78 results about "Surgical action" patented technology

The invention discloses a compound quantitative index construction method for repetitive training of surgical actions. The method comprises the following steps: respectively converting a standard path corresponding to a specified action and M training paths into a standard path point set and a training path point set in a three-dimensional space; for each training path, calculating the distance between each training path point and the corresponding standard path point, and sorting according to a sequence from large to small to obtain a sorting distance set; calculating the volume of a cylinder taking a standard path as a central axis based on each distance value in the sorting distance set; traversing the distance values in the sorting distance set in sequence, and checking the reliability of a plurality of training paths based on a cylinder range corresponding to each distance value dj to obtain a reliable path number Tj under the distance value dj; and for each distance value dj, taking the ratio of Tj to M as reliability Rj, taking the volume of the corresponding cylinder as an action space volume Vj, and constructing to obtain a reliability volume RVj = (Vj, Rj), thereby quantifying the ability of the medical personnel to repeatedly complete the specified action.

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 tool shaft is decoupled from the cable drive load. Providing a surgical tool including a hollow shaft and a cable extending within the shaft, the cable being isolated from an external force applied to the shaft; the shaft and the carriage are included as connecting rods of the four-bar mechanism, and the four-bar mechanism further comprises a first side connecting rod and a second side connecting rod. The first side link and the second side link are rotatably mounted to the carriage at a first distal pivot axis and a second distal pivot axis, respectively, and are rotatably mounted to the shaft at a first proximal pivot axis and a second proximal pivot axis, respectively; a length of cable extends between a distal pulley rotatably mounted at the carriage and a proximal pulley rotatably mounted at the shaft, and a length of cable extends within the shaft; the distance between the first distal pivot axis and the first proximal pivot axis matches the distance between the axis of the distal pulley and the axis of the proximal pulley such that rocking movement of the four-bar linkage due to an external force on the shaft does not exert a force on the cable.

The utility model belongs to the technical field of intelligent surgical robots, and particularly relates to a multi-pedal surgical robot console. The multi-pedal surgical robot console comprises a base, a lifting assembly and a pedal operating mechanism, a first containing space is formed in the base, and the first containing space can contain two feet; the lifting assembly comprises a lifting column and a handrail, the lifting column is arranged on the base, and the handrail is arranged on the lifting column and can move so as to change the distance between the handrail and the base; the pedal operating mechanism comprises a pedal holder and a pedal key group, the pedal key group comprises at least seven pedal keys, the pedal holder is arranged in the first accommodating space, the pedal key group is arranged on the pedal holder, the pedal holder can move and rotate relative to the base, and the pedal key group is used for controlling the surgical robot to implement surgical actions. A doctor is supported by the lifting handrail, so that damage to the body of the doctor due to long-time operation is reduced; the step key group is arranged to control the surgical robot, so that the difficulty of controlling the surgical robot to perform the surgery is reduced, and the surgical efficiency is 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.

The invention discloses an endoscopic surgery action recognition method and system and a storage medium, and is applied to the field of medical image recognition. Extracting feature maps of different levels of the endoscopic surgery video image, fusing low-level visual features, high-level semantic features and surgery action component features, and adopting mutual information distillation based on component feature space to reserve different component features and remove redundant information; non-target information distillation is carried out to eliminate head class consistency deviation, and head-deviation-free features are obtained; time dimension rich features are utilized, the influence of similar frames on the current frame is reduced, effective time features aligned with the surgical action component features are obtained, and time-space fusion features are obtained; positive and negative samples are constructed by adopting a comparative learning method, and tail features are enhanced by adopting a momentum-based sample updating strategy; and combining the head deviation-free feature, the space-time fusion feature and the tail enhancement feature to obtain a surgical action recognition result. According to the invention, the accuracy of surgical action recognition is ensured.

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 camera apparatus includes an elongated head assembly having a profile shape extending along a longitudinal axis. The elongated head assembly forms an angled distal tip oriented at a tip angle offset from the longitudinal axis. The angled distal tip may house a camera module and a light source in a stacked configuration.

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 belongs to the technical field of operation teaching, and discloses a cardiovascular interventional operation teaching model construction method and system. The method comprises the following steps that a real-time user portrait of a doctor is generated, and real-time operation action parameters under different operation schemes are obtained; constructing a real-time cardiovascular three-dimensional simulation model, and extracting real-time cardiovascular structure features; based on the real-time cardiovascular three-dimensional simulation model, a CFD simulation tool is used for simulation; constructing an order reduction model and a data analysis model by using a deep learning algorithm; and setting a teaching interaction interface, combining a real-time cardiovascular three-dimensional simulation model, a reduced-order model and a data analysis model, and constructing a cardiovascular interventional operation teaching model by using a digital twinborn technology. According to the invention, the problems of high cost investment, low teaching efficiency, poor learning effect, low experience degree and lack of customization in the prior art are solved.

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.

The invention belongs to the field of spinal operation equipment, and discloses an intelligent real-time nerve monitoring and early warning system and method based on a spinal operation robot, the system comprises a spinal operation robot body, the spinal operation robot body is integrated with a processor and a mechanical arm execution unit, and the mechanical arm execution unit is electrically connected with the processor; the electromyographic signal acquisition unit is electrically connected with the processor; when a spinal operation is performed on a patient, the electromyographic signal acquisition unit is used for acquiring electromyographic signals of the patient and uploading the electromyographic signals to the processor; the processor is used for carrying out risk identification on the electromyographic signals to obtain a surgical risk result, generating a risk early warning and a surgical action adjusting instruction based on the surgical risk result and sending the surgical action adjusting instruction to the mechanical arm execution unit, and the mechanical arm execution unit adjusts surgical action parameters when responding to the surgical action adjusting instruction. The use safety and reliability of the spinal surgery robot can be improved.

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.