331 results about "Robotic assisted" patented technology

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 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.

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.

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.

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 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.

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 discloses a control method for robot-assisted laser in-situ windowing, which comprises the following steps: receiving an execution instruction sent by a main control end through a robot catheter system, sending a laser fiber into a target artery, and enabling the laser fiber to be in accurate contact with a stent covering film; a laser energy closed-loop control subsystem is combined to accurately ablate holes in a stent covering film through a photochemical effect and a photothermal effect, and laser windowing is achieved; in the laser windowing process, the thickness of the blood vessel wall is measured in real time based on optical coherence tomography, and the laser ablation process is detected based on photoacoustic monitoring, so that the laser power is dynamically adjusted, and it is ensured that the thermal damage range in the laser windowing process is smaller than 200 microns. Therefore, accurate creation of the channel between the aortic dissection false cavity and the true cavity is achieved, hemodynamic balance is recovered, the operation accuracy is improved, and the risk of complications in the perioperative period is reduced.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems. Disclosed approaches facilitate deployment and improve the safety of robotic-assisted procedures.

A surgical navigation system is provided to create a plan to correct a deformed spinal alignment. A processor is configured to obtain a first set of image data associated with a deformed alignment in a spine of a patient from at least one imaging device. The processor is also configured to process the first set of image data to identify a set of deformed alignment parameters associated with the deformed alignment. The processor is further configured to identify a set of corrected alignment parameters. The processor is also configured to process the first set of image data, the set of deformed alignment parameters, and the set of corrected alignment parameters to generate a correction plan to surgically manipulate the deformed alignment to the preferred alignment. The processor is additionally configured to provide navigation through the correction plan to facilitate surgical manipulation of a patient spine to the preferred alignment. The processor is also configured to receive information relating to forces on a rod-link reducer or surgical implants from strain gauges to aid the correction plan.

The invention relates to the technical field of robot auxiliary equipment, in particular to an industrial robot multi-working-condition flexible quick-change tail end grabbing mechanism and a method thereof.The industrial robot multi-working-condition flexible quick-change tail end grabbing mechanism comprises a movable disc and a butt joint disc arranged above the movable disc, the movable disc comprises a movable disc body, and two clamping grooves are formed in the top face of the movable disc body. According to the multi-working-condition flexible quick-change tail end grabbing mechanism of the industrial robot and the method of the multi-working-condition flexible quick-change tail end grabbing mechanism, linkage of radial locking and axial fixing is achieved through the sliding rod, when the sliding rod is driven to move, horizontal movement is converted into compound movement that a movable pin is inserted firstly and then jacked upwards through cooperation of a rotating shaft and a guide groove in a specific shape, and therefore the working efficiency is improved. The movable pin can be inserted into the clamping groove, upward abutting and axial fixing supplement can be achieved, multi-dimensional rigid connection is formed between the movable disc and the butt joint disc, the capacity of resisting complex torque is greatly enhanced, and the stability of the end effector in work is improved.

The invention relates to a robot, a control device and a robot-assisted building equipment group system. The invention discloses a robot which comprises the following steps: receiving illumination state information of illumination areas, operation state information of an elevator and task information, planning a moving path according to the illumination state information of each illumination area, the operation state information of the elevator and the task information, and moving according to the moving path; and an elevator request signal and a lighting request signal are generated according to the moving path and sent to control equipment, the lighting request signal is used for adjusting the lighting state of the lighting area, and the elevator request signal is used for adjusting the running state of an elevator. The robot has the advantages of being energy-saving and safe in operation.

The present invention relates to a method for assisting elevator load detection by using a stacking and carrying robot, comprising the following steps: S1, the stacking and carrying robot carries weights into the elevator compartment, and the weight carrying platform (20) thereof is used only as a counterweight stacking area except for a support portion (34) provided on the side for a rectangular coordinate slider module, wherein the support portion (34) is a movable support portion so that the rectangular coordinate slider module can move horizontally, and one end of the rectangular coordinate slider module can extend toward a space outside the weight carrying platform (20); S2, the rectangular coordinate slider module moves the weights (80) out of the weight carrying platform (20) as needed and places them in the elevator compartment; S3, the stacking and carrying robot leaves the elevator compartment and performs an elevator load detection; S4, repeating steps S2 and S3; S5, the rectangular coordinate slider module moves the weights (80) in the elevator compartment back to the weight carrying platform (20). The present invention uses a relatively simple structure to achieve an increase in weight carrying capacity, so that it can meet the five-level test load requirements.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems. Such disclosed approaches provide a scalable, flexible, and efficient network for connecting physician consoles and robotic-assisted medical systems. The network can support advance or on-demand resource reservations for robotic-assisted medical procedures. Disclosed approaches improve efficiency, availability, and safety of remotely-controlled robotic-assisted medical procedures.

The application discloses a seabed garbage cleaning device, which comprises a garbage grabbing robot, an auxiliary storage and transportation robot, a garbage storage and transportation auxiliary ship, a signal cable and an umbilical cable; the auxiliary storage and transportation robot is connected with the garbage grabbing robot through the umbilical cable, forms a negative pressure, sucks the grabbed garbage from the garbage grabbing robot into the auxiliary storage and transportation robot, and then transfers the garbage into the garbage storage and transportation auxiliary ship; the garbage grabbing robot is connected with the garbage storage and transportation auxiliary ship through the signal cable; the garbage grabbing robot comprises an upper cavity, a lower cavity, a cavity mechanical claw and a robot propulsion system; the upper cavity and the lower cavity enclose a negative pressure cavity; the lower cavity is provided with the cavity mechanical claw and the robot propulsion system. The application further discloses a seabed garbage cleaning system which comprises the seabed garbage cleaning device and a controller. The application further discloses a seabed garbage cleaning method. The application can collect garbage in a way that can avoid stirring seabed silt as much as possible and reduce the influence of the collecting process on seabed organisms.

Embodiments of the present disclosure relate to a robot-assisted gripping device (1) for picking up and placing a storage bin (2), comprising: a frame (10) configured to be mounted on an end effector (31) of a robot (3); and a plurality of gripping units (110) comprising: at least one first gripping unit (110-1) mounted on a first side (11) of the frame (10) and configured to grip a first side wall (21) of the storage bin (2); and at least one second clamping unit (110-2) mounted on a second side (12) of the frame (10) and configured to clamp a second side wall (22) of the storage bin (2); wherein the first side (11) and the second side (12) are non-opposing sides of the frame (10), and the first side wall (21) and the second side wall (22) are non-opposing side walls of the storage bin (2).

Systems that may be used for performing a robotic revision knee arthroplasty are disclosed. Such systems can optionally include a processor that can: intraoperatively receive a plurality of position data obtained by a robotic surgical device after a primary implant has been removed from a bone, the plurality of position data correspond to a plurality of landmarks of the bone of a patient, the plurality of landmarks include a position of an intramedullary canal of the bone; select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon the plurality of landmarks of the bone: generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon the plurality of landmarks; and output to a user interface the updated model for use during the robotic revision knee arthroplasty.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems, for performing remote robotic-assisted medical procedures. Disclosed approaches provide a secure, efficient, and dynamically-created virtual network for connecting physician consoles and robotic-assisted medical systems. Disclosed approaches improve efficiency, security, scalability, and reliability of remote robotic-assisted medical procedures.

A tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a 10-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.

A method of performing a neurovascular procedure includes the steps of providing an access assembly comprising a guidewire, access catheter and guide catheter; coupling the access assembly to a robotic drive system; and driving the access assembly to achieve supra-aortic vessel access. The guide wire and the access catheter are decoupled from the access assembly. A procedure assembly includes at least a guidewire and a procedure catheter. The procedure assembly is coupled to the robotic drive system; and used to perform a neurovascular procedure.

The invention relates to a multi-arm surgical robot system, and devices, systems, and methods for robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user in performing one or more surgical procedures. In addition to the plurality of surgical arms, the robotic system may have a peripheral arm to position a navigation camera and a surgeon display. The robotic system is collaborative to allow for easy integration into a procedure workflow, e.g., to install pedicle screws, intervertebral implants, or other surgical devices.

The invention discloses a robot-assisted prostate radical treatment special-purpose blood vessel drag hook apparatus, which comprises a drag hook part, and is characterized in that the drag hook part comprises a cross rod and a first connecting rod; the two ends of a rod body of the transverse rod are symmetrically connected with the tail ends of rod bodies of arc-shaped rods correspondingly. The two ends of a rod body of the first connecting rod are fixedly connected with the head ends of rod bodies of the two arc-shaped rods into a whole correspondingly. One end of a rod body of the straight connecting rod is fixedly connected with the middle section of the rod body of the cross rod into a whole; and the holding handle is coaxially connected with the other end of the rod body of the straight connecting rod. The condition that blood vessels are damaged when blocked can be reduced, the success rate of blood vessel blocking operation is increased, and the operation efficiency is optimized.

Systems, methods and devices for endoluminal surgical procedures include a robotic surgical systems adapted and configured to perform lower and upper gastrointestinal endoluminal submucosal dissection (ESD), endoluminal ‎sleeve gastroplasty (ESG), trans-oral endoluminal fundoplication, bariatric endoluminal antral myotomy (BEAM), peroral endoluminal myotomy (POEM), gastroplasty with endoscopic myotomy (GEM), trans-vaginal hysterectomy, trans-vaginal oophorectomy, and trans-vaginal oophoro-salpingectomy. The systems include a physician console, a patient cart and a system controller. The system controller is adapted and configured to receive a plurality of control inputs from ‎each of a plurality of hand control input devices, to process the plurality of control inputs and to ‎transmit a plurality of control outputs to an axial translation actuator, a roll actuator, ‎a steerable overtube controller, a plurality of instrument controllers and a videoscope ‎controller.

Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.

Disclosed is an exercise system including: a walking exercise device including an effector having at least one link that drives a pedal on which a patient stands; and a system operation device for controlling a main effector according to a training plan for each individual to conduct walking training for the patient, wherein the system operation device includes: an index prediction unit having an index prediction model for predicting a walk evaluation index of the patient on the basis of basic information including personal information and initial walking state information of the patient; a training planning unit for establishing an individual training plan for each patient on the basis of the predicted waling evaluation index; a training evaluation unit for evaluating a training result on the basis of training result data according to a result of rehabilitation training of the patient performed by the walking exercise unit; and a reporting unit for performing reporting on the training result on the basis of the evaluation of the training result.

The medical system may include a display system and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to display an image of a field of view of a surgical environment generated by the imaging component on the display system. The processing unit may be configured to generate a three-dimensional composite indicator of a position of an instrument outside the field of view of the surgical environment and display the three-dimensional composite indicator together with the image of the field of view of the surgical environment.

This application relates to a spatial registration method and apparatus, a robot-assisted system, equipment, and medium. It is applied to a robot-assisted system comprising a medical imaging scanning device, a surgical robot, a scanning component, and a registration component. The scanning component is mounted on the end effector of the surgical robot. The registration component is located within the scanning field of view of both the medical imaging scanning device and the surgical robot, and includes multiple positioning elements. The method includes: controlling the medical imaging scanning device to scan the registration component to obtain first coordinate information of the multiple positioning elements on the registration component; controlling the scanning component on the surgical robot to scan the registration component to obtain second coordinate information of the multiple positioning elements on the registration component; and registering the first and second coordinate information to obtain a target transformation relationship between the medical imaging coordinate system and the base coordinate system of the surgical robot. Using this method, the registration rate between the surgical robot and the medical imaging scanning device can be improved.

The present application provides a total knee arthroplasty robot auxiliary system, a control method, electronic device and a computer readable medium. The auxiliary system comprises: a preoperative planning system configured to formulate a preoperative plan, preoperative plan data including a knee joint image; an intraoperative planning system configured to formulate an intraoperative plan, wherein the knee joint image in the preoperative plan and a knee joint surface contour of the patient determined in an operation are subjected to image registration, knee joint dynamic spacing force line data at a continuous flexion-extension angle is acquired, a dynamic spacing force line data graph is visually displayed, and a prosthesis plan is adjusted according to the visual display of the dynamic spacing force line data graph to obtain the intraoperative plan; and an executing system, wherein a bone-cutting guide mounted at an operating end of a mechanical arm of a surgical robot is guided to be located in a planned predetermined position according to the intraoperative plan, and the bone-cutting guide is configured to locate a bone-cutting saw.

A method of positioning posterior resection guides in a three-dimensional coordinate system using robotic arms to perform partial knee arthroplasties comprises connecting a first tracking device for a surgical tracking system of the robotic arm to a femur, connecting a second tracking device for the surgical tracking system of the robotic arm to a tibia, manually positioning the tibia relative to the femur to a desired orientation to perform a posterior resection, manually determining a position for the posterior resection guide to perform the posterior resection, digitizing a reference point for the posterior resection guide in the three-dimensional coordinate system for a location of a feature of the posterior resection guide, moving the posterior resection guide to the location in the three-dimensional coordinate system with the robotic arm, and resecting a posterior portion of a condyle of the femur using the posterior resection guide to guide a cutting instrument.