363 results about "Surgical robotics" patented technology

The application relates to a target positioning method and device and a surgical robot, the target is positioned by a clamp, the method comprises the following steps: determining a current position of the target and a position of the clamp based on an image acquisition device; determining an optimization target of a position relationship between the target and the clamp; and performing position optimization on the current position of the target based on the optimization target until a target position of the target is obtained by meeting the optimization target, the target position is used for positioning the target.

A surgical execution device and a surgical robot, the surgical execution device comprising a knotting mechanism and a clamping mechanism. The knotting mechanism comprises a knotting track configured to allow a leading end of a suture to move along the knotting track. The knotting track is disposed around a knotting region, and the knotting track is located on a knotting plane. The clamping mechanism comprises a connecting end and a binding end, and the binding end is configured to constrain a trailing end of the suture. The clamping mechanism further comprises a clamping driving mechanism configured to drive the connecting end to move, so as to drive the binding end to move in a clamping plane intersecting the knotting plane. A movement track of the binding end comprises a first knotting position, and a normal projection of the first knotting position on the knotting plane is located within the knotting region. Through the linkage between the binding end of the knotting mechanism and the knotting track in the knotting mechanism, the surgical execution device can replace the manual knotting operation, efficiently and reliably complete a high-quality surgical knot, and is conducive to performing multiple knotting actions, thereby improving the operation continuity of the surgical execution device.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

This invention relates to a continuous-body soft tissue insertion actuator and surgical robot system based on flexible transmission, belonging to the field of medical device technology. The insertion actuator includes a base with a first through hole at its center; an insertion plate rotatably connected to the base; a drive rod passing through the first through hole and slidably connected to the base, one end of which is connected to a drive unit; a pull rod connected to the drive rod; and a transmission link, both ends of which are rotatably connected to the insertion plate and the pull rod, respectively. The drive unit drives the drive rod to move. When the pull rod moves away from the base, it drives the transmission link, causing the insertion plate to close inward, forming a conical structure. When the drive rod moves the pull rod closer to the base, the insertion plate opens under the push of the transmission link. This actuator utilizes a hyperelastic rod to transmit push and pull forces within a curved channel, combined with an offset crank-slider mechanism, to achieve powerful soft tissue insertion and separation.

The application relates to the field of minimally invasive surgical instruments, in particular to a surgical robot end opening and closing device and a surgical robot end mechanism. The surgical robot end opening and closing device comprises an execution assembly, the execution assembly comprises a fixed finger and a movable finger, the fixed finger is configured to be fixedly assembled, the first end of the movable finger is hingedly matched with the fixed end of the fixed finger, and the second end of the movable finger is configured to be a free end; an opening and closing driving assembly comprises an opening and closing push rod and an opening and closing linear driving module, and the opening and closing linear driving module drives the movable finger to deflect through the opening and closing push rod. The technical problems of the prior art that the surgical robot end mechanism has many parts, is heavy, large in size and poor in stability are solved.

This invention provides a suspension plate positioning mechanism and a surgical robot. The suspension plate positioning mechanism includes at least one first suspension plate and at least one second suspension plate. The first suspension plate has a first rotating shaft, and the second suspension plate has a second rotating shaft. The first suspension plate is rotatably arranged around the first rotating shaft, and the second suspension plate is rotatably arranged around the second rotating shaft. The first rotating shaft and the second rotating shaft extend in the same direction. Each first suspension plate includes a first robotic arm connection point for connecting to a robotic arm. The second suspension plate includes a second robotic arm connection point for connecting to a robotic arm. The first robotic arm connection points and the second robotic arm connection points do not overlap with each other in the direction along the first rotating shaft. This configuration ensures that the robotic arms are evenly distributed, closely spaced, and do not interfere with each other's movements, allowing for rapid surgical placement by the robotic arms.

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

This application provides a remote surgical robot, which includes a first main console and a patient-side surgical system. The first main console and the patient-side surgical system are connected via a long-distance network. The patient-side surgical system includes surgical instruments for performing surgery and an endoscope for acquiring the surgical environment. The first main console is used to control the movement of the surgical instruments and the endoscope. The data transmission method uses different transmission strategies for transmitting images of regions of interest and non-images of interest to adapt to changes in the long-distance network.

The application relates to a puncture end device and a surgical robot. The puncture end device comprises a base connected with a mechanical arm, a sliding table group comprising a first sliding table and a second sliding table, the first sliding table being slidingly matched with the base along a first direction, and the second sliding table being slidingly matched with the first sliding table along the first direction; a telescopic module connected with the sliding table group, the telescopic module being used for driving the first sliding table to slide relative to the base and driving the second sliding table to slide relative to the first sliding table; and a clamping release module comprising a first clamping mechanism and a second clamping mechanism which are arranged at intervals along the first direction, the first clamping mechanism being connected with the base, the second clamping mechanism being connected with the second sliding table, and the first clamping mechanism and the second clamping mechanism being respectively used for clamping different regions of a puncture needle along the first direction, the first direction being the length direction of the puncture needle. The puncture end device can have a larger puncture stroke, and the probability of collision when the puncture end device exits a CT device scanning cavity is reduced, so that the device is not prone to damage.

The application relates to the technical field of medical devices, and discloses an interventional surgery robot and an interventional surgery system. The interventional surgery robot is provided with a mounting module fixed to a mounting base, one side of the mounting module is rotatably connected with the mounting base, and the other side is provided with a fixing structure which is detachably connected with the mounting base. Therefore, the mounting module can be completely fixed to the mounting base, so that a Y-shaped valve arranged on the mounting module can be kept relatively static during the whole surgery process, and the problem that the surgery fails due to movement of the Y-shaped valve does not occur. Before the surgery, the fixing structure needs to be separated from the mounting base, and the mounting module needs to be rotated by a certain angle around a rotating mechanism to a height at which a surgeon can conveniently install an instrument; after the instrument is installed, the fixing structure needs to be fixed to the mounting base, so that the mounting module and the Y-shaped valve are stably fixed to the mounting base, and the interventional surgery can be conveniently completed.

The application discloses a biological implant robot machining posture planning and error compensation method based on a global stiffness model, belongs to the technical field of biological manufacturing and surgical robot auxiliary machining, and comprises the following steps: a biomechanical stiffness atlas covering the whole posture space of the implant is constructed by sparse modal sampling combined with an inverse distance weighting algorithm. The application effectively solves the problem that the cell responses are inconsistent due to the machining quality differences of different regions of the complex curved surface implant through the global surface biological activity consistency, and significantly improves the long-term success rate of implant surgery. The application is easy to deploy on the existing medical robot through hardware pollution. Through micron-level functional molding, the micron-level biological texture depth is accurately controlled, and the manufacturing level of the personalized implant is improved from simple geometric shape customization to a new height of surface biological function customization.

The application relates to the field of medical devices, in particular to an opening and closing mechanism and a surgical robot. The opening and closing mechanism comprises an opening and closing driving part, an opening and closing transmission assembly, a reset part and an execution assembly. The opening and closing transmission assembly comprises an opening and closing transmission cable and an opening and closing shaft. The opening and closing transmission cable is wound or unwound under the driving action of the opening and closing driving part. The free end of the opening and closing transmission cable is connected to the opening and closing shaft. The opening and closing shaft is slidingly assembled. When the opening and closing transmission cable is wound, the opening and closing transmission cable pulls the opening and closing shaft to slide in the positive direction to overcome the action force of the reset part. When the opening and closing transmission cable is unwound, the opening and closing shaft slides in the reverse direction under the action force of the reset part. The execution assembly comprises two hinged execution fingers. The two ends of the opening and closing shaft are movably connected to the two execution fingers of the execution assembly. The opening and closing shaft slides to push the two execution fingers to swing to realize the opening and closing of the two execution fingers. The technical problems of the prior art, i.e. many parts and complex structure of the opening and closing mechanism, are solved.

The application discloses a novel end device of a surgical robot system, which comprises a parent control module and a child tool module detachably installed on the parent control module; a plurality of positioning holes are arranged on the end face of the parent control module towards the child tool module; a plurality of positioning pillars for identifying the model of a surgical tool are arranged on the end face of the child tool module towards the parent control module; when the plurality of positioning pillars on the child tool module are inserted into the plurality of positioning holes on the parent control module, the parent control module identifies the model of the surgical tool of the child tool module by judging the layout style and / or length of the inserted positioning pillars. The end device of the application can be installed on the mechanical arm of the surgical robot to realize intelligent identification.

The present application relates to the technical field of medical apparatus, and discloses a laparoscopic surgical instrument, which comprises an instrument main body and a front-end instrument, the instrument main body comprises a terminal closed transmission assembly, and the front-end instrument comprises an instrument outer rod and an instrument inner rod; the terminal closed transmission assembly comprises a terminal gear and a reset assembly, the terminal gear is provided with a sliding groove, the instrument inner rod is provided with a limiting part, the limiting part can be inserted into or withdrawn from the sliding groove and drive the terminal gear to rotate; when the front-end instrument is not inserted into the instrument main body, the terminal gear moves to a first limit position under the action of the reset assembly, at this time, the limiting part can be inserted into the sliding groove along with the instrument inner rod; when the front-end instrument is inserted in place, the terminal gear moves to a second limit position under the action of the reset assembly, the sliding groove pulls the instrument inner rod inward, and the jaw of the front-end instrument is closed. The present application also discloses a surgical robot. When the front-end instrument is replaced, the present application facilitates the insertion of the instrument inner rod, and after the front-end instrument is replaced, the jaw of the front-end instrument can be automatically closed.

According to an example, a method for gathering surgical data may include programming a humanoid robot to perform a task. The humanoid robot may include one or more measurement devices coupled to the humanoid robot. The method may further include receiving surgical data associated with the one or more measurement devices during a performance of the task by the humanoid robot.

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.

A surgical robotic system includes a robotic arm having an instrument drive unit and an access port configured to be secured to the robotic arm. The system also includes an instrument configured to couple to the instrument drive unit, where the instrument drive unit is configured to actuate the instrument. The system also includes a controller configured to: instruct the robotic arm to advance the instrument into the access port; instruct the instrument drive unit to calibrate the instrument inside the access port; determine a type of the access port during calibration of the instrument; and store the type of the access port in a memory.

This invention provides a handle, an input device, a master hand device, and a surgical robot. The handle is used as an input device for the surgical robot and includes a main body and a grip portion. The grip portion is configured to hold the handle. One end of the main body is rotatably connected to the base of the input device; the other end of the main body is detachably connected to the grip portion via a disassembly assembly. In this invention, the handle portion and the main body of the handle are detachably connected via the disassembly assembly. Different grip portions are adapted to the same main body, and the handle can be replaced simply by changing the grip portion, greatly reducing the cost of replacing the handle. During surgery, doctors can quickly change to different shapes or sizes of grip portions according to their personal habits, which helps doctors grip the handle more comfortably, thereby improving the doctor's experience using the handle, reducing hand fatigue, lowering the risk factor of surgery, and enabling the surgery to proceed smoothly.

This invention provides a robotic arm and surgical robot system. The robotic arm includes a suspension joint, a first joint arm, a second joint arm, a third joint arm, a motion detection mechanism, and a control unit. The first joint arm is mounted on the suspension joint and can move along a first arc trajectory. The second joint arm is mounted on the first joint arm and can rotate around a second central axis. The third joint arm is mounted on the second joint arm and can rotate around a third central axis and a fourth central axis, respectively. The motion detection mechanism detects the actual motion of each joint arm during the initial positioning. The control unit obtains the actual pose of the third joint arm after the initial positioning based on the actual motion of each joint arm, and controls the movement of the second joint arm based on the actual pose and the target pose for pose fine-tuning. By setting the second joint arm, the system meets the requirements of a large positioning space for the robotic arm and various surgical methods, reduces the size of the first joint arm, and improves the positioning accuracy of the operating instruments.

A robotic surgery system includes an orienting platform, a manipulator, and a set-up linkage. The manipulator includes an instrument holder, a pitch linkage, and a yaw linkage. The instrument holder is operable to translate the surgical instrument along an insertion axis to insert the surgical instrument through a remote center of manipulation (RC). The pitch linkage is operable to rotate the instrument holder around a pitch axis that intersects the RC. The yaw linkage is operable to rotate the pitch linkage around a yaw axis. The set-up linkage is connected between the yaw linkage and the orienting platform. The set-up linkage is operable to reposition the manipulator relative to the orienting platform with a motion that maintains the RC in a fixed position relative to the orienting platform.

Engagement and homing (E&H) sequences for surgical tools (tools) with high gear ratios are described. Responsive to determining that a tool has been coupled to a robotic arm of a surgical robotic system, an E&H sequence is determined. The sequence is performed, wherein a sub-sequence (for a joint) of the E&H sequence comprises: based on a last known position of the joint, selecting a direction for rotating a drive disk that corresponds to a direction of a closest hard stop of a mechanical assembly (e.g., that includes a gear mesh with a high gear ratio) that halts articulation of the joint. The drive disk is rotated in the direction of the hard stop, and once it has been determined that the hard stop was reached and that a tool disk has engaged with the drive disk, the drive disk is rotated to place the joint in a home position.

The utility model is suitable for medical robot field provides a kind of instrument state detection device, including instrument connector, mounting seat and position detection mechanism, instrument connector is movably connected with mounting seat, instrument connector has initial position and state change position relative to mounting seat, instrument one end is fixedly installed in instrument connector, under the action of external force, part or whole of instrument connector moves between initial position and state change position, position detection mechanism is configured as detector whether instrument connector has moved to state change position. Still provide a kind of interventional operation robot, including the instrument state detection device of above. The detection mode of the utility model is simple, and the quality of instrument connector is lighter, when interventional operation robot operates, less by external influencing factor, for example, the interference of factors such as vibration, acceleration, inclination angle to straight detection is small, can effectively improve the stability of straight detection, benefit the normal operation of equipment.

This application provides a master hand control device and a surgical robot system. The master hand control device includes a base, a rotating bracket, a drive assembly, a clamping assembly, and a sensing module. The rotating bracket is rotatably connected to the base and can rotate relative to the base about a central axis. The drive assembly is mounted to the base, and its output end is connected to the rotating bracket to output a feedback torque to the rotating bracket. The rotation axis of the drive assembly's output end coincides with the central axis. The clamping assembly is disposed on the rotating bracket and rotates synchronously with the rotating bracket about the central axis. The clamping assembly can rotate relative to the rotating bracket to achieve opening and closing actions. The sensing module is disposed between the drive assembly and the clamping assembly. The sensing module is used to output signals indicating the opening and closing angle of the clamping assembly relative to the rotating bracket and / or to output signals indicating the rotation angle of the clamping assembly about the central axis.

The application provides a surgical robot system and control method for proximal femur osteotomy, the system comprises: a preoperative planning module for constructing a hip joint three-dimensional model and performing preoperative planning according to the hip joint three-dimensional model to generate a proximal femur osteotomy scheme, which is one of a femoral head rotation osteotomy scheme, a femoral neck rotation osteotomy scheme, an intertrochanteric rotation osteotomy scheme and a subtrochanteric rotation osteotomy scheme; a navigation positioning module for registering the entity femur in operation and the hip joint three-dimensional model before operation according to an optical positioner and an optical positioning frame to map the proximal femur osteotomy scheme, real-time tracking the pose of the surgical tool and the entity femur, and displaying and comparing the proximal femur osteotomy scheme and the real-time osteotomy process on a display screen. In the application, the preoperative planning-intraoperative optical positioning navigation can track the osteotomy condition of the surgical tool in real time during operation, and multiple medical imaging is avoided, thereby greatly improving the surgical effect.

This disclosure relates to the field of positioning technology, and discloses a method, computer device, computer-readable storage medium, and surgical robot system for determining the pose of an object. The method for determining the pose of an object includes: acquiring a positioning image; identifying multiple markers located on the object in the positioning image, the multiple markers including multiple pose markers for identifying pose and at least one composite marker for identifying pose and angle; and determining the pose of the object relative to a reference coordinate system based on at least one composite marker and the multiple pose markers.

This application provides a surgical robot, including a rotary joint, a surgical arm, an instrument driver, and a control circuit assembly. The rotary joint includes a first rotating part and a second rotating part, the first rotating part being rotatably disposed relative to the second rotating part. A plurality of surgical arms are fixedly mounted to the first rotating part in a circular array. Each surgical arm has a linear drive module and a length parallel to the rotation axis of the first rotating part. The instrument driver is used to control surgical instruments and is mounted on the surgical arm, capable of linear reciprocating motion along the length of the surgical arm. The control circuit assembly is disposed in the rotary joint and electrically connected to the instrument driver to drive the surgical instruments to perform operations. This solution externalizes the control circuit assembly in the surgical arm, reducing the size and mass of the surgical arm, reducing the rotational inertia and diameter of the rotary joint, and improving flexibility and operational accuracy.