3297 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 discloses a surgical robot resection navigation method based on multi-modal image registration. The method comprises the following steps: acquiring a preoperative multi-modal medical image of a patient and reconstructing a three-dimensional model containing a focus and a dangerous structure; acquiring an intraoperative real-time image; extracting cross-modal invariant features from the pre-operative and intra-operative images by using a first deep learning network, and establishing an initial corresponding relation; predicting an initial non-rigid deformation field by using a second deep learning network, based on the pre-operative / intra-operative image and the initial corresponding relation and in combination with physical model constraints; tracking a surgical tool in real time, and updating a non-rigid deformation field in real time by adopting an incremental calculation strategy; applying the updated deformation field to the preoperative three-dimensional model to generate a deformed model; and mapping the tool position to the deformed model, and generating a navigation instruction. According to the method, soft tissue deformation can be accurately compensated, multi-modal image information is effectively fused, navigation information is dynamically updated in real time, and the precision and safety of robot surgery are remarkably improved.

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.

The invention relates to the technical field of surgical robot motion control, and discloses a surgical robot motion planning method based on a diffusion model, and the method comprises the steps: obtaining obstacle point cloud data, an initial posture and a target posture in a surgical environment; encoding the obstacle point cloud data into a potential space, and combining the encoded information with the initial attitude and the target attitude into a condition code; a Transform structure of an encoder is adopted to replace a U-Net structure in a traditional diffusion model, and the diffusion model is trained through forward diffusion and reverse denoising processes; in training, using a comprehensive loss function to optimize model performance, combining configuration space loss, geometric task space loss and collision loss, and introducing physical constraints to ensure that the trajectory conforms to kinematic characteristics and avoid collision; and in the operation task, generating a motion track based on the trained diffusion model. According to the invention, the motion planning efficiency and safety of the surgical robot in a complex environment can be 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 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.

A stabilized surgical robotic system includes a surgical robotic chassis having at least first and second surgical robotic arm assemblies mounted thereon. A stabilization member having first and second attachment regions is detachably coupled to the first and second surgical robotic arm assemblies, respectively, while at least the first surgical robotic arm assembly is left free to hold and manipulate a surgical tool. A surgical robotic controller repositions at least one of the first and second surgical robotic arm assemblies while said assemblies are coupled by the stabilization member.

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.

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 a control method for navigation obstacle avoidance of a surgical robot. Performing dynamic construction by adopting a continuous state space of intra-operative process modeling; tissue, tool and robot pose data are collected in real time, and a continuous change tensor field is calculated; establishing a process field atlas, and inputting a state space into a subsequent navigation control model to realize prospective modeling of an environment trend; carrying out adaptive evolution by adopting an obstacle avoidance strategy of a risk threshold drift model; environment change is monitored in real time, and a risk trend is evaluated through a time window sliding mechanism; path fine tuning constraint of navigation task integrity protection is adopted; collaborative navigation optimization based on man-machine strategy intention fusion is adopted; recording micro-control behaviors, including small-range fine tuning and path locking, of the doctor on the operation terminal; establishing an intention preference model by using the operation behavior, and taking the intention preference model as a dynamic navigation strategy adjustment factor; when the obstacle avoidance strategy of the robot conflicts with the intention of the doctor, triggering the collaborative optimizer to realize soft fusion of the navigation strategy; and meanwhile, safety and control consistency are guaranteed.

Systems and methods for surgical robotic navigation include multiple small surgical markers which avoid interfere with line of sight and do not otherwise disturb the surgical staff, while providing a convenient and highly accurate methodology for tracking and compiling the markers. Multi-arm robotic surgery systems are described in various embodiments that hold surgical tools and navigation cameras and optimally make use of several small surgical markers placed on patient anatomy of interest, surgical tools and the robotic arms. The small surgical markers are mathematically compiled so that the navigation cameras see a larger “compiled” surgical marker, thus providing greater accuracy.

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 relates to the technical field of surgical robots, and discloses an inverse kinematics control method for a surgical robot, which comprises the following steps: establishing a kinematics model of the surgical robot, including the position and posture of an end effector, a joint angle and a Jacobian matrix, and defining an operability index; constructing a hierarchical optimization framework based on operation task priorities, decomposing an inverse kinematics problem into RCM constraint, end effector pose control, joint limiting constraint and operability maximization tasks, and sequencing according to the following priorities: the RCM constraint is the highest priority, the end effector pose control and the joint limiting constraint are the secondary priorities, and the operability maximization task is the highest priority; the maximization of the operability is the lowest priority; and sequentially solving the optimal joint speed of each priority task according to a priority sequence through a hierarchical quadratic programming framework, and ensuring that the solution of the low-priority task is optimized in the null space of the high-priority task by utilizing a null space projection matrix. The operability of the robot is maximized.

The invention provides a surgical robot system and a control method thereof. A surgical robotic system includes a first slave operating device, a second slave operating device, and a master operating device. The first slave operation device comprises a first mechanical arm. The second slave operation device comprises a second mechanical arm. The master operation device communicates with the first slave operation device and the second slave operation device; the main operation device comprises at least one first operation assembly, each first operation assembly is used for receiving interaction operation of a user so as to control the first mechanical arm or the second mechanical arm, working modes of each first operation assembly comprise a first working mode and a second working mode, and when the first operation assembly is in the first working mode, the second operation assembly is in the second working mode. The controller is used for controlling the first mechanical arm to execute corresponding actions; and when in the second working mode, the first operation assembly is used for controlling the second mechanical arm to execute corresponding actions. According to the surgical robot system, switching between the first mechanical arm and the second mechanical arm can be achieved, and surgical flexibility and maneuverability are improved.

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 provides a multi-mechanical-arm surgical robot control method and device. The method comprises the steps that task information of multiple mechanical arms and the set function of each mechanical arm are obtained; the multiple mechanical arms have at least two setting functions; task information of the multiple mechanical arms is divided into independent tasks and cooperative tasks according to the set functions; the independent task is a task which is not interfered by other mechanical arms in an execution time period; on the basis of the independent task and the cooperative task, an execution path of a mechanical arm is planned; and each mechanical arm is controlled to execute the execution path. According to the method and the device, the whole task is divided by utilizing different functions of the mechanical arms, so that path planning and execution are performed based on different tasks, the problem of conflict among the multiple mechanical arms is avoided, and perfect control of the multiple mechanical arms is realized.

The invention discloses a positioning puncture surgery robot system with a reconfigurable working space, and the system comprises a multi-mode image collection module which is used for obtaining a high-resolution image of a target region of a patient; the three-dimensional anatomical model reconstruction module is used for generating a three-dimensional anatomical model containing a skeleton structure and a soft tissue structure; the target point selection and puncture path generation module is used for automatically recommending puncture target points according to operation types and clinical requirements and automatically generating a plurality of preliminary puncture paths; the multi-plane segmentation and path injection module is used for segmenting the three-dimensional anatomical model from a coronal plane, a sagittal plane and an axial plane and generating slices, and injecting puncture paths into the corresponding slices; by integrating multi-modal image acquisition, three-dimensional anatomical model reconstruction and automatic path planning and optimization setting, the operation efficiency and accuracy are remarkably improved, the operation risk is reduced through real-time data analysis, and a more personalized treatment scheme is provided for a patient.

The embodiment of the invention is suitable for the technical field of computer-aided medical treatment, and provides an orthopedic surgery robot system and a computer program product, and the orthopedic surgery robot system comprises an orthopedic surgery robot and a flexible pressure sensor connected with the orthopedic surgery robot; wherein the flexible pressure sensor is used for collecting first data of the knee joint in the operation process and transmitting the first data to the orthopedic operation robot, and the first data at least comprises stress information of the knee joint in the operation process; the orthopedic surgery robot is used for obtaining second data corresponding to the first data in the surgery process, visual knee joint stress distribution information is generated according to the first data and the second data, the knee joint stress distribution information is displayed through the display interface, and the second data at least comprises the flexion and extension angle and the joint gap of the knee joint. By the adoption of the orthopedic surgery robot system, the stress condition of the knee joint in the surgery process can be accurately monitored, and accurate mechanical feedback is provided for the surgery.

An orthopedic surgical robot system (100) and an orthopedic surgical robot operating method. The system comprises: a preoperative planning module (101) for acquiring image data of a surgical site, reconstructing a three-dimensional model of the surgical site on the basis of the image data, and determining a preoperative planning result on the basis of the three-dimensional model; a control module (102) for acquiring the preoperative planning result, and on the basis of the preoperative planning result, controlling a navigator (103) and a robotic arm (104) to perform surgical registration, alignment, and surgical operations; and an evaluation module (105) for performing post-operative evaluation on the surgical site after the surgical operation. The orthopedic surgical robot system (100) can improve the degree of integration of an orthopedic surgical robot, and is applied to different orthopedic surgical scenes.

The invention discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone bases which can rotate based on respective pivots, the two pivots are parallel and have a constant distance, and the snake bone joint further comprises a first limiting structure and a second limiting structure which are arranged between the two snake bone bases. The first limiting structure comprises a first protrusion and a first groove which make contact with each other, the first protrusion is arranged on one snake bone base part, and the first groove is formed in the other snake bone base part. The second limiting structure comprises a second bulge and a second groove which are in contact with each other, the second bulge is arranged on one snake bone base part, and the second groove is arranged on the other snake bone base part; the pivot of one snake bone base is a first pivot, and the vertical distance between the first protrusion and the first pivot is larger than the vertical distance between the second protrusion and the first pivot. Therefore, the snake bone joint has the advantages of being high in bending precision and high in load deformation resistance.

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.

The invention discloses a lens holding arm control method based on interactive surgical instrument segmentation, and belongs to the technical field of surgical robot control. Comprising the following steps: carrying out interactive segmentation on the tip of a surgical instrument in a first-frame image of a video returned by an endoscope at the tail end of an endoscope holding arm; automatically acquiring a tip mask of a surgical instrument in a video subsequent frame image through a tracking network model, and calculating a center coordinate of the tip mask; calculating the center coordinate of the ROI region of the image and the error between the center coordinate and the expected position coordinate by combining the weight of the user-defined surgical instrument; a joint space angle control quantity is obtained through a multi-task whole-body controller with priorities to carry out motion control on a lens holding arm, and errors of high-level tasks and low-level tasks are converged to be zero along with time. According to the method, any type and number of surgical instruments can be quickly and stably tracked without an additional model training process. The endoscope holding arm automatically adjusts the pose of the endoscope according to the central position of the tip of the surgical instrument so as to optimize the surgical field, and the man-machine cooperation surgical operation efficiency is improved.

The present invention relates to a surgical robot and a computer-readable storage medium. The surgical robot comprises: an operation part provided with a joint assembly; manipulators for mounting medical instruments; and a controller used for: acquiring target poses of end effectors, and on the basis of each target pose, determining a target orientation of a corresponding end effector; when the deviation angle between the target orientation and an initial orientation exceeds an orientation motion boundary of the end effector, determining the direction of resistance imaginarily acting on the end effector; determining the resistance on the basis of the direction, the deviation angle, and the orientation motion boundary; on the basis of the resistance, determining target resistance actually acting on the end of the operation part; on the basis of the target resistance, determining joint target driving torque desired to be outputted by the joint assembly; and controlling the joint assembly to output the joint target driving torque. When the medical instruments exceed the motion boundary, force feedback having a prompting effect can be achieved on the operation part.

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.

Systems and methods for preventing collisions between robotic arms of a multi-arm surgical robotic systems and objects in a surgical field in are described. The positions and motions of the surgical robotic are tracked kinematically while the positions of the objects are tracked by a camera or other sensor held on a surveillance arm of the surgical robot. Each of the robotic surgical arms and the surveillance arm is mounted on a common chassis or cart to define a single surgical space coordinate system to facilitate tracking.