2730 results about "Surgical robotics" patented technology

A federated distributed computational system enables secure oncological therapy optimization through robotic integration. The system establishes a distributed graph architecture with secure communication channels connecting computational nodes, implementing encryption protocols for cross-institutional data exchange. Each node contains processing capabilities for fluorescence-guided imaging, uncertainty quantification, and expert knowledge integration while maintaining hierarchical knowledge graphs of oncological biomarkers, interventions, and outcomes. The system coordinates domain-specific knowledge through token-space communication and implements an advanced robotic integration system for surgical interventions using spatiotemporal tumor mapping, multi-modal fluorescence imaging, surgical robot coordination, and space-time stabilized mesh management. Key capabilities include wavelength-specific multi-modal fluorescence detection, combined epistemic and aleatoric uncertainty estimation, tensor-based data integration with adaptive dimensionality control, and light cone search for adaptive treatment optimization—all while maintaining strict privacy controls.

The invention belongs to the technical field of medical robots, and particularly relates to a mammary gland puncture surgical robot navigation system and device based on multi-modal image fusion. The multi-mode image data are registered and fused, high-precision three-dimensional reconstruction of the mammary gland tissue is achieved, more visual and accurate surgical navigation information is provided for doctors, the position of the puncture needle is tracked in real time, space registration is conducted on the puncture needle and the image data, and therefore the precision and safety of the surgery are improved, and the operation efficiency is improved. Meanwhile, puncture force feedback information of a puncture needle in the needle moving process is collected in real time, the implementation effectiveness of a puncture navigation path is evaluated, when it is found that the puncture path has risks, dynamic adjustment is conducted immediately, a new puncture path bypassing an obstacle area and reaching a focus is planned again, and the risk of the puncture path is avoided. And if the safe path cannot be obtained, the system automatically stops needle insertion and gives an acousto-optic early warning prompt, so that the surgical risk caused by manual misoperation in the traditional surgery is avoided.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical instruments while providing benefits associated with surgical robotics. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument or a desired force applied by the instrument using the robot arm. For example, the robot arm may be moved automatically to maintain a constant tension force on an anatomical structure via the instrument in a constant tension mode.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

The invention discloses a surgical robot dynamic compensation method based on multi-mode real-time 4D digital twinning and a related device. The method comprises the following steps: acquiring preoperative three-dimensional and four-dimensional image data of a patient, synchronously acquiring optical body surface movement data and in-vivo ultrasonic data during an operation, inputting the data into an end-to-end modular network in combination with current state data of a surgical robot for feature extraction and fusion, generating a 4D twinborn space containing spatio-temporal information, and generating a compensation instruction based on the space to control the surgical robot. According to the method, real-time fusion and dynamic modeling of multi-modal data in an operation can be realized, the self-adaption and compensation capability of a surgical robot in a complex surgical environment is improved, and the surgical precision and safety are enhanced.

The invention discloses a surgical instrument segmentation method based on a double prior guidance network, and the method specifically comprises the steps: constructing a hybrid encoder composed of a visual basic model and a state space model, and carrying out the coding processing of an input surgical endoscope image; the visual basic model is an SAM2-Hira model; the state space model is a MambaVision model; an adapter layer composed of a standard adapter and a Mama enhancement adapter is arranged between the coding layer and the decoding layer, and coding features are processed; setting a multi-context guide decoder, and performing multi-scale feature recovery and mask segmentation; a hybrid encoder, a Mama enhancement adapter and a multi-context guidance decoder form a double-priori guidance network DPG-Net, and high-precision surgical instrument segmentation is realized by using the DPG-Net. Accurate visual support is provided for the surgical robot, and the accuracy and safety of surgical operation are greatly improved.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

The invention discloses a variable-rigidity flexible conformal interventional surgical robot which comprises a flexible continuum, a driving device and a guide translation device. The flexible continuum is composed of a continuum body, a driving wire group and a variable rigidity assembly; the driving device comprises four driving motors arranged on the bracket; the guide translation device comprises a translation mechanism and a guide mechanism which are arranged on the underframe; according to the surgical robot, the flexible continuum serves as a main body, the continuum body is high in flexibility, large in bending degree, high in stability and capable of adapting to the structural characteristics that the lung bronchus is high in bending degree and complex in bending shape, and dynamic adjustment of large-bending intervention and conformal locking is achieved by being matched with the variable-rigidity assembly; the detection assembly at the front end of the flexible continuum meets operation requirements; the driving device is matched with the guide translation device, so that synchronous adjustment is realized according to an intervention path, and an intervention operation is accurately, stably and safely completed.

The invention relates to the technical field of tumor interventional operations, and discloses a visual navigation method based on a tumor interventional operation robot. The method comprises the following steps: acquiring real-time medical image data of a tumor area containing multi-modal imaging information so as to comprehensively present anatomical details; and performing three-dimensional reconstruction on the image data to generate a tumor area three-dimensional anatomical structure model capable of visually displaying a space structure. Key anatomical feature points are extracted based on the model, space coordinates are calculated, a surgical robot intervention path is planned according to the coordinates, and an initial navigation track is generated; and continuously collecting real-time pose data of the robot in an operation, dynamically matching the real-time pose data with the initial navigation trajectory, adjusting motion parameters according to a matching result, and generating a corrected navigation instruction. The method can reflect the intraoperative anatomy condition in real time, dynamically optimize the path, solve the problems that traditional navigation depends on preoperative static images and lacks real-time adjustment, reduce operative complications and improve the treatment effect of patients.

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

The invention discloses a control method, system and equipment of an intelligent throat surgical robot and a medium. According to the scheme, a three-dimensional tissue model is constructed according to visual image data, laser imaging data and tomography image data; determining lesion data according to the historical lesion data and the tomography image data, superposing the lesion data and the three-dimensional tissue model, and determining a target operation model; determining prediction trajectory data according to the tomography image data and the physiological motion data; planning a path according to the predicted trajectory data, the target operation model and the constraint condition, and controlling the operation robot to perform an operation according to the planned path; through multi-modal data fusion, a three-dimensional tissue model is established to improve the surgical accuracy; the data are analyzed to determine the lesion direction, the motion trail of the organ tissue is predicted, the three-dimensional tissue model is integrated for path planning, the interference of physiological activities of the organ tissue on the operation is avoided, and the safety of the operation is improved. The embodiment of the invention can be widely applied to the field of intelligent robots.

The invention discloses a surgical robot real-time image registration method based on multi-modal feature fusion. The method comprises the following steps: acquiring different modal medical images before and during an operation; respectively extracting depth features by using a first lightweight feature extractor and a second lightweight feature extractor, wherein the second extractor performs dynamic adjustment according to the real-time quality evaluation of the intraoperative image; mapping the depth features to the same submerged space to obtain submerged space representation through a semantic feature conversion module comprising a projection network of a pre-training segmentation model and contrast loss training; fusing the submerged space representation by using a cross-modal attention mechanism of uncertainty modulation to obtain a fusion feature; and based on the fusion features, the dense displacement field is regressed through a deep learning network to realize image real-time registration. According to the method, the precision and robustness of multi-modal image registration in a complex operation environment are remarkably improved, the real-time navigation requirement is met, and reliable guidance is provided for surgeons.

A surgical robotic system includes an instrument and a surgeon console for setting a maximum opening aperture for an end effector of an instrument. The end effector has a first jaw and a second jaw, at least one of which is moveable relative to the other between closed and open configurations. The maximum opening aperture is a variable which limits the open configuration of the first and second jaws. The open and closed configurations of the first and second jaws are controlled by the input controller, which may include a handle controller or a foot pedal. The maximum opening aperture of the first and second jaws may be set on a display screen for receiving user input. The user input may be entered via interaction with a user interface element, such as a user-adjustable graphical representation of the instrument, a dropdown menu, an alphanumeric input box, a slider, etc.

The present invention relates to the technical field of surgical robots, and discloses a mounting mechanism and a surgical robot. The mounting mechanism is used to install a poking mechanism, and a mounting part is protruding from the poking mechanism. The mounting mechanism includes a mechanism body, an adapter, and a movable part. One end of the mechanism body is used to connect with the mechanical arm, and the other end is provided with a mounting channel; the adapter includes a receiving part, the receiving part is placed in the mounting channel and can be separated from the mounting channel through the opening of the mounting channel, one end of the receiving part is open, and the mounting part can enter or separate from the inner cavity of the receiving part through the opening of the receiving part, and a clamping part is movably provided on the side wall of the receiving part; the movable part is placed in the mounting channel and movably connected to the mechanism body, and when the mounting part is in the inner cavity of the receiving part, the movable part can push the clamping part to move toward the inner cavity of the receiving part to press against the mounting part. The present invention improves the structural reliability of the adapter, ensures surgical safety, reduces the processing and assembly requirements of the mounting mechanism, and reduces production costs.

The invention discloses a sliding table motion control method and device for a laparoscopic surgical robot, and relates to the technical field of surgical robos.The method comprises the steps that a lesion three-dimensional model is established based on a lesion CT image, a target area and boundary coordinates of the target area are obtained, and a coordinate transformation matrix is calculated for space registration to obtain a unified coordinate system; selecting a moving mode according to the user control instruction; recording operation data of users, classifying the users to obtain corresponding force speed curves, force displacement sequences and habitual force, and establishing a comprehensive control model and an error compensation model; when entering a fine adjustment mode, inputting a real-time distance, a user type and a force displacement sequence into a comprehensive control model, determining a regulation and control scheme, and reversely correcting output displacement according to a real-time positioning error, so that the auxiliary surgical instrument reaches a target position; high-precision motion control over the sliding table (2) of the laparoscopic surgery robot is achieved, the surgery time is remarkably shortened, the target position of an auxiliary instrument is accurately and rapidly positioned, and the surgery efficiency is improved.

Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.

A wireless communication interface is included in a surgical robotic arm and is used to detect various components of the robotic arm, including, an instrument drive unit, a sterile interface module (e.g., adapter), an instrument, an access port, etc. Detection of the components is used to confirm that each of the components are properly assembled by splitting up tag assemblies between multiple components, such that when the components are properly assembled, so are the tag assemblies, allowing for interrogation thereof by the wireless communication interface.

The invention relates to the field of artificial intelligence and medical treatment, and discloses a VLA model generation method and device for a surgical robot, equipment and a medium, and the method comprises the steps: inputting a first data subset into a to-be-trained visual language action model for training, and obtaining an initial visual language action model; inputting the first new operation task data into the initial visual language action model, and controlling the operation robot to output and execute an operation action according to the initial visual language action model; utilizing a preset reinforcement learning algorithm to optimize action head parameters of the initial visual language action model to obtain a first visual language action model; storing task trajectory data successfully completed by the surgical robot to an online data set; and inputting the second data subset and the task trajectory data into the first visual language action model for training to obtain a second visual language action model, thereby continuously performing reinforcement learning on the VLA model, enabling the surgical robot to adjust a surgical strategy according to real-time feedback, and further improving the surgical accuracy.

Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integratable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and / or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.

The invention relates to a mechanical arm configuration determining method and device, a surgical robot system and equipment. The method comprises the following steps: determining a positioning type based on an operation entry point coordinate and an operation target point coordinate of a target object under a mechanical arm base coordinate system; based on the positioning type, determining a candidate configuration recommendation range of the mechanical arm; and the target configuration of the mechanical arm is determined based on the candidate configuration recommendation range, the operation entry point coordinates and the operation target point coordinates. By adopting the method, the target configuration meeting the operation type and positioning requirements can be quickly and effectively recommended.

The invention provides a motion control method of a surgical robot and a surgical robot system. In accordance with an example of the present application, the surgical robotic system includes a manipulator assembly that is movable under actuation of an actuator; the method comprises the following steps: determining whether the manipulator assembly collides or not, wherein the collision comprises an imminent collision or an already-collided collision; in response to the collision of the manipulator assembly, adjusting a control parameter of the actuator to reduce a current output of the actuator; the manipulator assembly is actuated by the actuator to move. The motion state of the manipulator can be adjusted in time, and damage caused by collision is effectively reduced; meanwhile, adjustment can be carried out when it is detected that the manipulator assembly collides, the motion tracking performance of the manipulator assembly is effectively maintained without the collision risk, and the accuracy of the operation is improved.

The utility model provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. The slave hand device comprises a base, a guide assembly, a telescopic assembly and a limiting assembly. The guide assembly is connected with the base, and the telescopic assembly is connected with the guide assembly, so that the telescopic assembly and the guide assembly can be fixedly installed. One end of the telescopic assembly can be connected with the surgical instrument piece, the telescopic assembly moves relative to the guide assembly in the telescopic direction, the surgical instrument piece can also move in the telescopic direction, and therefore the surgical instrument piece can be conveniently adjusted to the designated position. The limiting assembly can limit the telescopic assembly in the telescopic direction of the telescopic assembly, and excessive stretching of the telescopic assembly in the telescopic direction can be avoided. After the guiding assembly, the telescopic assembly and the limiting assembly are assembled in advance, the guiding assembly and the limiting assembly are installed on the base, then the telescopic assembly, the guiding assembly and the limiting assembly are installed in a matched mode, and therefore the modularization degree and the integration degree of the slave manipulator device are higher.

A user interface comprising a touch screen display can be placed above a patient. An arm allows a user to place the user interface above the patient and provide inputs related to treatment. The arm is configured to place the display above the patient in relation to a probe inserted into the patient and view an image shown on the display, which can facilitate movement of the probes in response to the image shown on the display. The probe is located below the display, and the user is able to reach and adjust the probes while viewing images on the display. The user interface is configured with an image display area and a control panel, in which the control panel is located below the image display area, which allows the user to readily provide inputs to user interface while viewing the display and manipulating the one or more probes.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The utility model provides a surgical robot, and belongs to the field of medical instruments. The surgical robot comprises a medical instrument box, a power box, a sterile isolation plate and a controller. The controller is configured to control a third driving motor of the power box to drive a third transmission disc of the sterile isolation plate to rotate in the direction in which the execution end is closed, so that the third transmission disc and a third opening and closing input shaft of the medical instrument box are clamped, and the third opening and closing input shaft is driven to rotate together. And after the execution end is closed and the third transmission disc cannot rotate, a first driving motor of the power box is controlled to drive a first transmission disc of the sterile isolation plate to rotate until the first transmission disc is clamped with a first rotating input shaft of the instrument box. According to the surgical robot, power joint of the power box and the medical instrument box can be conveniently completed.

A splint device (100) for robotically-guided surgery includes elongate first and second splint portions (200, 400) each having opposed longitudinal ends and an interface edge extending between the ends, wherein the respective interface edges (250, 450) are arranged as a complement to each other. First and second alignment elements (800A, 800B) engaged with the first and second splint portions are arranged to interact with each other such that a substantially consistent gap is defined between the first and second interface edges, from the first ends to the second ends of the first and second splint portions. A threaded member (900) is engaged between the first and second splint portions and arranged to advance the first and second interface edges toward each other in response to advancement of the threaded member. A tracking portion (1000) having a kinematic mount (1100) engaged therewith is engaged with the first or second splint portion and extends outwardly therefrom. An associated method is also provided.

A surgical robot is coupled to the surgeon console. The surgical robot performs a robotic surgical procedure. The surgical robot includes one or more robotic surgical arms. A control system is coupled to the one or more robotic surgical arms. An artificial intelligence (“AI”) system includes a plurality of machine learning algorithms. The robotic surgical arms are at least partially controlled by the AI system and the control device to process intraoperative data including images captured by cameras and sensor inputs. The machine learning algorithms analyze the intraoperative data in real time, comparing it with stored images and procedural information in image recognition and procedure databases. The one or more machine algorithms enable at least partial identification of anatomical structures. In response to detection of the anatomical structures the AI system at least partially adjusts movement of the robotic surgical arms to avoid critical anatomical structures while performing the robotic surgery procedure to ensure precise targeting at the surgical site while minimizing damage to surrounding tissue at a surgical site. The AI system provides a surgeon with improved dexterity when the surgeon uses the robotic surgical arms at the surgical site, the improved dexterity resulting from at least partially analyzing the intraoperative data in real time by the one or more machine learning algorithms, enabling precise and adaptive manipulation of the robotic surgical arms at the surgical site.

The invention relates to the field of surgical robots, and particularly discloses an intraoperative risk assessment system for a cataract surgical robot, comprising: a patient biomechanical monitoring unit for collecting a contact force between an instrument and an eye tissue, and calculating an anterior chamber equivalent pressure value according to an axial force component of the contact force and a contact area between the instrument and a cornea; the patient optical imaging monitoring unit is used for collecting microstructure images of the cornea and the lens capsule and quantifying the energy release density of ultrasonic emulsification; the robot motion parameter monitoring unit is used for collecting joint motion resistance, instrument tail end three-dimensional coordinates, motion speed and attitude angle of the robot; the multi-mode joint reasoning unit is used for identifying a high-risk operation state when the contact force is higher than a first preset value and the energy release density is higher than a second preset value; by adopting the technical scheme of the invention, multi-dimensional real-time monitoring can be realized, and a dynamic risk prediction model can be established by fusing heterogeneous data through an intelligent algorithm.

The mechanical arm comprises a movable platform, a static platform and a branch chain installed between the static platform and the movable platform, the branch chain comprises a branch chain body, a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are arranged on the two sides of the branch chain body respectively. A driving assembly used for driving the branched chain to rotate is arranged on the static platform, the driving assembly comprises a driving assembly body rotatably arranged on the static platform, a first bearing seat and a second bearing seat are arranged on the driving assembly body, the first bearing seat is rotatably connected with a first rotating shaft of the branched chain, and the second bearing seat is rotatably connected with a second rotating shaft of the branched chain. And the second bearing seat is rotatably connected with the second rotating shaft of the branched chain. The surgical robot comprises the mechanical arm. The two bearing seats and the two bearing assemblies are designed for the single branch chain, rotation support is provided for the two rotating shafts located on the two sides of the branch chain, and the rotation stability of the branch chain is guaranteed.