1881 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 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.

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.

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.

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 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.

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.

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.

The present disclosure provides a patient-side operation device, a surgical robot, and a surgical medical system. The patient-side operation device comprises a base, a position adjustment mechanism, a posture adjustment mechanism, and an end effector holding mechanism that are sequentially connected. The position adjustment mechanism is configured for moving the posture adjustment mechanism and the end effector holding mechanism. The end effector holding mechanism is configured for mounting a surgical end effector and is provided with a pitching joint rotatable around a pitching axis, and the pitching axis is perpendicular to the extending direction of the surgical end effector. The posture adjustment mechanism is provided with a first pivotable joint rotating around a first pivoting axis and a second pivotable joint rotating around a second pivoting axis, wherein the first pivoting axis is at an angle to the second pivoting axis, and at least one of the first pivoting axis and the second pivoting axis is at an angle to the pitching axis.

The utility model relates to the technical field of surgical robots, and discloses a trocar mounting mechanism and a surgical robot. The trocar installation mechanism comprises an installation assembly, an adapter shell and an operation assembly. The mounting assembly is provided with a mounting end; a detection piece is arranged in the adapter shell, and clamping pieces capable of clamping the mounting end are arranged on the two sides of the mounting end respectively; the operation assembly comprises a handle, a connecting piece and pushing pieces, the handle and the pushing pieces are connected to the connecting piece, the pushing pieces are arranged on the two sides of the detection piece respectively, the two pushing pieces and the connecting piece define an avoiding space for containing the detection piece, and the connecting piece is movably connected with the adapter shell; and the two pushing pieces can be far away from the corresponding clamping pieces or push the corresponding clamping pieces to be far away from the mounting end. The structural arrangement of the pushing piece and the connecting piece can avoid the detection piece, the structure of the trocar mounting mechanism is simplified, production and processing are facilitated, the number of fingers occupied by an operator in the trocar dismounting and mounting process is reduced, and the operation process is simplified.

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 system for robot-assisted surgery includes a surgical robot having a robotic arm, an end effector coupled to the robotic arm, wherein the end effector is adapted to receive, translate, and orient a navigated surgical instrument; a camera tracking system adapted to intra-operatively track a pose of the navigated surgical instrument relative to a defined coordinate system; and a computer platform including a processor and a memory. In embodiments, the computer platform operative to display to a user an image of a target location on the patient and the pose of the navigated surgical instrument; and selectively control translation and orientation of the navigated surgical instrument based on a defined operational mode, to perform a surgical process under user control that comprises one or more of: reaming an acetabulum of the patient to a planned center of an acetabular prosthesis, or positioning the acetabular prosthesis in the reamed acetabulum.

The invention belongs to the technical field of medical treatment, and discloses a surgical robot arm joint torque collaborative optimization and trajectory tracking control method, which comprises the following steps of: dynamically associating a tissue viscoelasticity characteristic with a joint torque through biomechanics-multi-body dynamics coupling modeling to form a'mechanics-injury 'double-constraint mechanism; a damage early warning factor is introduced into the memory enhanced controller, torque output is adjusted in real time when an instrument interacts with a tissue, and traction damage caused by overlarge load of a single joint is avoided; meanwhile, the digital twin system prejudges potential risks in advance, the threat of surgical operation to fragile tissues is reduced from modeling, control to verification of a whole link, and a safety guarantee is provided for operation in a fine surgical area; through staged dynamic weight optimization, target adaptive adjustment of different operation stages is realized; the multi-modal sensing fusion architecture combines flexible sensing and image data, and improves the sensing precision of a complex organization environment.

A surgical method includes, for example, tracking, via at least one camera attached to a robotic arm of a surgical robot, a surgical site of a patient, the robotic arm having a plurality of joints and a plurality of body parts, controlling the robotic arm to perform a surgical procedure at the surgical site of the patient based on the camera tracked surgical site of the patient, and wherein the tracking comprises controlling the movement of the plurality of joints and body parts of the robotic arm to maintain a line of sight of the at least one camera directed towards the surgical site of the patient.

The invention provides a visual guiding device for surgical robot instrument positioning and a surgical robot, and relates to the technical field of surgical robotics.The visual guiding device comprises an image rendering module used for obtaining image data of a target environment and rendering the image data to generate an environment image; the path guiding module is used for acquiring the position information of a slave end holding arm of the surgical robot, and generating an instrument virtual guiding model based on the position information and according to a mapping relation between a holding arm coordinate system and a display coordinate system; the display control module is in communication connection with the image rendering module and the path guiding module; and the display control module is configured to superpose the instrument virtual guide model on the environment image to generate a composite image in response to an operation instruction of the instrument, and output the composite image to the display equipment. According to the invention, accurate instrument movement visual guidance can be provided, and instrument insertion distance overrun and tissue damage are avoided.

Surgical systems and methods involve a robotic arm comprising a plurality of links and joints and a surgical tool supported and moveable by the robotic arm and being configured to interact with an anatomy. Controller(s) coupled to the robotic arm are configured to estimate robotic arm deflection based on the tool interaction and / or characterize tool-anatomy interaction based on estimated arm deflection. To estimate the robotic arm deflection, the controller(s) input the pose of the surgical tool and the tool interaction force to a machine learning model. To characterize the interaction of the surgical tool with the anatomy, the controllers(s) input an operating parameter of the surgical tool and the estimated deflection into a machine learning model.

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.

Systems and methods for surgical robotic collision detection in accordance with aspects of the present disclosure are disclosed. In various embodiments, a system for surgical robotic collision detection includes a robotic cart having a robotic arm, an imaging device supported by the robotic cart or the robotic arm, the imaging device captures images within a field of vision of the imaging device, and a controller in operable communication with the robotic arm and the imaging device. The controller includes a processor and a memory storing instructions which, when executed by the processor, causes the controller to: receive the images from the imaging device, generate a grid including a first plurality of spatial points from the images, and detect a potential collision within the field of vision based on the generated grid.

The invention provides a surgical robot testing method, device and equipment and a storage medium, and the method comprises the steps: obtaining various surgical operation data collected by a surgical robot in the actual surgical execution process; simulating an operation restoration execution process in a simulation environment based on various operation data; and in response to a test instruction for the surgical robot in the surgical restoration execution process, obtaining a test result corresponding to the test instruction. According to the method and the device, the test environment is ensured to be closer to a real operation scene through the simulated operation restoration execution process, and meanwhile, the test is performed on the operation robot in the operation restoration execution process, so that the test is more targeted, and the operation efficiency and effect of the subsequent operation robot can be remarkably improved.

The invention provides a surgical robot tail end three-dimensional force sensing mechanism and a force measurement method, and relates to the technical field of force measurement, and the surgical robot tail end three-dimensional force sensing mechanism comprises a first connecting end used for connecting a surgical instrument, a second connecting end used for connecting a surgical robot mechanical arm, and a first strain measurement unit arranged between the first connecting end and the second connecting end. The first strain measurement unit comprises a strain structure and a measurement assembly, the strain structure is provided with a first strain part, a second strain part and a third strain part, and the three strain parts are elastically deformed under acting force in a first direction, a second direction and a third direction which are perpendicular to one another; a first strain assembly, a second strain assembly and a third strain assembly of the measuring assembly are correspondingly installed on three strain parts, and the three components are matched to measure acting force borne by the surgical instrument in the first direction, the second direction and the third direction. The measurement limitation of a one-dimensional sensor is broken through, and the measurement of the acting force borne by the surgical instrument in three dimensions is realized.

An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a first clamp component configured to transition between an open position and a closed position; a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula and configured to retain the portion of the cannula in the region when the first clamp component is in the closed position; and a locking component configured to lock the first clamp component in the open position and allow the first clamp component to automatically transition to the closed position based on a position of the portion of the cannula within the region.

The invention provides a temporomandibular artificial joint replacement device, a preparation method and a surgical robot system.The temporomandibular artificial joint replacement device is characterized in that a mandibular fixing support is fixedly connected with the outer side face of the mandible of the human body, a temporal bone fixing support is fixedly connected with the outer side face of the temporal bone of the human body, a containing cavity is formed in a glenoid fossa liner, and a spherical joint head is movably arranged in the containing cavity; a base layer, a variable-rigidity elastic buffer layer and a surface layer are sequentially arranged on the inner wall of the containing cavity in the thickness direction of the side wall of the glenoid fossa liner. By means of the temporal-mandibular artificial joint replacement device, efficient simulation of the temporal-mandibular joint replacement device on a real human body temporal-mandibular joint structure can be achieved, the structural strength and the use comfort of the temporal-mandibular artificial joint replacement device are improved, and based on artificial intelligence and a surgical robot auxiliary technology, the device is simple in structure and convenient to use. The preparation function of the temporomandibular artificial joint replacement device matched with the human tissue structure and the automatic assembly surgical operation are achieved.

A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools (4), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools (4) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool (4); defining a non-interference margin function between the positioning tools (4), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.

The invention belongs to the technical field of surgical robots, and discloses a passive arm, a mechanical arm and an adjusting method of the passive arm and the mechanical arm. The problem that when a mechanical arm of a surgical robot is adjusted, multiple joints move at the same time, so that an ideal pose cannot be obtained, and the adjusting operation efficiency is affected is solved. A passive arm comprises a first switch group, a second switch group and a multi-dimensional force sensor. The first switch group at least can control a motor of the movable joint; the second switch group can control a motor of the rotating joint; the multi-dimensional force sensor can solve the motion pose of any moving joint and / or rotating joint, so that the motor corresponding to the joint coupled with the multi-dimensional force sensor provides force compensation. The first switch group and the second switch group are combined or the moving joint and the rotating joint of the passive arm are respectively adjusted, so that the position and the angle of the passive arm can be variously adjusted, the adjusting precision is ensured, the adjusting efficiency is improved, and the corresponding motor provides force compensation through the calculation of the multi-dimensional force sensor in the adjusting process. And the external force required to adjust the passive arm is reduced.

Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.

The invention discloses a hybrid reinforcement learning-based autonomous navigation decision-making method for a cavity surgical robot and a related device. The method comprises the following steps: acquiring a historical operation data set of a doctor to train a PPO model for imitation learning; an environment state input model is acquired in real time in the operation, and discrete actions and continuous PID parameters are output; a control instruction is generated through the dynamic weight fusion layer, and voice or eye movement intervention coverage model output is supported; the intervention content is stored in a playback buffer area according to the priority, and the model is updated. According to the method, the complex perception understanding ability is improved through a hierarchical attention mechanism, the safety is enhanced by utilizing a risk adaptive fusion strategy, and continuous evolution is realized by virtue of human intervention and priority experience playback, so that the autonomous navigation precision, safety and clinical friendliness of the cavity surgical robot in a narrow dynamic environment are improved.