347 results about "Surgical robot" patented technology

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention discloses a motion error dynamic compensation method applied to a surgical mechanical arm, and belongs to the technical field of surgical mechanical arm control and medical automation. The method comprises the following steps: firstly, acquiring position data of each joint encoder of the surgical mechanical arm, a motor current signal, a position feedback signal of an end effector, load change information and accumulative operation duration in real time; processing the data, fusing the data through adaptive Kalman filtering to estimate a joint dynamic error, inputting a load change rate and an accumulated operation time length into a pre-training error prediction model to output a compensation basic quantity, and fusing the load change rate and the accumulated operation time length to generate a real-time error compensation quantity; and then the compensation amount is superposed to a joint original control instruction to correct motion parameters, and finally the compensated tail end position deviation is analyzed, and a precision identifier or an adjustment prompt is generated and fed back to a control system. According to the method, real-time error compensation is achieved, the compensation precision and working condition adaptability are improved, it is guaranteed that the mechanical arm is stably positioned, and the surgical operation risk is reduced.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The present disclosure relates to a remote surgical robot system and a method for device interconnection therein. The method comprises: receiving second device information, which is sent by a server, of a pairable second device; acquiring target second device information, which is determined on the basis of the second device information, of a target second device that is expected to be paired, and sending a first pairing request to the server; receiving device network information, which is sent by the server when detecting that the first pairing request matches a second pairing request sent by the target second device, of the target second device; and establishing pairing with the target second device on the basis of the device network information, thereby implementing direct communication with the target second device. When the server detects that a pairing request initiated by a remote surgeon console matches a pairing request initiated by a patient surgery platform, device network information of a peer device is sent to at least one of the two for establishing the pairing, thereby avoiding incorrect pairing, ensuring the reliability of establishing the pairing, and improving the safety of remote surgery.

The invention discloses a path planning method based on clustering, a surgical robot and related products. The method comprises the following steps: acquiring a first three-dimensional CT image, wherein the first three-dimensional CT image comprises a skin area of a target object and a first tissue of the target object; an end point of the target path is determined from the first tissue. At least two first candidate points of the target path are determined from the skin region. And determining at least two first candidate paths based on the at least two first candidate points and the end point of the target path. And clustering the at least two first candidate paths to obtain at least one first path set. And determining a second path set from the at least one first path set, wherein the number of the first candidate paths in the second path set is greater than or equal to a second threshold. And determining a target path based on the second path set. Through the method, the error-tolerant rate of the target path can be improved.

The embodiment of the invention provides an intelligent bone drilling self-adaptive control method for a mechanical arm, which comprises the following steps: acquiring displacement deviation of the tail end of a drill bit of an orthopedic surgical robot, obtaining an error change rate through differential calculation, and combining a bone layer type as an input variable of a fuzzy controller and a feeding speed as an output variable; input variables are fuzzified through a membership function, and a fuzzy language variable set is obtained; according to the set and a preset rule base, constructing a multi-rule group structure comprising three types of scenes of free space, cancellous bone and cortical bone, and setting corresponding fuzzy rule subsets for different bone layers; designing a ''minimum-maximum'' rule activation and combination strategy for reasoning by adopting a Mamdani type fuzzy reasoning method according to fuzzification input and a multi-rule group structure, and generating a fuzzification output variable set; and defuzzification is performed through a gravity center method to obtain a continuous speed instruction, and dynamic regulation and control of the drill bit feeding speed are achieved. When approaching a penetration point, the device automatically decelerates and safely stops, so that the safety and accuracy of an operation are effectively guaranteed, and over-drilling injury is prevented.

The present invention is applicable to the field of robotic arm technology and provides a clamping robotic arm device for a surgical robot, comprising a base, a robotic arm body is arranged inside the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, two symmetrical fixed blocks are fixedly connected to the robotic arm body, a trapezoidal positioning groove is provided on the top of the fixed block, a trapezoidal positioning rod is slidably connected to the inside of the trapezoidal positioning groove, the cross-sections of the trapezoidal positioning groove and the trapezoidal positioning rod are both trapezoidal, and a clamping claw is connected to a fixed tube on the side of the trapezoidal positioning rod away from the trapezoidal positioning groove. The clamping robotic arm device for a surgical robot of the present invention drives the water supply pipe and the water outlet pipe to move back and forth through the connecting plate via the transmission frame, and enables the nozzle to more comprehensively disinfect the clamping surface of the clamping claw, so that the disinfection of the clamping claw is more thorough, and medical staff can use the device more conveniently.

A method for calibrating a surgical robot arm motor includes running a test sequence. The test sequence includes controlling a set of test motor currents to be applied to the motor, each causing the motor to drive a drive interface element to move; and for each test motor current, receiving a measured resistive force applied by a calibration rig; determining a relationship between the set of test motor currents and the resistive force measurements; determining calibration value(s) from: (i) the determined relationship, and (ii) a known relationship between the resistive force applied by the calibration rig and the driving force applied by the drive interface element; and controlling the calibration value(s) to be applied to subsequent motor currents applied to the motor so as to cause the motor to drive the drive interface element to apply desired driving forces to an instrument interface element of an attached surgical instrument.

Aspects include a surgical robot for use in a total hip arthroplasty (THA) procedure, and related methods. In some cases, the surgical robot includes: a robot arm for holding a surgical instrument; and a controller coupled with the robot arm, the controller programmed to: detect a position of the surgical instrument in at least one attraction volume corresponding with a planned trajectory of the surgical instrument for the THA procedure, the at least one attraction volume defined in part by a point and an axis extending from the point; and while the surgical instrument is in the at least one attraction volume during the THA procedure, provide assistance to movement of the surgical instrument in a direction toward the at least one attraction volume.

The invention provides a surgical robot which is characterized in that the surgical robot comprises a robot base, two mechanical arms arranged on the robot base and an execution instrument, the base ends of the two mechanical arms are connected with the robot base, the tail ends of the two mechanical arms are connected with the execution instrument, and therefore a parallel structure is formed; the connecting positions of the tail ends of the two mechanical arms and the executing instrument are arranged at intervals in the executing direction of the executing instrument, and the two mechanical arms move in at least two translational freedom degrees through the tail ends of the two mechanical arms. And the actuating device is driven to move in at least two translational degrees of freedom and move in at least two rotational degrees of freedom.

The invention provides a piezoelectric-driven ophthalmic surgical robot. The piezoelectric-driven ophthalmic surgical robot comprises a supporting mechanism, a bottom plate, a folding mechanism, a tail end executing mechanism, a rotary driving mechanism, a first piezoelectric driving mechanism and a second piezoelectric driving mechanism. The bottom plate is movably connected with the supporting mechanism, the folding mechanism is installed on the bottom plate, the second piezoelectric driving mechanism is arranged on the folding mechanism, and the second piezoelectric driving mechanism can drive the tail end executing mechanism to move linearly; the rotary driving mechanism can drive the bottom plate to turn left and right; the first piezoelectric driving mechanism is arranged below the bottom plate, is in driving connection with the folding mechanism and can drive the folding mechanism to deform so as to adjust the angle of the tail end executing mechanism; a piezoelectric pre-tightening compensation mechanism is further arranged to prevent the tail end executing mechanism from sliding down due to gravity, and the operation stability is guaranteed. The piezoelectric characteristic is combined with the advantages of the guide rail, accurate, rapid, stable and compact motion control of the ophthalmologic operation executing mechanism can be achieved, the fine operation requirement of the ophthalmologic operation is met, and the tissue damage risk is reduced.

Provided is an endoscopic surgical robot arm control mechanism, which comprises a tool bit, a connecting assembly, a knob, and a pull rod. The tool bit comprises a tool holder and a shearing part. By means of the connecting assembly, the knob controls the rotation of the tool holder, and the pull rod controls the opening and closing of the tool bit. The connecting assembly comprises an axial coupling mechanism, an axial decoupling mechanism, and a transmission section. The axial coupling mechanism couples the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section. The axial decoupling mechanism decouples the circumferential rotation and the axial displacement of the transmission section, transmits the circumferential rotation to the tool holder, and transmits the axial displacement to the shearing part. The control mechanism can simplify the transmission structure for controlling the opening and closing and rotation of the tool bit, reduce parts, and enhance the strength and rigidity of the transmission structure, thereby enhancing the precision of surgical operations. The present invention further provides an endoscopic surgical robot arm.

A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.

The invention belongs to the technical field of medical instruments, and discloses a multi-degree-of-freedom surgical robot end effector which comprises a wrist mechanism, and the wrist mechanism comprises a first connecting piece, a second connecting piece, a first forceps holder, a second forceps holder, a first pin shaft, a second pin shaft, a first driving rope, a second driving rope and a third driving rope; the first forceps holder and the second forceps holder are rotationally connected with the first end of the first connecting piece through a first pin shaft respectively; the second end of the first connecting piece is rotationally connected with the second connecting piece through a second pin shaft; the second pin shaft is perpendicular to the first pin shaft; the far end of the first driving rope is fixed on the first forceps holder and drives the first forceps holder to rotate around the first pin shaft; the far end of the second driving rope is fixed on the second forceps holder and drives the second forceps holder to rotate around the first pin shaft; the far end of the third driving rope is fixed to the second end of the first connecting piece and drives the first connecting piece to rotate around the second pin shaft. Coupling between two degrees of freedom can be avoided, and the motion precision of the end effector is improved.

To provide a method of providing an operation image using a surgical robot which can easily and correctly confirm a movement of the surgical robot or a surgical instrument and a manipulation of a manipulation target therefor, and provide an information processing system.SOLUTION: A method of providing an operation image using a surgical robot acquires a state log indicating the state of a manipulation target that changes by manipulating the manipulation target of a manipulation device 2 by an operator, generates a reconstruction image that visualizes the manipulation of the operator to the manipulation target on the basis of the state log, and provides an operation image indicating the movement of the surgical robot or surgical instrument is associated with the reconstruction image.SELECTED DRAWING: Figure 9

The application discloses a rigid-flexible dual driving snake-shaped surgical robot, which comprises a rigid dual driving mechanism, a rear-end flexible continuum mechanism, a tendon constraint structure and a front-end flexible continuum mechanism. The rear-end flexible continuum mechanism and the front-end flexible continuum mechanism are associated with each other in terms of tendon length to form a dual continuum mechanism; the rigid dual driving mechanism is associated with the rear-end flexible continuum mechanism in terms of end surface movement, and the rear-end flexible continuum mechanism can be driven to bend, rotate and stretch in any direction by the rigid dual driving mechanism, so that the front-end flexible continuum mechanism is coupled to bend, rotate and stretch in any direction. The application can avoid directly pushing and pulling the driving tendon of the flexible continuum, thereby reducing the driving complexity when the number of tendons is large, and the rigid-flexible dual driving further guarantees the modeling accuracy of the continuum, and has the advantages of high reliability, compact structure and easy realization.

1. Name of the product in this design: Graphical User Interface for Displaying Surgical Operation Control Process of Electronic Device. 2. Purpose of this design: An electronic device. 3. The key design features of this product are its graphical user interface in electronic devices. 4. The image or photo that best illustrates the design points: Design 3 Interface Change State Diagram 5. 5. Design 1 is designated as the basic design. 6. Purpose of the graphical user interface: It is an interactive interface used to display the graphical visualization of the surgical operation control process. 7. Human-Computer Interaction Method of Graphical User Interface: Design 1 is a graphical user interface for the interventional surgical robot that displays prompts based on force feedback in the state of one catheter and one guidewire. Specifically: The main view of Design 1 shows the interface when the operating lever corresponding to catheter one is not touched and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when the operating lever of catheter one is not touched and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 1; when the resistance value encountered by catheter one is within the first threshold range of the catheter and the operating lever corresponding to the guidewire is not touched, the interface change state diagram of Design 1 is displayed as shown in Figure 2; when the resistance value encountered by catheter one is within the second threshold range of the catheter and the operating lever corresponding to the guidewire is not touched, the interface change state diagram of Design 1 is displayed as shown in Figure 3; when the resistance value encountered by catheter one is within the first threshold range of the catheter and the resistance value encountered by the guidewire is within the first threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 4; when the resistance value encountered by catheter one is within the second threshold range of the catheter and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 5. Design 2 is a graphical user interface (GUI) for interventional surgical robots that displays prompts based on force feedback during the rapid switching of catheters, guidewires, and guidewires. Specifically: the main view of Design 2 shows the interface when the operating lever corresponding to catheter 1 is not touched and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when the operating lever corresponding to catheter 1 is not touched and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface changes as shown in Figure 1; when the resistance value encountered by both catheter 1 and guidewire is within the first threshold range of both catheters and guidewires, the interface changes as shown in Figure 2; and when the resistance value encountered by both catheters and guidewires is within the second threshold range of both catheters and guidewires, the interface changes as shown in Figure 3. Design 3 is a graphical user interface (GUI) for the interventional surgical robot, displaying prompts based on force feedback during the two-tube, one-wire, and one-rapid-interchange state. Specifically: the main view of Design 3 shows the interface displayed when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface state change diagram of Design 3 (Figure 1) is displayed; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by catheter two is within the first threshold range of the catheter, the interface state change diagram of Design 3 (Figure 2) is displayed; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by catheter two is within the second threshold range of the catheter, the interface state change diagram of Design 3 (Figure 3) is displayed; when both the resistance values ​​encountered by catheter one and catheter two are within the first threshold range of the catheter, and the resistance value encountered by the guidewire is within the first threshold range of the guidewire, the interface state change diagram of Design 3 (Figure 3) is displayed. Interface change state diagram 4; When the resistance values ​​encountered by catheter one and catheter two are both within the second threshold range of the catheter, and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram 5 of design 3 is displayed.

The embodiment of the invention relates to a medical instrument, and discloses a puncture outfit which comprises a main body, the rotating assembly is detachably connected with the main body and can rotate relative to the main body; wherein the rotating assembly comprises a rotating disc and balls arranged on the rotating disc, the rotating disc sleeves the main body, and the balls are in rolling contact with the outer surface of the main body, so that the rotating disc rotates relative to the main body under the rolling action of the balls. The balls are arranged between the main body and the rotating assembly, traditional sliding friction is changed into rolling friction, the rotating resistance between the rotating disc and the main body is remarkably reduced, and the operation safety is improved; the rolling contact mode of the balls ensures that the turntable can flexibly rotate around the central shaft of the main body, and the circular motion requirements of instruments and an endoscope in a laparoscopic surgery robot single-hole surgery are met; in addition, the rotating assembly is detachably connected with the main body, so that assembly and maintenance are facilitated.

The utility model provides a split type kirschner wire and a kit for an orthopedic surgery robot, and belongs to the technical field of kirschner wires, the split type kirschner wire comprises a front kirschner wire body used for puncturing bones and a rear kirschner wire body used for being connected with an end effector of the orthopedic surgery robot, the front kirschner wire body is detachably connected with the rear kirschner wire body. Compared with Kirschner wire bending operation in the prior art, after the split type Kirschner wire is driven into the human body, the front Kirschner wire body with the proper length can be obtained more conveniently and safely, the problem of positioning displacement or loss caused by excessive pulling of the Kirschner wire is solved, and the Kirschner wire is more convenient to use. After the front kirschner wire body is detached and separated, due to the fact that the connecting end of the front kirschner wire body is smooth and clean, follow-up balloon dilatation kyphoplasty or pedicle screw implanting operation is facilitated, operation risks are reduced, and related operation operations can be carried out more safely, more reliably and more conveniently.

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 discloses a pitch adjustment component, a doctor's console adjustment mechanism, and a minimally invasive surgical robot, comprising: a fixed component, a movable component adapted to pitch movement relative to the fixed component, and a drive structure disposed between the fixed component and the movable component; wherein the drive structure includes a movable arm, a push-pull block pivotally engaged with one end of the movable arm, and a power unit disposed on the movable component for achieving sliding engagement between the push-pull block and the movable component; the end of the movable arm away from the push-pull block is pivotally connected to the fixed component; when the push-pull block slides in the movable component along a first direction, the movable component pitches upward relative to the fixed component; and when the push-pull block moves in the movable component along a second direction opposite to the first direction, the movable component pitches downward relative to the fixed component. This invention can achieve a simplified structure to realize pitch adjustment of the doctor's console during use, thereby reducing the wear rate of the overall structure's parts.

The application is suitable for the field of medical robots, and provides a compact multi-drive interventional surgery robot slave end, which comprises a first passage power mechanism and a second passage power mechanism arranged in a height direction on a slave end body; a plurality of first driving mechanisms connected to the first passage power mechanism, and a plurality of second driving mechanisms connected to the second passage power mechanism; the plurality of first driving mechanisms and the plurality of second driving mechanisms are located on the same side of the slave end body and are in the same horizontal plane; in a working state, the plurality of first driving mechanisms and the plurality of second driving mechanisms respectively drive a plurality of elongated medical instruments to move, so that more elongated medical instruments are delivered through double channels, simple surgery and complex surgery can be compatible, the overall structure is compact, the machine space and the surgery space are saved, and the instruments are convenient for manual installation and adjustment.

The application discloses a simulation-based respiratory displacement prediction method and device, a surgical robot, and an electronic device. The method comprises the following steps: obtaining a first three-dimensional model of a first object, wherein the first three-dimensional model comprises a first tissue model, and the first tissue model is a model of a first tissue in the first object; determining a first relationship of the first tissue model based on stress characteristics of the first tissue, wherein the first relationship is a relationship between a force received by the first tissue model and a deformation of the first tissue model; obtaining a first simulation force, wherein the first simulation force is used to simulate a respiratory force on the first tissue; and determining a first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship and the first simulation force, wherein the first respiratory displacement is a displacement generated by respiration of the first object. According to the method provided in the application, the first respiratory displacement of the first tissue can be determined by simulating the movement of the first tissue in the respiration process of the first object, and thus the accuracy of the first respiratory displacement can be improved.

The present disclosure provides a method for determining the pose of an optical master hand, a surgical robot system. The determination method comprises: acquiring current quaternion data of the optical master hand at the current time; based on the current quaternion data and historical quaternion data of the optical master hand at a plurality of historical time points before the current time, determining a target quaternion data set; based on the target quaternion data set, determining a first quaternion matrix, the first quaternion matrix comprising the target quaternion data set, a target velocity set of the target quaternion data set, and a target acceleration set of the target quaternion data set; embedding the first quaternion matrix into a high-dimensional space to obtain a second quaternion matrix; performing position encoding on the second quaternion matrix to obtain a third quaternion matrix; based on the third quaternion matrix, using a network model to determine a target quaternion matrix with a dependency relationship; based on the target quaternion matrix, obtaining a target Euler angle, the target Euler angle representing the pose of the optical master hand at the current time.

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.

The invention discloses a control system and method for an oral surgery robot, and relates to the technical field of medical robot control, and the method comprises the steps: collecting preoperative medical image data of a laryngeal cavity region, and generating a static laryngeal cavity three-dimensional structural body through anatomical segmentation, contour extraction and three-dimensional reconstruction; according to the static laryngeal cavity three-dimensional structural body, zero calibration is carried out on the oral surgical robot, and RCM constraints are established; under the constraint of RCM, a three-dimensional endoscope is used for collecting an operation area image in real time, a real-time laryngeal cavity local three-dimensional point cloud is generated through stereoscopic vision reconstruction, geometric registration is conducted on the real-time laryngeal cavity local three-dimensional point cloud and a static laryngeal cavity three-dimensional structural body, and the real-time tail end pose is determined; and the primary control quantity and the three types of real-time monitoring data are fused together, a comprehensive risk index is calculated, the autonomous control proportion of the robot is adjusted by using the comprehensive risk index, and a risk guidance control quantity is generated. The safety, accuracy and flexibility of the operation are improved, and finally more efficient and safer oral operation is achieved.

A passive end effector of a surgical system includes a base, a first mechanism, and a second mechanism. The base attaches to an end effector coupler of a robot arm positioned by a surgical robot. The first mechanism extends between a rotatable connection to the base and a rotatable connection to a tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first and second mechanisms pivot about the rotatable connections to constrain movement of the tool attachment mechanism to a range of movement within a working plane. The tool attachment mechanism is configured to connect to a surgical saw including a saw blade for cutting.

The invention discloses a method for eliminating physiological jitter during operation of a surgical robot, and the method comprises the steps: synchronously collecting handle position, speed, IMU, myoelectricity and grip strength multi-mode signals, and building a mathematical model of intention movement and physiological jitter after time alignment and preprocessing; the frequency, the amplitude and the phase of 10-30 Hz jitter are estimated in real time through recursive autoregressive or Kalman filtering, a phase inversion adaptive filter is driven to generate an offset signal, and frequency-formed dynamic compliance control is superposed to form active-passive cooperative suppression; the system recognizes rapid intention motion according to myoelectricity envelope, force mutation and a speed threshold value, and smoothly reduces suppression or bypasses in a millisecond-level window; preoperative individualized calibration and intraoperative continuous optimization of parameters are carried out, and the inhibition depth is dynamically scheduled according to the risk level of an operation scene; and the safety is ensured by amplitude saturation, rate limitation and energy monitoring before output. According to the method, the physiological jitter is remarkably inhibited while the operation transparency is kept, and the operation precision and safety are improved.