254 results about "Robotic assisted" patented technology

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 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.

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.

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 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.

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.

Robot-assisted arrangement of conference room furniture, bar and bar stools, and business networking event furniture. 1.1) Perspective view; 1.2) Front view; 1.3) Top view; 1.4) Bottom view; 1.5) Perspective view

The invention belongs to the technical field of laser surgery, and particularly discloses a path broadening and overlap removing laser surgery positioning method and system and a program product, which can greatly improve the efficiency and accuracy of laser surgery by performing path construction, path broadening and overlap removing processing on continuous path points in a surgical area automatically acquired by a robot; a non-overlapping path widening area is ensured through a refined overlapping removing mechanism, and the precision and safety of laser operation path positioning are effectively improved; the path widening and splitting degree can be flexibly adjusted according to the requirements of the laser surgery, so that the precision requirements under different laser surgery scenes are met; by automatically generating the standard format laser operation coordinate positioning file, the system compatibility and clinical operation convenience can be improved. The system has the capabilities of automatically collecting and splitting the laser operation path, precisely widening and removing overlapping of the path and standardizing positioning output, and can realize efficient processing and precise control of the robot-assisted laser operation path.

This invention provides a robot behavior control method with human-computer interaction capabilities, relating to the field of robotics. It allows the robot to interact with the user, identifying non-standard movements through a robot terminal, and assisting the user in correcting those movements. It is applicable to various movement calibration scenarios, such as dance movement calibration, fitness movement calibration, and rehabilitation movement calibration. This can improve the accuracy and efficiency of training.

This disclosure provides methods, devices, and systems for controlling robotically assisted medical systems. The present implementations more specifically relate to techniques for vision-based detection of an access sheath. In some aspects, a controller for a medical system obtains a series of images captured by a camera disposed on a distal tip of a medical instrument that is at least partially inserted through an access sheath. The controller infers a respective segmentation mask from each image in the series based on a machine learning model trained to classify each pixel of the image as depicting the access sheath or not depicting the access sheath, where the segmentation mask indicates how many pixels of the image are classified as depicting the access sheath. The controller further determines a position of the distal tip of the instrument relative to the access sheath based on the segmentation masks for the series of images.

An intraoperative guidance approach for an image guided surgical robot performs intraoperative image registration and guidance based on a surgical target. A surgical imaging modality, such as US (ultrasound) or PA (photoacoustic), establishes a frame of reference based on a preoperative base imaging modality such as CT (computed tomography) or MRI (magnetic resonance imaging). A position reference of a surgical target, such as a tumor or neural structure, is established by the surgical imaging modality from the base imaging modality, computed based on a dense scan of the surgical region. Successive scans in the surgical image modality provide real-time guidance for a robotically actuated surgical instrument or probe based on the surgical target. An iteration of successive scans allows intramodal servoing concurrent with surgical instrument actuation towards a moving surgical target when a fixed surgical position in the frame of reference cannot be assured.

A method for automated microbial monitoring in an isolator having a transfer lock, the method comprising the steps: first providing at least one nutrient medium carrier holder at, in each case, a first position within the isolator; second providing at least one nutrient medium carrier within the transfer lock; first robot-assisted transferring of an individual nutrient medium carrier from the transfer lock to a free nutrient medium carrier holder; and first robot-assisted placing of the transferred nutrient medium carrier in the free nutrient medium carrier holder. Further, a system for automated microbial monitoring in an isolator and a computer program are also disclosed.

The invention discloses a robot control method based on active disturbance observation and phase coupling control, and the method comprises the steps: collecting the current state quantity of a robot in real time, and constructing a joint space dynamic model; generating state estimation and disturbance estimation in the joint space dynamic model; a phase parameterization method is adopted to map the phase of the multi-degree-of-freedom action to an expected trajectory, and a closed-loop trajectory tracking and disturbance compensation control law is designed in combination with disturbance estimation and a sliding manifold mechanism; according to the method, a position error transformation design continuously-derivable robot auxiliary level function is introduced, the stability is analyzed by adopting a Lyapunov method, and a closed-loop trajectory tracking and disturbance compensation control law and a coupling gain adaptive law are substituted into a time derivative of a candidate Lyapunov function to complete the control of the robot. The control output can be kept smooth and continuous, instruction sudden change or attitude instability is avoided, high action success rate and landing stability can still be maintained when the environment changes, and the landing impact load peak value is effectively reduced.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

The invention discloses a multifunctional self-adaptive blind person grab rail device and a using method thereof, and belongs to the technical field of robot auxiliary equipment.The multifunctional self-adaptive blind person grab rail device comprises a grab rail module, a telescopic rod module, an intelligent module and a walking aid connecting module, the grab rail module is connected with the telescopic rod module, and the intelligent module is arranged in the telescopic rod module; the intelligent module is electrically connected with the armrest module and the walking-aid connecting module, and the walking-aid connecting module is arranged at the end, away from the armrest module, of the telescopic rod module. According to the intelligent walking-aid multifunctional armrest with the man-machine interaction function, interconnection, perception and feedback are achieved, the perception range of the blind is expanded, environment information is provided, and the interaction mode is enriched. Functional conversion between the robot control rod and the intelligent walking stick is achieved through the quick release structure, and the technical bottleneck that an existing device is single in function and limited in man-machine interaction is solved.

A device for applying adhesive tape to a surface, the device having the following features: a frame (36); a holder for an adhesive tape roll (40) with two support rollers (32, 33) mounted on the frame (36), a clamping roller (31) slidably mounted on the frame (36) and a pretensioning device (361) which is designed to exert a pretensioning force (F) on the clamping roller (31) in the direction of the support rollers (32, 33); a first pressure roller (35, 39) which touches the workpiece surface (O) during the process of applying the adhesive tape (41); and a first sensor (51) designed to measure the position (a0-Δa) of a rotation axis of the clamping roller (31) in relation to the frame (36) or the change (Δa) of the position of the rotation axis of the clamping roller (31).

A method for performing a robotic-assisted orthotopic heart transplant includes forming a working port subareolarly by a mini-thoracotomy at a working intercostal space, forming additional ports for robotic arms, and arranging robotic arms through the ports. A first robotic arm with first forceps extends through a second port lateral to a mid-clavicular line, while second and third robotic arms containing an imaging device and second forceps operate through the working port. A fourth robotic arm with scissors or needle holder extends through a third port proximal to an anterior axillary line. The method includes cannulating for cardiopulmonary bypass, opening the pericardium, cross-clamping the aorta, removing the native heart, and performing sequential anastomoses of the donor heart including the left atrium, pulmonary artery, aorta, inferior vena cava, and superior vena cava.

A device for registering a bone for a robotic knee arthroplasty with a surgical robot can include a plate and a registration device. The plate can be engageable with the bone and can include a lateral portion, a medial portion, and a hinge. The registration device can be connected to the plate and can be configured to interface with the surgical robot for registration of the plate and the bone.

Embodiments of the present disclosure provide for robot assisted imaging and pixel degradation classification. Such embodiments may include adjusting one or more display settings for a screen of a mobile device based at least in part on one or more mobile device attributes associated with the mobile device to provide a test-enabled version of the screen, capturing at least one image of the test-enabled version of the screen via an image capture device, applying a neural network model to the at least one image to determine a pixel degradation classification for the screen, and determining a screen condition for the screen based at least in part on the pixel degradation classification for the screen.