67 results about "Surgical robot" patented technology

This invention relates to a quick-release and fixing device for a lasso-driven puncture surgical robot, comprising a lasso driving unit, a lasso, a quick-release lasso angle fixing guide rail, and a puncture robot body. The lasso driving unit is located outside the MRI machine, and the puncture robot body is placed inside the MRI machine bed. The lasso is output from the lasso driving unit, guided by the quick-release lasso angle fixing guide rail arranged along the transmission path, and then connected to the puncture execution end of the puncture robot body. The quick-release lasso angle fixing guide rail is used to limit the bending angle and direction of the lasso, and can complete the assembly and disassembly of the guide rail and the lasso. A static model of the single lasso transmission system is constructed based on the constant bending angle of the lasso throughout the entire path. The fixed bending angle constant is used to replace the traditional time-varying bending angle. The tensile loss and displacement error of the lasso throughout the entire path are calculated. A lasso position and force reverse transmission compensation model is constructed to simplify the transmission control algorithm. There is no need to set displacement and force sensors at the puncture execution end; the displacement and puncture force control of the puncture execution end are achieved only through feedback from the lasso driving end.

This invention provides an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. The piezoelectric drive mechanism enables multi-degree-of-freedom rotation of the steering system, thereby driving the fiber optic channel to achieve precise laser steering control, improving surgical flexibility and accuracy. The steering system is connected to the external structure via an elastic support component. This elastic support can apply a preset preload to the steering system while ensuring that the system's free rotation performance is not affected, allowing the steering system to achieve three degrees of freedom rotation in space, corresponding to a conical angle range of ±20° from the half-apex angle.

This application provides a control method for a medical system, a transducer, and the medical system itself. The medical system includes a surgical robot, an energy generator, ultrasonic surgical instruments, and a transducer. The ultrasonic surgical instruments are mounted on the surgical robot, and the energy generator is connected to the ultrasonic surgical instruments via the transducer, with the energy generator and transducer having a communicative connection. The control method for the medical system includes: the transducer's input device receiving user input and generating and transmitting an excitation control signal based on the user input; the transducer's signal transmitter transmitting the excitation control signal to the energy generator; and the energy generator's controller controlling the excitation of the ultrasonic surgical instruments based on the excitation control signal. According to an embodiment of this application, by adding an excitation control component to the transducer, the excitation of the ultrasonic scalpel is directly controlled via the excitation control component on the transducer, replacing the external foot pedal. This simplifies the medical system structure, improves the space utilization of the operating room, and reduces the risk of accidents.

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 system for monitoring vibrations induced in a surgical robot includes an end effector having a first marker coupled thereto, a human interface device (HID) for actuating the end effector, and a processor communicatively coupled to the HID. The processor is configured to actuate the end effector based on inputs provided by the HID and to detect an actual position of the first marker attached to the end effector. Further, the processor is configured to determine an expected position of the marker based on a kinematic model of the surgical robot and the inputs provided by the HID and to determine a position error between the actual position of the first marker and the expected position of the first marker.

This invention relates to a movable axis assembly, a robotic arm, and a surgical robot. The movable axis assembly includes a fixed member, a movable member linearly movable relative to the fixed member and mounted on the fixed member, a drive mechanism for providing linear movement power to the movable member relative to the fixed member, a braking mechanism for braking the movable member relative to the fixed member, and a safety mechanism. The safety mechanism is used to stop the movable member when the braking mechanism fails and the movable member accelerates under the action of inertia or the drive mechanism. In the movable axis assembly, due to the introduction of the safety mechanism, the movable member can be prevented from making unnecessary movements beyond the set parameters, and the use of robotic arms and handheld robots using this movable axis assembly is safer and more reliable.

This invention provides a surgical robot system and its scanning method, relating to the field of robotics. The system includes a robot body, a scanning mechanism, and a robotic arm. The scanning mechanism includes a rotating base and two connecting arms. The rotating base is rotatably mounted on the robot body about a first axis extending in a front-rear direction. A through hole extending along the first axis is formed on the rotating base. The rear ends of the two connecting arms are respectively connected to the two sides of the rotating base. The robotic arm is disposed on the robot body, and its front end passes through the through hole and extends between the two connecting arms. A surgical instrument assembly is provided at the front end of the robotic arm. In this invention, after the robotic arm drives the surgical instrument assembly to the surgical position between the two connecting arms, the rotating connecting arms can precisely avoid each other from the robotic arm. This allows the connecting arms to rotate 360° when the robotic arm is in the surgical position, facilitating the monitoring of the position of the surgical instrument assembly within the surgical patient's body.

This invention provides a method and system for monocular endoscope depth estimation based on instrument segmentation. It can assist surgical robots in performing safe operations by calculating the relative depth between instruments and tissues. The specific process is as follows: using a trained instrument segmentation model, instruments are segmented in the dataset to be estimated in terms of depth, and the segmentation results are overlaid as a colored transparent layer mask onto the dataset; using the trained depth estimation model, the depth of the data in the overlaid mask dataset is estimated to obtain the estimated depth value.

The application provides a surgical robot arm configuration adjustment method, device, equipment and medium. The method comprises the following steps: in the case of meeting the configuration adjustment condition, controlling the surgical robot arm to rotate at a first joint, adjusting to an avoidance configuration in the mode of the first joint group and the second joint group performing compensation movement from an initial configuration; controlling a surgical instrument on the surgical robot arm to perform posture adjustment or position adjustment based on the avoidance configuration; wherein the position of the remote center of motion of the surgical instrument remains unchanged during the adjustment process of the robot arm from the initial configuration to the avoidance configuration, which effectively increases the distance between the avoidance target joint and the surrounding environmental obstacles without the need for additional hardware mechanisms and without interrupting the surgical operation, improves the automation level and adjustment accuracy of the surgical robot arm in the intraoperative avoidance, and guarantees the continuity and safety of the surgical operation.

A reinforcement learning method for path marking and automatic planning for a personalized virtual laparoscopic surgical robot, comprising: defining a state space and an action space of the virtual laparoscopic surgical robot in an abdominal cavity environment (S1), wherein the state space is used for describing current configurations of a surgical environment, and the action space is used for defining actions that can be executed by a robotic arm in the abdominal cavity environment; designing a reward function mapping the state space and the action space to a real-valued evaluation index, for representing an immediate reward obtained by executing action a in state S (S2); constructing a hierarchical DQN architecture, for decomposing a surgical path planning task into two levels: high-level policy planning and low-level action execution (S3); and performing reinforcement learning training on a path marking and automatic planning task of the virtual laparoscopic surgical robot on the basis of the hierarchical DQN architecture (S4). The method is a learning method capable of optimizing surgical path planning under the uncertainty of virtual laparoscopic surgery by incorporating systematic considerations of surgical safety.

This application relates to the field of medical device control technology, specifically to an endoscope flipping control method, device, and laparoscopic surgical robot. The method includes activating an endoscope control mode in response to a first operation; the endoscope control mode is used to adjust the field of view of the endoscope; in the endoscope control mode, in response to a first flipping operation, controlling the endoscope to flip 180°; the first flipping operation is used to indicate that the rotation angle of the wrist rotation joint of the master hand handle is greater than a first angle; the rotation angle is the angle between the initial position and the final position of the wrist rotation joint; and exiting the endoscope control mode in response to a second operation. This application combines the flipping function of the endoscope with the rotation function of the master wrist rotation joint, allowing the surgeon to conveniently and efficiently perform the flipping operation of the endoscope without leaving the master hand operation or the endoscope's field of view, thus avoiding affecting the continuity of the surgery and consequently the surgeon's operating experience.

The utility model discloses a variable bone hook and depth limiting type spinal minimally invasive decompression operation robot belongs to medical instrument technical field. The robot passes through multiaxis mechanical arm drive guide connecting block, drives depth limiting equipment dynamic regulation cutting tool device and the working depth of detection device. Detection device adopts the variable bone hook structure of memory alloy bone hook subassembly or mechanical lever control, and cutting tool device retreats the knife, and through low temperature trigger mode switching or angle adjustment realizes safe separation, avoids secondary trauma. Cooperation elastic adjusting device real -time compensation vertebral plate outer surface safety height fluctuation, prevents the knife of cutting tool device and installs the knife and excessively invades the spinal canal. Control equipment coordinates multiaxis mechanical arm, guide motor and depth adjusting mechanism, realizes automatic positioning and dynamic limiting. The utility model has the functions of cutting tool safety feed, high accuracy positioning, self -adaptation depth compensation and safe knife withdrawal, can reduce minimally invasive spinal decompression operation risk.

This application applies to the fields of computer-aided medical technology and surgical robot technology, providing a mobile platform unicompartmental knee replacement surgery robot system, device, and computer program product. The system includes: a preoperative planning module for determining the surgical tool combination and the implantation position of the prosthesis; an intraoperative navigation module for performing joint space balance assessment based on the implantation position and determining the model of the first drilling tool to be used based on the joint space balance assessment result; and an intraoperative execution module for controlling a robotic arm to operate each surgical tool in the surgical tool combination to perform various steps of the mobile platform unicompartmental knee replacement surgery. Using this system, the model of the drilling tool can be directly determined based on the joint space balance assessment result, eliminating the need to sequentially evaluate multiple models of drilling tools, thus improving surgical efficiency and reducing the impact on the patient during the drilling tool model evaluation process.

This invention relates to the field of dental surgery technology and discloses an intelligent dental surgical robot and its control system. The robot includes a main body, a display component, a locking component, a moving component, and a control system. The display component is mounted on the upper part of the robot body, the locking component is installed inside the display component, and the moving component is installed inside the robot body. The control system is built into the control chamber of the robot body and is electrically connected to the display component, locking component, and moving component. It is used to realize motion control of each component, surgical data interaction, equipment status monitoring, and abnormal warning. The display component of this invention uses a slider and an adjustment block to facilitate adjustment of the height of the touch screen according to the needs of medical personnel, improving the comfort of medical personnel of different body types when using the touch screen. Simultaneously, the locking component uses a locking block and a locking slot to facilitate adjustment of the angle of the touch screen while ensuring the stability of the touch screen after angle adjustment.

1. The name of the design product: smart surgical robot graphical user interface for animal electrode implantation of electronic equipment. 2. The use of the design product: electrode implantation surgery for animals. 3. The design points of the design product: in the graphical user interface. 4. The picture or photo that best indicates the design points: interface change state figure 1. 5. The use of the graphical user interface: user interaction and information display. 6. Human-computer interaction method of graphical user interface: The main view is the software login interface. After entering the account and password and clicking "Login", the interface changes as shown in Figure 1. Clicking the "+" in the upper left corner of Figure 1 will lead to Figure 2. After entering the parameters in Creating a New Surgery and clicking "Next", the interface changes as shown in Figure 3. Clicking "Start Calibration" in Figure 3 and then "Next" will lead to Figure 4. Clicking the "Confirm" button in Figure 4 and then "Next" will lead to Figure 5. Clicking the "Confirm" button and then "Next" in Figure 5 will lead to Figure 6. Clicking the "Mark" button in interface state diagram 6 and then clicking "Next" will proceed to interface state diagram 7. Clicking the "Backup" button in interface state diagram 7 and then clicking "Next" will proceed to interface state diagram 8. Clicking the "Open Window" button in interface state diagram 8 and then clicking "Next" will proceed to interface state diagram 9. Clicking the "Finish" button in interface state diagram 9 and then clicking "Next" will proceed to interface state diagram 10. Clicking "Next" in interface state diagram 10 will proceed to interface state diagram 11. Clicking "Next" in interface state diagram 11 will proceed to interface state diagram 12. Clicking the "..." button in interface state diagram 12 will proceed to interface state diagram 12. After confirming, click "Next" to proceed to interface state change diagram 13. Click the "Complete" button in interface state change diagram 13, then click "Next" to proceed to interface state change diagram 14. Click the "OK" button in interface state change diagram 14, then click "Next" to proceed to interface state change diagram 15. Click "Next" in interface state change diagram 15 to proceed to interface state change diagram 16. Place the implantation device, click "Ready Position," then click "Next" to proceed to interface state change diagram 17. Move the implantation device so that the electrode tip is in the center of the opening window, avoiding blood vessels, and after contacting the meninges, click "Avoid," then click "Next" to proceed to interface state change diagram 18. In interface state diagram 18, click "Avoidance Completed" and then "Next" to proceed to interface state diagram 19. In interface state diagram 19, click "Next" to proceed to interface state diagram 20. In interface state diagram 20, click "Confirm" and then "Next" to proceed to interface state diagram 21. In interface state diagram 21, click "Remove Needle" to proceed to interface state diagram 22. In interface state diagram 22, click "Confirm" to proceed to interface state diagram 23. In interface state diagram 23, click "Confirm" to proceed to interface state diagram 24. After preparing the implantation device to the exitable state, click the "Exit" button. Finally, the surgery ends. Among them, Usage Status Reference Figure 1 to Usage Status Reference Figure 23 are usage status references for Interface Change Status Figure 2 to Interface Change Status Figure 24, respectively.

This document discloses a mobile interface device for controlling a robot-assisted surgical system. The mobile interface device provides the surgeon with a direct view of the surgical robot system and allows the surgeon to easily and intuitively select, control, or manipulate various target components of the surgical robot system. The mobile interface device captures real-time images of the surgical robot system to automatically identify the robotic arm appearing at the center of the captured real-time image as the target component selected by the surgeon. Based on the current pose or position of the target component, the mobile interface device generates a list of target poses and control options. The surgeon can select control options to select a target pose and manipulate the target component, thereby commanding the selected robotic arm to perform robot-assisted movement from the current pose to the target pose.

The application discloses a minimally invasive spinal fusion system based on artificial intelligence, which comprises the following steps: after the deviation warning signal is obtained, the instrument trajectory data is subjected to smoothing filtering processing, the filtered trajectory sequence is obtained, and the filtered trajectory sequence is matched with the updated model grid; the dynamic path adjustment parameter is determined and is built into the surgical robot to adjust the vibration frequency parameter and improve the control experience level; the subsequent image data is processed by using the iterated model version, the temporary deviation caused by the instrument shaking is determined, and the temporary deviation is corrected through the path planning algorithm; the corrected navigation instruction sequence is generated, and the real-time feedback mechanism is applied to transfer the intuitive deviation information; the surgical instrument is driven to adjust the movement through the navigation instruction sequence, the adjusted trajectory data is obtained, and the deviation of the optimized path is compared and optimized in a cycle; if the deviation continuously falls below the threshold value, the current model is maintained, and the final navigation model is output to ensure reliable consistency.

This invention discloses a joint replacement surgical robot system and control method based on digital twin technology. In the system, the operating table is fixed with a head fixation mechanism, a lumbar fixation mechanism, and a joint motion mechanism for fixing and adjusting the patient's limbs. The robotic arms of the dual-arm robot are equipped with a 3D imaging scanning device, a binocular vision navigation device, and surgical instruments. The main controller of the main carriage is communicatively connected to the joint motion mechanism, the 3D imaging scanning device, the binocular vision navigation device, the surgical instruments, and the dual-arm robot. Through the technical solution of this invention, the surgical process can be planned in real-time using digital twin technology, a digital model of the bone and joint can be established, and real-time synchronous dynamic analysis results can be provided as surgical guidance data. This eliminates the need for a guide plate positioning process, allowing the surgery to be completed in a very short time, greatly improving surgical efficiency and minimizing the trauma to the patient caused by fixation braces and guide plates in conventional surgery.

Provided is a surgical robot system including at least one driving element and a processor configured to control the driving element. The driving element includes: a first member; a second member configured to change a relative position of the second member with respect to a first member; and at least one joint member configured to provide a rotational coupling between the first member and the second member, wherein the at least one joint member is an elastic joint member configured to allow twisting between the first member and the second member, which are targets of rotational coupling due to an external force.

This utility model provides a guiding device, which includes a guiding body, a guiding end, and a needle holder. The guiding body includes a connecting portion located at one end of the guiding body. The guiding end is detachably connected to the connecting portion, and the needle holder is detachably connected to the end of the guiding end away from the guiding body. This application also provides a puncture surgical robot equipped with a guiding device.

This invention discloses a minimally invasive gripping device for a surgical robot, including surgical forceps. The forceps include an inner forceps and an outer tube fitted over the inner forceps. The device also includes a base, a slide connected to the base, a first linear drive for driving the slide to slide on the base, a second linear drive for driving the outer tube to slide along its own axis, and a rotary drive for driving the inner forceps to rotate around its own axis. The surgical forceps are connected to the second linear drive and the rotary drive via a transmission structure. The slide has a mounting base for mounting the transmission structure. The first linear drive allows the entire surgical forceps to move linearly, while the second linear drive allows the outer tube to move linearly relative to the inner forceps, thus achieving gripping of objects. The rotary drive allows the inner forceps to rotate independently, resulting in more precise surgical operations and reduced damage to the surgical target.

This invention relates to a stretchable flexible continuum and a continuum surgical robot. The flexible continuum has a cylindrical structure with multiple V-shaped grooves evenly spaced along both generatrix A and generatrix B in the circumferential direction. The V-shaped grooves on generatrix A and generatrix B are staggered along the central axis of the continuum. The depth of each V-shaped groove is greater than half the diameter of the continuum. Two arc-shaped notches are respectively provided on the two groove beams corresponding to the openings of the V-shaped grooves. The two groove beams are connected at the bottom of the V-shaped grooves by an arc-shaped connecting part. Except for the V-shaped grooves connected to the joint head and tail of the continuum, the two groove beams in any V-shaped groove have the same thickness. Through a specific groove design, the flexible continuum of this invention can achieve a large range of flexible bending deformation while also possessing high stretching performance.

The application provides a motion control device of a surgical robot, comprising a double-arm linkage assembly, a yaw adjustment assembly; a terminal execution assembly is connected to the double-arm linkage assembly through the yaw adjustment assembly; the double-arm linkage assembly realizes the stretching and contraction of the terminal execution assembly along a first direction and the pitching of the terminal execution assembly along a second direction through the cooperative motion of a first mechanical arm and a second mechanical arm; the yaw adjustment assembly comprises a first yaw reference element and a second yaw reference element; wherein the second yaw reference element is movably connected between the terminal execution assembly; through the relative motion of the first mechanical arm and the second mechanical arm, the second yaw reference element is driven to shift along a third direction relative to the terminal execution assembly, and then the terminal execution assembly generates a yaw motion and changes its spatial orientation; accordingly, the accuracy and efficiency of the pose adjustment of the terminal execution assembly can be improved while saving space.

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.

This manual provides a training system, method, equipment, and medium for a surgical robot. In this manual, multiple student clients can remotely connect to a teacher client via a cloud server. The teacher client collects and uploads surgical videos to the cloud server, which distributes the videos according to the display permissions configured for each student, enabling students to remotely observe real surgical procedures, breaking geographical limitations and improving equipment utilization. Student clients can send remote operation commands carrying their own identifiers to the teacher client via the cloud server. The teacher client stores the operation permissions of each student and verifies them based on the identifiers, thereby supporting the flexible allocation of operation permissions for the same robot to different students and realizing various training modes from single-person operation to multi-person collaboration. The teacher client also stores a command arbitration mechanism to determine the priority of operation command execution, providing security for multi-terminal remote collaboration and enabling students to practice in real remote surgical scenarios.

The robotic system includes a processor and a robotic platform that communicates with the processor. The robotic platform is configured to be coupled to a first procedure-specific end-effector. The first procedure-specific end-effector is controllable by the robotic platform and selected to perform a first type of procedure. The processor is configured to receive a first procedure-specific code, execute the first procedure-specific code, and cause the robotic platform to operate the first procedure-specific end-effector to perform the first type of procedure.

This application provides a method for reconstructing virtual surgical instruments for a remote surgical robot and a remote surgical robot. The remote surgical robot includes a first main console and a patient-side surgical system, which are connected via a long-distance network. The patient-side surgical system includes surgical instruments for performing surgery and an endoscope for acquiring the surgical environment. The first main console controls the movement of the surgical instruments and the endoscope. It acquires the region of interest in the image acquired by the endoscope based on a preset machine learning model and transmits the image of the region of interest to the first main console. It also reconstructs a virtual surgical instrument based on a preset surgical instrument model. The virtual surgical instrument and the image of interest are displayed together on the first main console, thereby reducing the bandwidth occupied by data transmission.

This application discloses a skeleton-based registration method and apparatus, a surgical robot, and an electronic device. The method includes: acquiring a first three-dimensional point cloud and a second three-dimensional point cloud, wherein both the first and second three-dimensional point clouds include information corresponding to the skeleton of a first object. The first three-dimensional point cloud is obtained based on first information, and the second three-dimensional point cloud is obtained based on second information. The first information includes target information acquired by a first acquisition device at a first moment, and the second information includes target information acquired by a second acquisition device at a second moment. The target information includes information related to the first object, and the first moment and the second moment are different. The first and second three-dimensional point clouds are then registered to obtain a first registration parameter. The first registration parameter is used to register the target information acquired by the first acquisition device and the target information acquired by the second acquisition device. The method provided in this application can improve the accuracy of the first registration parameter.