4520 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.

A method performed by a surgical robotic system. The method determines a surgical procedure that is to be performed using a robotic arm. The method determines, for the robotic arm, a planned trajectory based on the surgical procedure, where the planned trajectory is from a current pose of the robotic arm to a predefined procedure pose that is within a threshold distance from a trocar that is coupled to a patient. The method drives the robotic arm along the planned trajectory from the current pose to the predefined procedure pose.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

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.

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 robotic surgical tool holder interchangeably hold both conventional surgical tools and surgical tools designed specifically for the holder. The tool holder will usually hold but not drive the conventional tools while both holding and driving those tools designed specifically for the tool holder. The tool holder is detachably mounted on a distal end of a surgical robotic arm and has an opening which removably receives individual surgical tools of either type. A drive train in the housing has one input which is driven by the surgical robotic arm and separate outputs for both a tool gripper and a tool driver.

A surgical platform system including a first platform portion, a second platform portion, and a support portion is provided. The support platform supports the first platform portion, and can be moveable relative to a surgical robotic system supporting the second platform portion. With the support portion and the first platform portion positioned relative to the surgical robotic system, the first platform portion supporting a first portion of the patient and the second platform portion supporting a second portion of the patient can be adjusted relative to one another to correspondingly adjust positions / orientations of the first portion and the second portion of the patient.

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.

Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure for example with visual guidance using a head mounted display or with a surgical navigation system or with a surgical robot. A computer processor can be configured to determine the pose of a first vertebra with an attached first marker and a second vertebra with an attached second marker. The computer processor can be configured to determine the pose of at least one vertebra interposed or adjacent to the first and second vertebrae with attached markers, e.g. fiducial markers.

Provided in the embodiments of the present description are a puncture assistance system and device, and a correction system and a surgical robot. The puncture assistance system comprises a processor, which is configured to: obtain a scanning image of a target object, wherein the scanning image comprises at least one of a preoperative image, a first image in a first time period and a second image in a second time period, and the first time period is earlier than the second time period; generate puncture guidance information on the basis of puncture state information and the scanning image; guide a puncture operation on the basis of the puncture guidance information; and display the puncture guidance information.

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 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 provides a surgical robot control method and device based on body intelligence. The method comprises the steps that a reward function based on inverse reinforcement learning processing is acquired; determining constraint conditions based on differences between past experience scenes and application scenes; based on multi-objective optimization, the operation strategy of the mechanical arm of the surgical robot is trained through reinforcement learning; after training is completed, selecting a moving track with the highest accumulated reward, and controlling a mechanical arm of the surgical robot to execute the moving track; the multi-objective optimization comprises a plurality of objective functions, and the objective functions at least comprise the reward functions and the constraint conditions. According to the method, the difference is converted into the constraint condition, strategy training is carried out in a multi-objective optimization mode, and therefore the problem that adaptation is difficult to carry out due to the difference between operation experience and data of a new surgical robot is solved.

A surgical robot a chassis includes a first surgical robotic arm and a reference device on a chassis. The first surgical robotic arm carries a surgical object, such as an implant, tool, or assembly, and the reference device carries indicia for identifying, sizing, calibrating, modeling, or verifying the surgical object. A controller kinematically positions the first surgical robotic arm to locate the implant, tool, or assembly in a predetermined orientation relative to the reference device in a surgical robotic coordinate space, and a camera is positioned to view the implant, tool, or assembly, when in proximity to the reference device.

Methods, apparatuses, and systems for digital image analysis for device navigation in tissue are disclosed. The disclosed system uses real-time angiography and artificial intelligence to navigate an end effector of a surgical robot through a patient's vasculature to provide a surgical intervention. Digital imaging is performed that enables three-dimensional mapping of the patient's vasculature. Locations and movement of the end effector of the surgical robot are determined. The end effector is used to perform an intervention such as the removal of a blood clot or delivery of a drug for dissolving a blood clot.

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 embodiment of the invention provides a mechanical arm, a surgical robot and a surgical robot system. The mechanical arm comprises a parallel mechanical arm, the parallel mechanical arm comprises a static platform, a movable platform and a plurality of branch chains connected between the static platform and the movable platform, and a connecting part is arranged on the movable platform; and the execution assembly is connected with the movable platform through a connecting part, and an execution main body of the execution assembly deviates and extends towards one side relative to a straight line perpendicular to the movable platform. According to the mechanical arm provided by the embodiment of the invention, the moving space is large, and the probability of collision interference in the moving process of the mechanical arm can be reduced, so that a surgical robot can carry more mechanical arms, and further carry more surgical instruments.

The invention belongs to the technical field of medical image three-dimensional reconstruction, and discloses an abdominal cavity reconstruction and focus positioning method based on a binocular endoscope, which comprises the following steps of: calibrating and correcting internal reference of the binocular endoscope; inputting the trained depth estimation network to obtain a disparity map and processing the disparity map into a picture according to frames; the luminosity error is minimized through a coarse-to-fine pyramid optimization method, and a transformation matrix of the endoscope pose between two continuous frames is calculated through nonlinear iterative optimization; light beam adjustment optimization is carried out on the motion trail of the endoscope, a depth map is superposed, outliers are removed, and three-dimensional reconstruction of the abdominal cavity tissue is achieved; recognizing a focus, extracting three-dimensional information according to the disparity map, and visually guiding the operation arm to move to a focus point in combination with a calibrated hand-eye matrix so as to realize positioning. According to the method, rapid and dense three-dimensional reconstruction of the peritoneal environment before the operation and accurate focus positioning based on visual guidance during the operation are realized, the accuracy of motion track estimation of the endoscope is improved, and autonomous development of the surgical robot is expected to be promoted.

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.

A surgical cart supporting one or more surgical robotic arms and an interface moveably interconnecting the surgical cart with a surgical table. The surgical cart can include a base portion, a first surgical robotic arm, and a second surgical robotic arm with end portions of the first surgical robotic arm and the second surgical robotic arm each capable of supporting surgical equipment thereon. The interface can including an extension portion attached relative to the surgical cart, a collar portion moveably attached relative to a longitudinal cross-member of the surgical table, a receiver portion provided on the collar portion and an actuator portion actuatable to facilitate movement of the collar portion relative to the longitudinal cross member. When an end portion of the extension portion is received in a recess provided on the collar portion, a locking member be engaged to attach the extension portion and the collar portion to one another. After attachment of the extension portion and the collar portion, the surgical cart can be moved relative to the surgical table via actuation of the actuator portion.

A tool feeding system includes a tool cart having a tool cart coordinate space and surgical tools removably carried by the tool cart at known locations within the tool cart coordinate space. The tool cart is physically attached to a surgical robotic system having one or more surgical robotic arms and a central control unit which controls movement of the robotic arms in a surgical robotic coordinate space. The central control unit registers the tool cart coordinate space with the surgical robotic coordinate space to create a common surgical robotic space, allowing the central control unit to kinematically control motion of the surgical robotic arms within the common surgical robotic space to retrieve and return multiple tools and perform surgical procedures with the tools.

A gripper for holding surgical tools is provided. The gripper incorporates a concentric and adjustable shutter mechanism that allows the gripper to hold tools of multiple different circumferences and tools that do not have perfectly circular circumferences. In the context of a centrally coordinated robotic system and, in particular, a surgical robotic system, the disclosed gripper allows the robotic system to deploy a large variety of surgical tools without regard to their circumference or precise circumferential dimensions. A robotic system using the disclosed gripper is able to deploy a wide variety of tools while always keeping the tools centered in the work area due to the concentric shutter design.

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.