66 results about "Surgical action" patented technology

The invention relates to a singular-avoiding navigation system method for a seven-axis intracranial neurosurgical robot, and belongs to the field of robotics.The method comprises the steps that a kinematics model of the seven-axis intracranial neurosurgical robot is built, and all joint parameters of the robot are determined; a Jacobian matrix of the mechanical arm is established through a differential method; the singular state of the mechanical arm is evaluated; when the robot is not located at the singular position, the joint angular velocity is obtained through a pseudo-inverse method; zero-space self-motion control is adopted to carry out limit control on the angular velocity of the joints; combining the singularity-avoiding joint angular velocity with the null-space self-motion-controlled joint angular velocity, and calculating a final joint angular velocity; and the neurosurgical robot performs surgical actions in the skull at the final joint angular velocity, so that the robot navigates to advance to a target position in the operation, and multi-modal collision monitoring is executed in trajectory planning. The method is applied to an intracranial neurosurgical operation navigation system, and the movement safety and accuracy of the surgical robot in an intracranial narrow space are improved.

The invention belongs to the technical field of medical apparatus and instruments, and discloses an AR and VR combined medical training device, which comprises a 3D image acquisition module; the action capture module is used for capturing operation actions of trainees in real time and transmitting action data to the central processing unit; the central processing unit outputs guidance information pre-stored in the operation process according to the operation process; the AR interaction module is used for acquiring an augmented reality or virtual reality model generated by the central processing unit in real time; the VR equipment receives the virtual scene data and related information sent by the central processing unit and is used for helping students to be familiar with the operation process and environment before training and providing more comprehensive immersive experience for the students during training; and the display module is used for displaying the three-dimensional image of the operation target object, the action analysis data of the trainee, the guidance information and the correction information in real time. An augmented reality or virtual reality model containing a real scene and virtual guidance information is generated by using a central processing unit.

A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.

A tension sensing cable for a cable drive mechanism of a robot, in particular a surgical robot, is provided. The tension sensing cable is configured to respond to an axial tensile force applied thereon, wherein a radial pressure applied on the cable has a lower impact on a voltage output of the cable than the axial force. The cable comprises a main conductive filament and a secondary conductive filament, where the main filament and / or the secondary filament are helically wound and configured such that when the main filament and the secondary filament are in contact with each other, charge transfer occurs between two contact surfaces of the main filament and the secondary filament. When an axial tensile force is applied to the cable, a potential difference generated by the charge transferred between the primary filament and the secondary filament varies, where the variation corresponds to the applied axial tensile force.

The present disclosure includes apparatuses for a surgical reloadable cartridge assembly. An example apparatus includes a blade assembly which comprises leaves and an I-beam. In an example there are two outer leaves and at least one inner leaf. The two outer leaves are connected to the I-beam. The at least one inner leaf is not connected to the outer leaves and is connected to the I-beam with a connection that allows the at least one inner leaf to move relative to the I-beam while not being pulled away from the I-beam when tension is applied to the at least one inner leaf.

This application provides a smoke-venting energy device and a surgical robot. The smoke-venting energy device includes an instrument housing assembly, a forceps assembly, and an instrument shaft. The forceps assembly includes an actuator, an insulating base, and a wrist joint; the instrument housing assembly has an instrument cable; the instrument shaft connects the forceps assembly and the instrument housing assembly, and the instrument cable passes through the instrument shaft and connects to the forceps assembly to drive the forceps assembly to perform surgical actions; a smoke-collecting component is disposed inside the instrument shaft to form a smoke-collecting chamber with the inner wall of the instrument shaft; the smoke-collecting chamber communicates with the smoke-collecting port and extends to the external surgical area, so that the smoke generated during the surgical actions enters the smoke-collecting chamber through the smoke-collecting port and is eventually discharged to the external surgical area, which can maintain a clear field of vision in the surgical area, which is beneficial for the doctor to accurately judge and operate the surgical area, and improve the continuity and safety of the surgery.

A surgical tool includes a drive housing having a drive input mounted thereon and a shaft extending distally from the drive housing that terminates at an end effector. A knife assembly of the surgical tool includes a blade member defining a cutting edge at a distal end thereof and disposed within the end effector. The blade member is constructed of a first material such a stainless-steel. The knife assembly also includes a drive rod extending through the shaft and having a proximal end operably coupled to the drive input to translate the drive rod longitudinally through the shaft and the blade member through the end effector in response to actuation of the drive input. The drive rod further includes a distal portion constructed of a second material dissimilar to the first material, and the distal portion of the drive rod is coupled directly to the blade member.

Systems for an augmented reality system including a plurality of cameras positioned in orthogonal relation to each other in operative association with an image scanner and a processor operable for producing a stereoscopic view in which a virtual surgical target and a planned insertion path for a surgical device are overlaid in the stereoscopic image produced by the first and second cameras at different angles by the processor to provide real-time image guidance to the user.

The invention discloses a surgical robot action recognition and early warning system based on multi-modal fusion, and relates to the technical field of surgical action image data processing. The surgical robot action recognition and early warning system based on multi-modal fusion comprises an intraoperative view field interference monitoring module; a multi-modal feature fusion monitoring module; and a surgical action recognition monitoring module. According to the method, the intraoperative view field interference analysis is carried out, whether image data self-adaptive repair is adopted or not is determined based on the intraoperative view field interference analysis result, and a qualified repair image is obtained; finally, whether dangerous action grading early warning is carried out or not is determined based on the operation action recognition result, the effect of improving the timeliness of real-time recognition and early warning response of the operation robot to the key actions in the operation is achieved, and the problem that in the prior art, the timeliness of recognition and early warning of the operation robot to the key actions in the operation is low is solved.

This invention discloses a split-type vascular interventional surgical robot, comprising a catheter robot and a guidewire robot. The catheter robot and guidewire robot can communicate with each other and need to cooperate to complete surgical actions. Each catheter robot and guidewire robot includes a base device, a torso device, a head and arm device, and a propulsion mechanism. A position sensor device is also fixed on the guidewire robot to detect the direction and distance of movement of the catheter bed, ensuring that both robots perform the same actions while remaining relatively stationary with respect to the catheter bed panel. The surgeon can control the robot's gripper to push the guidewire and catheter into the designated location in the patient's body using a control handle outside the operating room, avoiding the risk of X-ray injury to the surgeon and completing the interventional angiography and treatment procedure. This invention employs a split-type design, achieving the same effect as actual interventional surgery performed by a surgeon within a very small volume.

A trocar holder of the surgical robot includes a grip assembly including a first grip portion and a second grip portion that are disposed to face each other and configured to move closer to or away from each other, a holder body to which at least a part of the grip assembly is connected, a power generation device including a driving motor configured to generate power for driving the grip assembly, and a power transfer device disposed in the holder body and configured to transfer the power generated by the driving motor to the grip assembly.

A surgical tool-fixing device for a surgical robot includes: a sleeve supporting a surgical tool including a shaft; a chuck device part including a chuck body to which the sleeve is coupled, chucks selectively provided inside the chuck body and selectively clamping the shaft to hold the surgical tool, and an operation force applying portion applying operation forces for clamping and unclamping operations of the chucks; and a holder part installing the chuck device part thereon, mounted to a distal end of a robot arm, and including a sleeve supporting portion holding and supporting the sleeve not to shake, wherein the sleeve includes a first sleeve fastening portion formed in a direction facing the sleeve supporting portion of a hollow sleeve body formed with a shaft insertion hole, and the sleeve supporting portion is formed with a second sleeve fastening portion to couple with the first sleeve fastening portion.

The invention provides a dynamic decision-making method for a surgical robot, and the method comprises the steps: obtaining surgical video data and a corresponding surgical gesture tag sequence in the operation process of the surgical robot, and generating a structured text description based on the gesture tag sequence; respectively extracting a visual feature sequence and a text feature sequence for the operation video data and the structured text description, carrying out cross-modal semantic alignment on the visual feature sequence and the text feature sequence, carrying out action segmentation on obtained fusion features, and dynamically integrating multi-scale spatial-temporal features through an adaptive weight learning mechanism to obtain a predicted operation action sequence; and inputting the result into a preset causal rule device, performing causal time sequence inspection, correcting a prediction result when a causal rule is violated, and giving causal explanation of the detected operation state transition point and the abnormal event. According to the method, fuzziness of semantic understanding and adaptivity of multi-modal fusion can be cooperatively solved, a causal test mechanism is introduced, and a reliable cognitive basis is provided for autonomous decision making of the surgical robot.

A surgical robot and a surgical robot system is disclosed. The surgical robot comprises a first robot arm, a second robot arm connected to the end of the first robot arm and used for mounting and controlling the motion posture of a surgical instrument, and a controller that controls the motion of the axes of the first robot arm and the second robot arm, wherein the end of the first robot arm is provided with a linear guide portion for the second robot arm to move linearly; and the first robot arm is connected to the end of the linear guide portion that is close to the second robot arm and used for mounting an end of the surgical instrument.

A drive apparatus for surgical robot, and a surgical robot are disclosed, the apparatus comprising an assembly frame, multiple drive motors, at least one driver and a controller; the frame comprising a first frame plate and a second frame plate secured to the first frame plate; each drive motor being mounted on the first frame plate and having a power output end for connecting to and providing driving power for an external device; the driver being mounted on the second frame plate and connected electrically and communicatively to the controller and the drive motors, and being configured to cause the drive motors to output respective powers according to instructions of the controller for providing multiple driving powers for the external device. The surgical robot comprises the apparatus. The drive apparatus enables configuration of multiple drive motors and at least one driver within a surgical robotic actuation device with limited space.

The invention belongs to the technical field of computer vision and medical intelligent assistance, and discloses a high-efficiency and high-precision surgical action detection system based on a YOLOv11 architecture, the system takes YOLOv11 as a basic architecture, and the system is mainly improved by the following steps: deeply embedding an ESPPF module in a backbone network, and cooperatively capturing multi-scale spatial features through multi-branch convolution and pooling; an ST-MCAM module is inserted into the neck network, and collaborative modeling of multi-scale spatial features and inter-frame time sequence information is achieved; and replacing a prediction head with a DDPH prediction head, separating classification and bounding box regression tasks, and performing independent optimization. Through the synergistic effect of the three core modules, the multi-scale feature characterization capability, the space-time information utilization efficiency and the classification and positioning precision of surgical action detection are effectively improved, meanwhile, good real-time performance is kept, the system can be integrated into an intelligent surgical auxiliary system, technical support is provided for real-time monitoring and auxiliary decision making of minimally invasive surgery, and the system is suitable for popularization and application. The important clinical application value is realized.

According to an aspect there is provided a system configured to control a surgical impactor comprising a linear motor, the system comprising circuitry configured to: receive a first set of one or more magnetic field measurements from a first set of one or more magnetic sensors at a first end of a stator of the linear motor; receive a second set of one or more magnetic field measurements from a second set of one or more magnetic sensors at a second end of the stator, the second end being opposite to the first end; select one of the first set of one or more magnetic field measurements and the second set of one or more magnetic field measurements based on a relative strength of the first set of one or more magnetic field measurements and the second set of one or more magnetic field measurements; and issue control signals to control the linear motor based on the selected one of the first set of one or more magnetic measurements and the second set of one or more magnetic measurements.

The utility model discloses a controllable windmill-shaped PFA catheter, and relates to the technical field of catheter ablation and medical instruments, the controllable windmill-shaped PFA catheter comprises a catheter (1), the catheter (1) is led out from a catheter body (2), the head end of the catheter is of a windmill structure, a magnetic sensor and a plurality of electrodes are arranged on a framework of the windmill structure, and the windmill structure can be contained in a sheath tube; one end of the catheter body (2) is led out of the catheter (1), and the catheter body (2) is arranged in the sheathing canal; one end of the catheter handle (3) is led out of the catheter body (2), the catheter handle (3) is matched with a gear assembly of an electrophysiological interventional instrument, and the gear assembly at least comprises three sets of gears used for achieving corresponding operation actions. According to the windmill-shaped PFA ablation catheter, the electrodes are evenly distributed on the windmill-shaped framework, even electrode distribution is formed on the target pulmonary vein, and an operator can conduct ablation without replacing the catheter while completing three-dimensional point mapping dissection.

The invention provides a master manipulator structure for a puncture robot and a master-slave type surgical robot auxiliary puncture system, belongs to the technical field of medical instruments, and is particularly used for operating a slave manipulator robot at the far end to execute surgical actions. Comprising a rack, a posture adjusting mechanism, a needle inserting mechanism, a force feedback mechanism, a first position detection assembly and a second position detection assembly. The force feedback mechanism is connected with the linear moving part and used for transmitting force to the linear moving part according to the puncture action of the slave hand robot at the far end. Through the main manipulator structure, an operator can control the slave manipulator robot to complete an operation action outside the CT room, and the operator is prevented from being exposed in a radiation environment for a long time; the force feedback mechanism is connected with the linear moving part, when an operator operates the puncture needle rod to do reciprocating linear movement, the force feedback mechanism can provide force for the linear moving part so as to simulate the resistance of the tissue when the puncture needle pierces into the human tissue, a real operation scene is simulated as much as possible, and the operation experience of the operator is improved.

A surgical tool includes a drive housing having a drive input mounted thereon and a shaft extending distally from the drive housing that terminates at an end effector. A knife assembly of the surgical tool includes a blade member defining a cutting edge at a distal end thereof and disposed within the end effector. The blade member is constructed of a first material such a stainless-steel. The knife assembly also includes a drive rod extending through the shaft and having a proximal end operably coupled to the drive input to translate the drive rod longitudinally through the shaft and the blade member through the end effector in response to actuation of the drive input. The drive rod further includes a distal portion constructed of a second material dissimilar to the first material, and the distal portion of the drive rod is coupled directly to the blade member.

A surgical robot configured to generate a smooth trajectory in real time to control the pose of an end effector of a robotic arm. The surgical robot includes a plurality of actuators that control the movement of the robotic arm, an end effector coupled to and configured to be driven by the actuators, and a processor coupled to the actuators. The processor is configured to receive an input command to move the end effector from a current pose to a destination pose, compute a next pose on a smooth trajectory between the current pose and the destination pose based on a simulation of a virtual force applied to a virtual mass object to move the virtual mass object from the current pose to the next pose, and drive at least one of the plurality of actuators to transition the end effector to the next pose based on the applied virtual force.

The present invention relates to a knife locking wedge. A surgical suturing device includes an adapter assembly and a reload assembly supported on a distal portion of the adapter assembly. The reload assembly includes a housing shell, a staple cartridge that supports staples, a staple pusher, a staple actuator, a knife carrier, and a locking member. The staple pusher is movable from a retracted position to a forward position to eject the staples from the staple cartridge. The staple actuator is movable from a retracted position to a forward position to move the staple pusher from its retracted position to its forward position. The knife carrier is movable between a retracted position and a forward position. The locking member is supported on the knife carrier. The locking member is configured to engage the staple actuator in its forward position while engaging the knife carrier in its retracted position, such that the locking member prevents the knife carrier from advancing again.

A control system for implementing a safety mechanism for a surgical robot, the surgical robot operable in a clinical mode in which the surgical robot can perform surgery in response to inputs received at a surgeon input device of a remote surgeon console, the clinical mode comprising safety features, and the surgical robot operable in a service mode in which tests and diagnostics can be run on the surgical robot in response to inputs received from a service interface, the service mode mirroring the clinical mode except in that several of the safety features of the clinical mode are disabled, the control system configured to, in the safety mechanism: receive a transition command to transition the surgical robot to a surgical clinical mode or a calibration clinical mode in which the surgical robot is calibrated for surgery; in response to receiving the transition command, determine if the surgical robot is operating in the service mode; and if the surgical robot is determined to be operating in the service mode, prevent the surgical robot from being transitioned to the surgical clinical mode or the calibration clinical mode.

In some implementations, a device may obtain one or more outcome parameters for a robotically-assisted procedure that is associated with a robot. The device may generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure that includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants. The device may provide the protocol for display via a user interface. The device may obtain, via the user interface, an approval indication of the protocol. The device may transmit one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

A surgical tool includes a drive housing, a capstan assembly rotatably mounted within the drive housing and including a drive gear rotatable about a rotational axis, a longitudinally driven gear arranged within the drive housing and engageable with the drive gear such that the longitudinally driven gear translates longitudinally in response to rotation of the drive gear, a drive rod operatively coupled to and extending from the longitudinally driven gear, and a coupling that rotatably couples the drive rod to the longitudinally driven gear such that the drive rod is rotatable about a longitudinal axis of the drive rod and relative to the longitudinally driven gear.

Apparatus and methods are described that include a control component unit (30) that includes X, Y and Z linear motion axes of rotation (52X, 52Y, 52Z) and pitch, roll and yaw angle motion axes of rotation (70, 72, 74). The control component tool (32) is coupled to the X, Y and Z linear motion rotation axes (52X, 52Y, 52Z) and the angular motion rotation axes (70, 72, 74) and is configured such that when the operator moves the control component tool in the linear X, Y and Z directions, rotational motion is generated about the linear motion rotation axes (52X, 52Y, 52Z), and when the operator moves the control component tool by roll, pitch and yaw angular motion, the rotational motion is generated about the linear motion rotation axes (52X, 52Y, 52Z). A rotational movement is generated about a respective angular movement rotational axis (70, 72, 74). The control part tool is substantially balanced about the linear movement axis of rotation (52X, 52Y, 52Z) and the angular movement axis of rotation (70, 72, 74). Other applications are also described.

The application discloses a force feedback surgical robot system and a force feedback implementation method. The system comprises a control end and an execution end. The control end comprises a first master control unit, a first driving mechanism, a linkage connected mechanical mechanism and a motion control device. The execution end comprises a second master control unit and a second driving mechanism. The second driving mechanism drives the robot end to perform a surgical action. The second master control unit collects the rotating speed of the second driving mechanism and the input current in real time. When the first master control unit judges that the rotating speed at the current sampling moment decreases by more than 5% compared with the last sampling moment, the rotating speed is not zero and the current increases by more than a preset value, the first control instruction is generated according to one or more of the electrical parameters and is transmitted to the first driving mechanism. The first driving mechanism receives the first control instruction and drives the mechanical mechanism to move and / or deform. The application can feedback the resistance of the robot end to the motion control device for the doctor to perceive, and can reduce the surgical risk.

The utility model provides a kind of flexible mechanical arm and flexible surgical robot, wherein flexible mechanical arm includes: flexible mechanical arm includes flexible arm base, multiple flexible arm units, connecting unit, surgical action structure and drive unit, flexible arm base is used to connect with the main body of flexible surgical robot;Multiple flexible arm units are sequentially spaced along the axis from flexible arm base;Connecting unit sequentially connects flexible arm base and multiple flexible arm units, connecting unit is spaced apart parallel with axis, connecting unit has the elastic force of driving multiple flexible arm units deflect along first deflection direction;Surgical action structure is arranged on the flexible arm unit of end;Drive unit is used to drive multiple flexible arm units deflect towards second deflection direction opposite with first deflection direction and is used to drive surgical action structure to realize surgical action.Flexible mechanical arm realizes high flexibility rotation by the elastic force and the structure design of two-way deflection mechanism optimization.