cleaning assembly, by arranging the circulating fixing unit, a workpiece can be automatically fixed, constraint to the welded workpiece can be automatically relieved, feeding and discharging operation can be conveniently conducted, fixing does not need to be completed manually in the whole machining process, and the machining efficiency is improved. Manual operation procedures are reduced, and workpiece production efficiency is improved.

The invention provides a robot-assisted wound suturing method and system based on artificial intelligence, and relates to the technical field of artificial intelligence, and the robot-assisted wound suturing method comprises the steps: obtaining multi-modal perception data of a wound area, constructing multi-modal three-dimensional representation of a wound, and determining a plurality of suturing points based on the multi-modal three-dimensional representation of the wound; for each suture point, calculating a candidate suture point, and for the adjacent suture points, generating a needle tip track of a needle tip in the wound, and sampling on the needle tip track to obtain a suture scheme adapted to the wound form and the tissue attribute; based on the obtained stitching scheme, an optimal control sequence of the stitching robot is obtained, meanwhile, a robust compensation control law is constructed through coordinate transformation and a feedback control law, and the optimal control sequence and the robust compensation control law are integrated into a stitching robot real-time control system; the output of a real-time control system of the suturing robot is converted into an actuator control instruction, and the suturing robot is controlled to assist in wound suturing.

Disclosed are various real-time robotic-assisted dimension measurement systems and techniques based on the collected kinematic data from one or more surgical tools within a robotic surgical system. In some embodiments, the collected kinematic data can include positions and orientations of each joint of the one or more surgical tools which are derived from positions and orientations of a set of arm joints of one or more robotic arms which the one or more surgical tools are attached to. The disclosed dimension measurement systems allow a surgeon to perform real-time length measurements of both straight-lines and curved-lines, as well as area and volume measurements on specified portions of tissues or organs by strategically placing the tips of the one or more surgical tools over the tissues or organs, while viewing the distal ends of the surgical tools in a user display.

A non-transitory machine-readable media may store instructions that, when run by one or more processors, cause the one or more processors to generate stereo endoscopic image data of a medical field and define a medical field volume from the stereo endoscopic image data. The processors may also project a 3D representation of the medical field volume to an extended-reality display device in a remote volume. The 3D representation may include a stereoscopic image and a 3D scene generated from the stereo endoscopic image data. The processors may also generate visual guidance in the remote volume to augment the stereo endoscopic image, map the visual guidance from the remote volume to the medical field volume to generate an augmented image of the medical field volume, and project the augmented image of the medical field volume to a display device viewed by an operator of instruments in the medical field.

An example system includes an apparatus having a first elongated medical device and a second elongated medical device; and a controller coupled to the apparatus. The controller is provided to determine a magnitude and a direction of linear translation of the first elongated medical device and responsive to the determined translation of the first elongated medical device, cause a linear translation of the second elongated medical device, the linear translation of the second elongated device having a substantially equal magnitude to the linear translation of the first elongated medical device and being in a direction opposite the direction of translation of the first elongated medical device. The controller is further provided to modify at least one parameter of the linear translation of either (a) the first elongated medical device or (b) the second elongated medical device in response to the determined translation of the first elongated device.

The invention relates to the technical field of navigation and positioning, and discloses an arthroscopic surgery navigation and positioning system based on artificial intelligence, which comprises a preoperative image processing and lesion analysis module for analyzing preoperative images, a multi-modal data fusion module for integrating image data from different sources in the surgery, and a navigation and positioning module for performing navigation and positioning on the integrated image data. The intra-operative real-time joint tracking and posture estimation module is used for tracking the joint position and soft tissue deformation in real time, the AI dynamic operation path planning module is used for intelligently optimizing the operation path, the robot auxiliary operation and automatic adjustment module is used for automatically adjusting the position and angle of an operation instrument, and the intra-operative AI voice and visual feedback module is used for providing real-time feedback. The operation data storage and intelligent learning module is used for storing and analyzing operation data. By means of the multi-modal data fusion technology, arthroscopic images, ultrasonic images and infrared images are combined, accurate visualization of an operation area is achieved, and the effect of improving operation accuracy and safety is achieved.

The invention provides an osteotomy path adjusting system in robot-assisted knee arthroplasty, and belongs to the technical field of knee joint detection. The system comprises a multi-modal data acquisition unit which comprises a knee joint pressure measuring gasket, an optical acquisition module and a kinematics data acquisition module, the knee joint pressure measuring gasket is used for acquiring knee joint pressure signals in an operation, and the optical acquisition module is used for acquiring relative poses of a femur and a tibia; the kinematics data acquisition module is used for acquiring kinematics data of the mechanical arm; the main control calculation unit comprises a data fusion module and a dynamic compensation module, and the data fusion module is used for constructing a synchronous spatio-temporal data set; and the dynamic compensation module is used for outputting a compensation instruction to the mechanical arm to adjust an osteotomy path based on the synchronous spatio-temporal data set, the preoperative predicted pressure prediction matrix and the soft tissue stiffness matrix. The pressure change in the operation can be responded in real time, the operation precision of the knee arthroplasty is improved, and the dependence on the experience of doctors can be reduced.

The invention provides a blood vessel puncture system and method based on handheld ultrasonic equipment, and relates to the technical field of puncture guidance, and the method comprises the steps: obtaining a real-time ultrasonic image of a to-be-punctured part of a patient by the handheld ultrasonic equipment, and recognizing a blood vessel boundary and a center line in the real-time ultrasonic image; calculating to obtain an optimal puncture route according to the blood vessel boundary and the center line, and then adjusting the needle point position of a puncture needle of a puncture positioning device of the handheld ultrasonic equipment according to the optimal puncture route to perform blood vessel puncture. The handheld ultrasonic equipment has the beneficial effects that the puncture positioning device is additionally arranged in the handheld ultrasonic equipment, and the image acquisition module and the puncture module are configured, so that the problem that a traditional system depends on experience and manual operation skills of medical personnel and is easily influenced by human factors is solved; compared with a robot auxiliary system, the system has very close puncture accuracy and success rate, and the system is low in complexity, low in cost and convenient to carry.

The invention discloses a modular visual guidance robot feeding and discharging device, and relates to the technical field of robot-assisted feeding and discharging equipment, and the modular visual guidance robot feeding and discharging device comprises a visual module which is installed on a production line and is used for identifying the position of a workpiece and outputting coordinate information; the manipulator module is mounted on the production line, and a clamp connecting mechanism and an end effector are arranged at the tail end of the manipulator module; the clamp module is installed at the tail end of the mechanical arm module through a clamp connecting mechanism, and the clamp module is electrically connected with the tail end executor and used for grabbing a workpiece; and the control system module is electrically connected with the vision module, the manipulator module and the end effector and is used for controlling the manipulator module to act according to the coordinate information output by the vision module and controlling the clamp module to act through the end effector. The production requirements of diversified products on different production lines can be met, and the universality and adaptability of equipment are improved.

The invention relates to the technical field of teleoperation, in particular to a teleoperation robot auxiliary control method based on a safety margin theory. The method comprises the following steps: establishing a three-dimensional digital twinborn model according to an image acquisition device, and obtaining a target object distance, a communication time delay size and a motion tracking error; based on the three factors, a fuzzy control theory is adopted to calculate a teleoperation safety margin value, and the safety of the current teleoperation is quantitatively evaluated. And calculating a master-slave motion mapping ratio and an end view display ratio according to the safety margin value. And constructing virtual force guidance according to the safety margin value, feeding back the virtual force guidance to an operator through force feedback equipment, and guiding the operator to complete a teleoperation task in combination with visual interaction equipment. Compared with a traditional teleoperation method, the method can effectively improve teleoperation efficiency and safety, and can better adapt to a complex long-distance working environment.

A dynamic reference base (DRB) and associated method are provided for rigidly affixing an array frame to bone for use in navigated or robotic surgery. The DRB includes a bridge element that includes a connecting rod having a distal end and a proximal end; a clamp coupled to the distal end of the connecting rod; a first and a second pin guide extending distally from the clamp; a locking nut disposed on the clamp; and a clutch coupled to the proximal end of the connecting rod, the clutch being adapted to couple to the array frame. The DRB also includes the array frame, which is couplable to the clutch, and is adapted to include a plurality of tracking markers disposed thereon.

A robotically controlled depth limiter for a reamer, the depth limiter including a cylindrical housing configured to encompass a portion of a driveshaft of a reamer. The cylindrical housing can define a bore extending therethrough. The depth limiter can include a depth stop engaging the cylindrical housing within the bore, and define an opening configured to receive the driveshaft of the reamer. The depth stop can be configured to receive a signal via processing circuitry of a robotic arm to operate the depth stop to limit distal translation of the driveshaft relative to the cylindrical housing to control a cutting depth of the reamer.

The invention discloses a teleoperation robot auxiliary system and method based on vision and imitation learning, the system comprises a teleoperation module, a skill learning module, a vision processing module and a virtual force auxiliary module, the teleoperation module realizes remote operation of a robot through an external control device; the skill learning module learns an expert operation track through a dynamic motion primitive algorithm to generate a generalization reference path, the visual processing module combines a three-dimensional target positioning technology of a Kinect depth camera to realize environment perception, and the virtual force auxiliary module constructs a self-adaptive virtual clamp force field based on a position error. A force selector mechanism is employed to dynamically adjust the haptic feedback intensity, guide force is applied to correct when the operation deviates from a reference trajectory, and the operation autonomy is maintained when the trajectory is fitted. Through the synergistic effect of expert track guidance and a visual constraint force field, the operation precision is remarkably improved.

The invention belongs to the field of quality detection, and particularly relates to a hydraulic engineering construction quality detection method, which comprises the following steps of: carrying out preliminary quality inspection on a dam through a visual inspection method; measuring the size, the flatness and the perpendicularity of the dam through an actual measurement method to judge whether the size, the flatness and the perpendicularity conform to construction specifications or not; acquiring data through an experimental method, and analyzing and judging project quality; by establishing an informatization management system, acquisition, uploading, analysis and report generation of detection data are realized. The construction quality of the water conservancy project can be effectively detected, and especially through auxiliary detection of the dam detection robot, the defects that an existing detection method is difficult to operate and wastes time and labor are overcome; the dam detection robot is used for ultrasonic detection and resiliometer detection, the operation method is simple, safety is high, time and labor are saved, and the implementation effect is good.

Devices, methods, and systems related to a robot-assisted ophthalmic surgical platform for cataract surgery are provided. For example, there is a computer-controlled ophthalmic robotic surgical system including: a multimodal visualization subsystem; a tool exchange system; a plurality of robotic arms configured to receive and manipulate surgical tools; an artificial intelligence (Al) subsystem configured to produce outputs using the imaging data from the visualization subsystem, including: acquired data of the operative eye, extracted patient-specific metrics from the data for the operative eye; a trajectory planner configured to determine a trajectory path for a selected one of a plurality of surgical tools; and a control system configured to receive and execute the determined trajectory path on the operative eye, in which the trajectory path is modified in real-time based on data from one or more of the visualization subsystem and Al subsystem.

The invention discloses a robot-assisted real-time three-dimensional Doppler OCT (optical coherence tomography) angiography method and system, relates to the technical field of medical imaging, and can be used for carrying out real-time and large-view-field three-dimensional Doppler optical coherence imaging evaluation during a microvascular anastomosis operation and improving the anastomosis operation evaluation accuracy and efficiency. According to the system, a spectral domain optical coherence tomography system SD-OCT is used for performing spectral domain optical coherence tomography on a sample to obtain a sample cross-sectional image, and the sample cross-sectional image is sent to a display to be displayed. The OCT imaging probe and the binocular depth camera are integrally installed at the tail end of the robot arm, and the robot arm operates the OCT probe and the binocular depth camera to move to different positions and angles to image a sample. The OCT imaging probe collects optical signals reflected by a sample, and the signal processing host and the displayer receive spectral signals transmitted by the OCT imaging probe and display the three-dimensional structural characteristics of the microvessel and the blood flow velocity condition in the blood vessel.

A system may comprise a connection member configured to be connected to an anatomic orifice device. The anatomic orifice device may be configured for insertion into a patient. The system may also comprise a mounting bracket coupled to a robot-assisted medical system and a docking guide configured to arrange the connection member in a predetermined configuration. The robot-assisted medical system is configured to transfer the mounting bracket into engagement with the connection member while the connection member is in the predetermined configuration.

The invention discloses a robot assisted diagnosis and treatment system for a nuclear medicine ward and an application method. The robot assisted diagnosis and treatment system comprises an AI robot for non-contact assisted diagnosis and treatment; the robot library is arranged on the same layer of the nuclear medicine ward; the remote interaction platform is used for issuing related instructions and man-machine interaction to the AI robot; a radiation protection and monitoring module, an identity recognition module, a health propaganda and education module, a ferry module, a visual doctor-patient communication module, a communication module, an RFID access control module and an environment disinfection module are integrated on the AI robot; the AI robot is connected with an external subcutaneous injection module, an external intravenous injection module, an external medicine distribution module and an external living goods conveying module through corresponding switching assemblies. According to the robot-assisted diagnosis and treatment system for the nuclear medicine ward and the application method, a semi-autonomous and remote interaction mode is used for replacing medical staff to execute face-to-face diagnosis and treatment behaviors with patients, and non-contact diagnosis and treatment are achieved through human-machine-patient high cooperation in the whole diagnosis and treatment process.

The invention provides a surgical procedure identification method based on robot-assisted renal part resection. The method comprises the following steps: determining the number of initial frames of a video; based on the video initial framing number, performing initial framing processing on the obtained operation video of the robot-assisted renal region resection operation to obtain an operation image set; image quality comprehensive detection is carried out on the operation image set, whether the image comprehensive quality is qualified or not is judged, if the image comprehensive quality is not qualified, unqualified frame images in the operation image set are screened, and image enhancement processing is carried out on the screened unqualified frame images; if the comprehensive quality of the image is qualified, acquiring an operation process feature data set of each frame image in the operation image set; and determining the operation process corresponding to each frame image based on the operation process feature data set of each frame image. The problem that the operation process is difficult to identify and track in the existing complex operation video analysis is solved.

The invention provides an instrument force feedback and man-machine cooperative control method and system for minimally invasive surgery, and relates to the technical field of man-machine collaboration.The instrument force feedback and man-machine cooperative control method comprises the steps that a force sensor arranged at the tail end of a minimally invasive surgery instrument is used for collecting three-dimensional torque data, and the surgical operation safety state is recognized through a mixed deep learning model; and when risks exist, early warning is triggered, an active constraint mechanism is started, and real-time correction is carried out through reverse force feedback generated by a robot auxiliary system. A safety force domain range is calculated according to the torque data change, and trajectory optimization and acting force adjustment of the surgical instrument are achieved. The safety and accuracy of the minimally invasive surgery can be effectively guaranteed, and the medical risk is reduced.

The invention relates to a knee joint replacement valgus and valgus balance graphical analysis device, which comprises a gap lattice diagram drawing system, which is configured to obtain force-gap data of soft tissues around a knee joint at different buckling angles and draw an inner side gap-outer side gap lattice diagram; the quantitative index unit is configured to construct quantitative index parameters for measuring the inward and outward turning gap balance according to the inner side gap-outer side gap dot matrix relation under different buckling degrees; and the quantitative analysis system is configured to adjust quantitative index parameters, and formulate an optimization adjustment strategy to carry out inward and outward turning soft tissue balance quantitative analysis according to the inner and outer side gap width difference of the soft tissue around the knee joint at different flexion and extension angles. According to the method, the tension of the soft tissue around the knee joint is quantitatively evaluated according to the force-gap data, the method is used for guiding precise technical adjustment of robot-assisted knee joint replacement, and data and algorithm foundations are laid for analysis methods such as automatic operation plan guidance, prosthesis selection and personalized operations.

Disclosed herein is a mobile interface device to control a robotically-assisted surgical system. The mobile interface device provides a surgeon with a direct view of the surgical robotic system and allows a surgeon to easily and intuitively select, control, or manipulate various target components of the surgical robotic system. The mobile interface device may capture a live image of the surgical robotic system to automatically identify a robotic arm that appears in the center of the captured live image as the target component selected by the surgeon. Based on the current pose or position of the target component, the mobile interface device may generate a list of target poses and control options. The surgeon may select a control option to select a target pose and to manipulate the target component to command a robotically-assisted movement of the selected robotic arm from the current pose to the target pose.

The invention discloses an intelligent magneto-rheological track for robot-assisted machining and application thereof, and the intelligent magneto-rheological track comprises a magneto-rheological unit module which is made of a magneto-rheological material, the magneto-rheological material is packaged in a flexible film, and a coil unit for generating a magnetic field is wound outside the flexible film; and the track control system can control the magnetic field size and the magnetic field distribution of each position of the magnetorheological unit module according to the corresponding relation of the appearance, the shape and the magnetic field of the magnetorheological unit module, and the magnetorheological unit module is adjusted to have the required appearance and the required shape. The magnetic field of the magneto-rheological unit module is regulated and controlled, so that the magneto-rheological unit module can have the rigidity required by operation and operation of the robot, and the magneto-rheological unit module can be regulated to be in the set shape and shape, so that the magneto-rheological unit module can adapt to working faces of various different shapes and different robots; and the robot can be used for machining in large-curvature areas such as aircraft surface skins and narrow space scenes such as air inlet channels.

The invention discloses an agricultural environment perception and robot-assisted picking method based on vision, and the method employs an end-to-end detection, tracking and classification frame, comprises five independent modules: object detection and tracking, feature extraction, activity recognition, target position estimation, and a robot scheduler, obtains information through employing an RGB camera and a two-dimensional laser radar, and carries out the detection and classification of the information. By customizing long and short-term memory network processing data, compared with other methods, an end-to-end architecture adopted by the method can enable the system to comprehensively process the whole process from activity detection of a picker to auxiliary operation of a robot, and adopted multi-camera information fusion can accurately estimate the positions of the picker in different distance ranges, so that the accuracy of picking is improved. And the behavior activity of the picker can be accurately predicted by adopting the customized long-short-term memory network.

A system, apparatus and method are provided for robotically assisting the harvest of a crop. Instrumented picker carts include sensors for detecting amounts of harvested crop (e.g., fill ratios) of containers carried by the carts, communication modules for communicating their locations and detected crop amounts to a field computer, and components for signaling for robotic service. The field computer predicts when a cart that requests service will have a full container and where it will be located at that time, then decides whether to approve the request. If the request is approved, a robot is assigned and is given (or generates) a path to the cart's predicted location, and begins moving toward the location so as to arrive near (and preferably before) the predicted time. Robots include means for moving (e.g., wheels, motors, steering components, power sources), navigation modules, computing components for controlling their movement, and communication modules.

: The present invention covers an automatic laser welding machine for tube parts. It consists a multi-axis robotic arm auto loader unloader, a fibre laser system, an XYZ granite table based precision motion stage, a laser welding head, a machine vision alignment and quality control system, a machine vision processing monitoring system, a machine control PC, work parts holding trays, tube parts holder and fixture, machine safety enclosure, etc. Additional safety features such as emergency stop buttons and door interlock circuit are installed to ensure the machine and operator's safety.

The invention discloses an improved RRT path planning method for robot-assisted puncture based on SAC guided sampling, and the method comprises the steps: carrying out the reconstruction of a human chest and abdomen actual physiological structure three-dimensional model based on a CT image, and obtaining the human chest and abdomen actual physiological structure three-dimensional model as an obstacle for subsequent path planning; establishing a reinforcement learning environment based on the obstacle, including setting a state space, an action space and a reward function; in a reinforcement learning environment, based on obstacles, adopting an SAC algorithm to carry out SAC guide sampling model training of flexible needle path planning; adjusting and optimizing target parameters of the SAC guide sampling model based on obstacles; and sampling in the improved RRT path planning based on a mixed sampling strategy by using the parameter-optimized SAC guide sampling model to obtain a feasible path. Through a mixed sampling strategy, balance is obtained between the global search capability of uniform sampling and the local optimization capability of non-uniform guide sampling, so that the adaptability and planning efficiency of the algorithm in a complex scene are improved.

A robotic system to facilitate simultaneous human laborer and robotic tasks on an article. The system includes data acquisition from a non-point cloud camera and implementation by a mid-tier consumer grade workstation. Nevertheless, a motion plan may be carried out by the robotic aid in a manner that allows for “on-the-fly” adjustment to a second motion plan to avoid collision with the laborer during the performed tasks.

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.