CN103735313A - Surgical robot and condition monitoring method thereof - Google Patents
Surgical robot and condition monitoring method thereof Download PDFInfo
- Publication number
- CN103735313A CN103735313A CN201310676213.1A CN201310676213A CN103735313A CN 103735313 A CN103735313 A CN 103735313A CN 201310676213 A CN201310676213 A CN 201310676213A CN 103735313 A CN103735313 A CN 103735313A
- Authority
- CN
- China
- Prior art keywords
- subject
- depth information
- force signal
- feed unit
- feeding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention is applicable to the field of medical instruments and provides a surgical robot and a condition monitoring method of the surgical robot. The condition monitoring method comprises the steps that a sensor installed on a feed unit of the surgical robot is used for acquiring a stress signal and depth information of the feed unit; according to the acquired depth information, a depth information and stress signal correspondence table of a preset feed path is searched for a stress signal corresponding to the acquired depth information; whether the acquired stress signal is identical to the found stress signal is judged; if the acquired stress signal is different from the found stress signal, an exception handling instruction is sent. According to the condition monitoring method of the surgical robot, the exception handling instruction can be sent immediately when operation depth or the stress signal is inconsistent with a planned depth or a planned stress signal so that an exception can be handled more timely and effectively; the handling process can be completed automatically, there is no need to depend on the experience of workers for operation, as a result, operation accuracy can be improved, errors are reduced, the safety of surgery is improved, and the success rate of surgery is increased.
Description
Technical field
The invention belongs to medical instruments field, relate in particular to a kind of operating robot and state monitoring method thereof.
Background technology
In recent years, operating robot has become the study hotspot of medical science and robot field's cross discipline, utilize high accuracy, high stability, the motility of operating robot good, controllability by force and not the feature of Keep away from radioactive and infection complete operation technique, changed doctor only completes operation technique situation with subjective judgment and surgical experience, can reduce the surgical errors that anthropic factor causes, improve the success rate of operation.
In numerous medical operatings; usually can relate to some operation techniques of orthopaedics; spinal surgery is as a branch of orthopaedics; because the particularity at its position is considered to one of excessive risk surgical operation; it has been contained, and spinal trauma, degeneration, deformity of spine, tumor etc. are sick plants, and related operation comprises pedicle screw internal fixation, nerve decompression, bone graft fusion and artificial disc replacement etc.Because spinal column is the passage of spinal cord, nerve root traveling, especially in the operation of cervical region extensive region dentata, because being close to important breathing and circulation maincenter, the careless slightly damage that will cause spinal cord or oblongata.Therefore, very high to the requirement of equipment in this type of operation.
Existing operating robot, generally by strength feedback device is installed on operating robot, user is according to the dynamics information of feedback, experience in conjunction with self is carried out control operation, use it to operate and still there will be error, affect the precision of its location, safety and the success rate of impact operation.
Summary of the invention
The object of the present invention is to provide a kind of state monitoring method of operating robot, to solve the operating robot of prior art, pass through the dynamics information of feedback, when the person's of being combined with experience is performed the operation, there will be error, affect the problem of positioning precision, thereby improve safety and the success rate of operation.
The present invention is achieved in that a kind of state monitoring method of operating robot, and described method comprises the steps:
By being arranged on sensor on the feed unit of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit;
According to the described depth information obtaining or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;
Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;
If different, send exception handling instruction.
Another object of the present invention is to provide a kind of operating robot, described operating robot comprises:
Feed unit, force sensor, controller, memorizer and adjustment unit, described installation of sensors is on feed unit, for obtaining the depth information that is subject to force signal and feed unit of feed unit, the signal output part of described sensor is connected with controller, described adjustment unit is connected with feed unit, for adjusting angle and the state of described feed unit, it is characterized in that
Described controller obtains the depth information that is subject to force signal and feed unit of feed unit for the sensor on the feed unit by being arranged on operating robot;
According to the described depth information obtaining or be subject to force signal, the depth information that defaults in the feeding path in memorizer be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;
Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;
If different, send exception handling instruction.
In the present invention, by obtaining, on the feed unit of operating robot, be subject to force signal and depth information, and by the depth information that obtains the depth information in default path be subject to the corresponding table of force signal in search its corresponding force signal that is subject to, and whether the force signal that is subject to relatively obtaining conforms to the force signal that is subject to of searching, if do not conformed to, send exception handling instruction and process described abnormal, or by obtain be subject to force signal the depth information in default path be subject to the corresponding table of force signal in search its corresponding depth information, and whether the depth information relatively obtaining conforms to the depth information of searching, if do not conformed to, send exception handling instruction and process described abnormal.When the embodiment of the present invention can or be subject to not the conforming to of force signal and planning in the degree of depth of operation, the very first time sends exceptional instructions, can process more timely and effectively abnormal conditions, its processing procedure can complete automatically, do not need to rely on staff's experiential operating, can improve the accuracy of operation, reduce error, thereby improve safety and the success rate of operation.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the state monitoring method of the operating robot that provides of first embodiment of the invention;
Fig. 2 is the first embodiment of the invention depth information providing and the corresponding relation curve synoptic diagram that is subject to force signal;
Fig. 3 for first embodiment of the invention provide in cortical bone, carry out drilling time, depth information be subject to the curve synoptic diagram of force signal;
The operation technique effect schematic diagram in a safe condition that Fig. 4 a provides for first embodiment of the invention;
The effect schematic diagram of the operation technique that Fig. 4 b provides for first embodiment of the invention in abnormality;
The effect schematic diagram of the operation technique that Fig. 4 c provides for first embodiment of the invention in done state;
Fig. 5 is the realization flow figure of the state monitoring method of the operating robot that provides of second embodiment of the invention;
Fig. 6 is the structural representation of the operating robot that provides of third embodiment of the invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Operating robot state monitoring method described in the embodiment of the present invention, can be used for pedicle screw internal fixation, nerve decompression, bone graft fusion and artificial disc replacement etc.For the degree of safety to surgical object and success rate of operation, consider, the present invention proposes that a kind of error is less, the state monitoring method of degree of accuracy and the higher operating robot of safety, described method comprises: the depth information that is subject to force signal and feed unit that obtains feed unit by being arranged on sensor on the feed unit of operating robot; According to the described depth information obtaining or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal; Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical; If different, send exception handling instruction.
By obtaining, on the feed unit of operating robot, be subject to force signal and depth information, and by the depth information that obtains the depth information in default path be subject to the corresponding table of force signal in search its corresponding force signal that is subject to, and whether the force signal that is subject to relatively obtaining conforms to the force signal that is subject to of searching, if do not conformed to, send exception handling instruction and process described abnormal, or by obtain be subject to force signal the depth information in default path be subject to the corresponding table of force signal in search its corresponding depth information, and whether the depth information relatively obtaining conforms to the depth information of searching, if do not conformed to, send exception handling instruction and process described abnormal.When the embodiment of the present invention can or be subject to not the conforming to of force signal and planning in the degree of depth of operation, the very first time sends exceptional instructions, can process more timely and effectively abnormal conditions, its processing procedure can complete automatically, do not need to rely on staff's experiential operating, can improve the accuracy of operation, reduce error, thereby improve safety and the success rate of operation.
Embodiment mono-:
Fig. 1 shows the realization flow of the state monitoring method of the operating robot that first embodiment of the invention provides, and details are as follows:
In step S101, by being arranged on sensor on the feed unit of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit.
Concrete, described feed unit, for operating robot bores the unit of bone, can comprise drill bit and the motor for driving bit to operate to complete brill bone, or the drill bit driving by air pressure etc., described sensor, is subject to force information and the displacement at feeding object, the i.e. depth information of feed unit for perception feed unit.Described stressed information exchange is crossed the six-dimension force sensor that is arranged on feed unit and is gathered, the depth information of described feed unit, by the displacement transducer that is arranged on feed unit, gather, certainly this be one comparatively preferred embodiment, persons skilled in the art are appreciated that as adopted non-six-dimensional force sensing to carry out stressed signals collecting.
The depth information of described feed unit, for from arriving feeding subject surface, to the degree of depth that enters feed unit, can be by recording the position of feed unit when arriving feeding subject surface, in feeding process, by stroke, subtract each other, can obtain the depth information of feed unit.
In step S102, according to the described depth information obtaining, the depth information in default feeding path be subject in the corresponding table of force signal, the corresponding force signal that is subject to of depth information obtaining described in searching.
In embodiments of the present invention, in the memorizer of operation machine the pre-stored depth information that has a feeding path be subject to the corresponding table of force signal, described feeding path, be generally the preferably multiple implementation path in operation preplanning, when operation, select corresponding path, can access a corresponding relation corresponding to selected path, described corresponding relation can or be two-dimentional depth information and the curve that is subject to force information etc. for corresponding form, described curve can be expressed by multistage function, when searching data, can calculate the corresponding force information that is subject to by function corresponding to respective depth information.
Fig. 2 shows described default depth information and the corresponding relation curve that is subject to force signal, and as can be seen from Figure 2, drill bit (24) passes the cortical bone (40) that pierces cortical bone (40), the spongy bone (41) in stage and pass the stage successively.The corresponding particular point that is subject to force signal comprises: pierce the cortical bone power of stage cortical bone peak value (43), pass the drill thrust meansigma methods (45) in stage cortical bone drill thrust peak value (44), spongy bone stage, the depth information of corresponding correspondence is: pierce stage cortex thickness of bone (46), spongy bone thickness (47), pass stage cortex thickness of bone (48).By the expressed cortical bone peak value (43) (44) that pierces and pass the stage of the stressed signal data (42) to Real-time Collection, the power average in spongy bone stage (45), compare with the cortical bone peak value (43) (44) that pierces and pass the stage, the power average in spongy bone stage (45) feature that model is expressed, can judge whether drill bit (24) is in cortical bone (40) stage, spongy bone (41) stage or drills osseous tissue.Dang Zuanding road, the hole that drill bit is up to, when position deviation tram is larger, the cortex thickness of bone that drill bit passes is larger, in cortical bone, carry out drilling even always, by relatively piercing stage cortex thickness of bone (46), can judge whether to bore partially, as shown in Figure 3.
In step S103, obtain described in judgement be subject to force signal with described in search be subject to force signal whether identical.
Described in judgement described in the embodiment of the present invention, obtain be subject to force signal with described in search be subject to force signal whether identical, not for completely the same, consider because different feeding objects, may there is different characteristics, therefore, can allow it to have certain error, error allow scope in, described in still can judging, obtain be subject to force signal with described in search be subject to force signal identical.
Equally, when system use obtain be subject to force signal to search corresponding depth information time, whether the depth information that obtains of judgement identical with the depth information of searching, and belongs to normal operation.
In step S104, if described in obtain be subject to force signal from described in search be subject to force signal different, send exception handling instruction.
Can judge by this method the three class states in Zuan Ding road---correctly follow closely, drill, bore partially, as shown in Fig. 4 a, when operation technique is in a safe condition, controller sends and continues feeding order to feed unit, and bone drill is proceeded operation technique; When abnormality (bore partially or drill shown in Fig. 4 c), controller sends feed-disabling order to feed unit, and bone drill stops operation technique; When in boring done state, as shown in Fig. 4 c, controller sends feed-disabling order to feed unit, and bone drill stops operation technique.
Based on same principle, the embodiment of the present invention can also be searched corresponding depth information by the force signal that is subject to obtaining, whether the depth information of relatively searching is identical with the depth information obtaining, and its mode of operation and above-mentioned steps S101-S104 are similar, at this, do not repeat.
The embodiment of the present invention is subject to force signal and depth information by obtaining on the feed unit of operating robot, and by the depth information that obtains the depth information in default path be subject to the corresponding table of force signal in search its corresponding force signal that is subject to, and whether the force signal that is subject to relatively obtaining conforms to the force signal that is subject to of searching, if do not conformed to, send exception handling instruction and process described abnormal, or by obtain be subject to force signal the depth information in default path be subject to the corresponding table of force signal in search its corresponding depth information, and whether the depth information relatively obtaining conforms to the depth information of searching, if do not conformed to, send exception handling instruction and process described abnormal.When the embodiment of the present invention can or be subject to not the conforming to of force signal and planning in the degree of depth of operation, the very first time sends exceptional instructions, can process more timely and effectively abnormal conditions, its processing procedure can complete automatically, do not need to rely on staff's experiential operating, can improve the accuracy of operation, reduce error, thereby improve safety and the success rate of operation.
Embodiment bis-:
Fig. 5 shows the realization flow of the state monitoring method of the operating robot that second embodiment of the invention provides, and details are as follows:
In step S501, by being arranged on sensor on the feed unit of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit.
Concrete, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.
In step S502, obtain the structural parameters for the treatment of feeding object.
Wherein, described in, obtain and treat that the structural parameters step of feeding object comprises:
Using CT(Chinese full name is x-ray computer tomography, and English full name is Computed Tomography) scanning device scans feeding object, obtains the CT image of feeding object.
The structural parameters that obtain treating feeding according to the described CT image obtaining, carry out 3D image reconstruction according to described structural parameters to feeding object.
In step S503, according to the described structural parameters that obtain, treat that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal described in generation.
Concrete, the 3-D view that can rebuild according to described structural parameters and the feeding path for the treatment of feeding object, treat described in determining that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal.
In step S504, according to the described depth information obtaining or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal.
Described in judgement described in the embodiment of the present invention, obtain be subject to force signal with described in search be subject to force signal whether identical, not for completely the same, consider because different feeding objects, may there is different characteristics, therefore, can allow it to have certain error, error allow scope in, described in still can judging, obtain be subject to force signal with described in search be subject to force signal identical.
In step S505, obtain described in judgement be subject to force signal with described in search be subject to force signal whether identical, or the depth information obtaining described in judgement with described in the depth information searched whether identical.
In step S506, if described in obtain be subject to force signal from described in search be subject to force signal different, or described in the depth information that obtains from described in the depth information searched different, send exception handling instruction.
Described exception handling instruction comprises transmission feed-disabling instruction and hint instructions.
In addition, in embodiments of the present invention, can also show by display unit the status information of 3-D view and the described feed unit of described reconstruction.Can make like this staff can be by the more vivid mode of operation that obtains bone drill of image.
The embodiment of the present invention is compared with embodiment mono-, and difference is to obtain by CT scan equipment the CT image of feeding object, and carries out 3D image reconstruction, makes it possible to obtain more accurately the structural parameters of feeding object, improves the accuracy of operation.
Embodiment tri-:
The structural representation of the operating robot that the brill bone that Fig. 6 shows third embodiment of the invention to be provided is used, details are as follows:
Operating robot described in the embodiment of the present invention, comprise feed unit 601, sensor 602, controller 603, memorizer 604 and adjustment unit 605, described sensor 602 is installed on feed unit 601, for obtaining the depth information that is subject to force signal and feed unit 601 of feed unit 601, the signal output part of described sensor 602 is connected with controller 603, described adjustment unit 605 is connected with feed unit 601, and for adjusting angle and the state of described feed unit, described controller is used for:
By being arranged on sensor 602 on the feed unit 601 of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit 601;
According to the described depth information obtaining or be subject to force signal, the depth information that defaults in the feeding path in memorizer 604 be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;
Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;
If different, send exception handling instruction, described exception handling instruction comprises transmission feed-disabling instruction and hint instructions.
Further, described controller 603 also carries out 3D image reconstruction for the structural parameters that obtain described in basis to feeding object, described surgical device people is also connected with display unit 606, for showing the status information of 3-D view and described feed unit of described reconstruction.
Concrete, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.
Described in the embodiment of the present invention, operating robot is corresponding with the operational approach described in embodiment mono-and embodiment bis-, at this, is not too much repeated in this description.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a state monitoring method for operating robot, is characterized in that, described method comprises:
By being arranged on sensor on the feed unit of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit;
According to the described depth information obtaining or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;
Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;
If different, send exception handling instruction.
2. method according to claim 1, it is characterized in that, at the depth information obtaining described in described basis or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information step of force signal before, described method also comprises:
Obtain the structural parameters for the treatment of feeding object;
According to the described structural parameters that obtain, treat that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal described in generation.
3. method according to claim 2, is characterized in that, described in obtain and treat that the structural parameters step of feeding object comprises:
Use CT scan equipment to scan feeding object, obtain the CT image of feeding object;
The structural parameters that obtain treating feeding according to the described CT image obtaining, carry out 3D image reconstruction according to described structural parameters to feeding object;
The structural parameters that obtain described in described basis, treat that the depth information in the feeding path of feeding object comprises with the corresponding table step that is subject to force signal described in generation:
The 3-D view of rebuilding according to described structural parameters and the feeding path for the treatment of feeding object, treat described in determining that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal.
4. method according to claim 3, is characterized in that, described method also comprises:
By display unit, show the status information of 3-D view and the described feed unit of described reconstruction.
5. method according to claim 1, is characterized in that, if described different, sends in exception handling instruction step, and described exception handling instruction comprises and sends feed-disabling instruction and hint instructions.
6. method according to claim 1, is characterized in that, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.
7. an operating robot, comprise feed unit, sensor, controller, memorizer and adjustment unit, described installation of sensors is on feed unit, for obtaining the depth information that is subject to force signal and feed unit of feed unit, the signal output part of described sensor is connected with controller, and described adjustment unit is connected with feed unit, for adjusting angle and the state of described feed unit, it is characterized in that
Described controller obtains the depth information that is subject to force signal and feed unit of feed unit for the sensor on the feed unit by being arranged on operating robot;
According to the described depth information obtaining or be subject to force signal, the depth information that defaults in the feeding path in memorizer be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;
Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;
If different, send exception handling instruction.
8. operating robot according to claim 7, it is characterized in that, described controller also carries out 3D image reconstruction for the structural parameters that obtain described in basis to feeding object, described surgical device people is also connected with display unit, for showing the status information of 3-D view and described feed unit of described reconstruction.
9. operating robot according to claim 7, is characterized in that, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310676213.1A CN103735313B (en) | 2013-12-11 | 2013-12-11 | A kind of operating robot and state monitoring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310676213.1A CN103735313B (en) | 2013-12-11 | 2013-12-11 | A kind of operating robot and state monitoring method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103735313A true CN103735313A (en) | 2014-04-23 |
| CN103735313B CN103735313B (en) | 2016-08-17 |
Family
ID=50492439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310676213.1A Active CN103735313B (en) | 2013-12-11 | 2013-12-11 | A kind of operating robot and state monitoring method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103735313B (en) |
Cited By (67)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104537939A (en) * | 2014-12-31 | 2015-04-22 | 佛山市中医院 | Virtual method and device for pedicle screw implantation |
| CN105997252A (en) * | 2016-06-20 | 2016-10-12 | 深圳市罗伯医疗科技有限公司 | Method for feeding back touch force through robot in operation of and robot |
| CN106264751A (en) * | 2016-08-31 | 2017-01-04 | 华科精准（北京）医疗科技有限公司 | A kind of medical operating alignment sensor |
| CN110281234A (en) * | 2019-05-17 | 2019-09-27 | 爱驰汽车有限公司 | A kind of dolly set error-preventing method and device based on self-piercing riveting |
| US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
| US10813539B2 (en) | 2016-09-30 | 2020-10-27 | Auris Health, Inc. | Automated calibration of surgical instruments with pull wires |
| US10827913B2 (en) | 2018-03-28 | 2020-11-10 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| US10888386B2 (en) | 2018-01-17 | 2021-01-12 | Auris Health, Inc. | Surgical robotics systems with improved robotic arms |
| US10898277B2 (en) | 2018-03-28 | 2021-01-26 | Auris Health, Inc. | Systems and methods for registration of location sensors |
| US10898275B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Image-based airway analysis and mapping |
| US10903725B2 (en) | 2016-04-29 | 2021-01-26 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
| US10898286B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Path-based navigation of tubular networks |
| US10905499B2 (en) | 2018-05-30 | 2021-02-02 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
| US10912924B2 (en) | 2014-03-24 | 2021-02-09 | Auris Health, Inc. | Systems and devices for catheter driving instinctiveness |
| US10987179B2 (en) | 2017-12-06 | 2021-04-27 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
| US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| US11051681B2 (en) | 2010-06-24 | 2021-07-06 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
| US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
| US11129602B2 (en) | 2013-03-15 | 2021-09-28 | Auris Health, Inc. | Systems and methods for tracking robotically controlled medical instruments |
| US11141048B2 (en) | 2015-06-26 | 2021-10-12 | Auris Health, Inc. | Automated endoscope calibration |
| US11147637B2 (en) | 2012-05-25 | 2021-10-19 | Auris Health, Inc. | Low friction instrument driver interface for robotic systems |
| US11147633B2 (en) | 2019-08-30 | 2021-10-19 | Auris Health, Inc. | Instrument image reliability systems and methods |
| US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
| US11207141B2 (en) | 2019-08-30 | 2021-12-28 | Auris Health, Inc. | Systems and methods for weight-based registration of location sensors |
| US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
| US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
| US11241203B2 (en) | 2013-03-13 | 2022-02-08 | Auris Health, Inc. | Reducing measurement sensor error |
| US11278357B2 (en) | 2017-06-23 | 2022-03-22 | Auris Health, Inc. | Robotic systems for determining an angular degree of freedom of a medical device in luminal networks |
| US11280690B2 (en) | 2017-10-10 | 2022-03-22 | Auris Health, Inc. | Detection of undesirable forces on a robotic manipulator |
| US11278703B2 (en) | 2014-04-21 | 2022-03-22 | Auris Health, Inc. | Devices, systems, and methods for controlling active drive systems |
| US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
| US11350998B2 (en) | 2014-07-01 | 2022-06-07 | Auris Health, Inc. | Medical instrument having translatable spool |
| US11376085B2 (en) | 2013-03-15 | 2022-07-05 | Auris Health, Inc. | Remote catheter manipulator |
| US11382650B2 (en) | 2015-10-30 | 2022-07-12 | Auris Health, Inc. | Object capture with a basket |
| US11403759B2 (en) | 2015-09-18 | 2022-08-02 | Auris Health, Inc. | Navigation of tubular networks |
| US11426095B2 (en) | 2013-03-15 | 2022-08-30 | Auris Health, Inc. | Flexible instrument localization from both remote and elongation sensors |
| US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
| US11452844B2 (en) | 2013-03-14 | 2022-09-27 | Auris Health, Inc. | Torque-based catheter articulation |
| US11464591B2 (en) | 2015-11-30 | 2022-10-11 | Auris Health, Inc. | Robot-assisted driving systems and methods |
| US11490782B2 (en) | 2017-03-31 | 2022-11-08 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
| US11497568B2 (en) | 2018-09-28 | 2022-11-15 | Auris Health, Inc. | Systems and methods for docking medical instruments |
| US11503986B2 (en) | 2018-05-31 | 2022-11-22 | Auris Health, Inc. | Robotic systems and methods for navigation of luminal network that detect physiological noise |
| US11504195B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Active drive mechanism for simultaneous rotation and translation |
| US11504187B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
| US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
| US11517717B2 (en) | 2013-03-14 | 2022-12-06 | Auris Health, Inc. | Active drives for robotic catheter manipulators |
| US11529129B2 (en) | 2017-05-12 | 2022-12-20 | Auris Health, Inc. | Biopsy apparatus and system |
| US11534247B2 (en) | 2017-06-28 | 2022-12-27 | Auris Health, Inc. | Instrument insertion compensation |
| US11534250B2 (en) | 2014-09-30 | 2022-12-27 | Auris Health, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
| US11534249B2 (en) | 2015-10-30 | 2022-12-27 | Auris Health, Inc. | Process for percutaneous operations |
| US11564759B2 (en) | 2016-08-31 | 2023-01-31 | Auris Health, Inc. | Length conservative surgical instrument |
| US11571229B2 (en) | 2015-10-30 | 2023-02-07 | Auris Health, Inc. | Basket apparatus |
| US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
| US11638618B2 (en) | 2019-03-22 | 2023-05-02 | Auris Health, Inc. | Systems and methods for aligning inputs on medical instruments |
| US11660153B2 (en) | 2013-03-15 | 2023-05-30 | Auris Health, Inc. | Active drive mechanism with finite range of motion |
| US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
| US11666393B2 (en) | 2017-06-30 | 2023-06-06 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
| US11690977B2 (en) | 2014-05-15 | 2023-07-04 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
| US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
| US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
| US11771521B2 (en) | 2015-09-09 | 2023-10-03 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
| US11779414B2 (en) | 2013-03-14 | 2023-10-10 | Auris Health, Inc. | Active drive for robotic catheter manipulators |
| US11839439B2 (en) | 2017-12-11 | 2023-12-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
| US11864842B2 (en) | 2018-09-28 | 2024-01-09 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
| US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862223A (en) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | Operating robot |
| US20110082462A1 (en) * | 2009-10-01 | 2011-04-07 | Mako Surgical Corp. | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
| CN102469995A (en) * | 2009-07-03 | 2012-05-23 | 伊顿株式会社 | Hybrid surgical robot system and method for controlling a surgical robot |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
-
2013
- 2013-12-11 CN CN201310676213.1A patent/CN103735313B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102469995A (en) * | 2009-07-03 | 2012-05-23 | 伊顿株式会社 | Hybrid surgical robot system and method for controlling a surgical robot |
| US20110082462A1 (en) * | 2009-10-01 | 2011-04-07 | Mako Surgical Corp. | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
| CN101862223A (en) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | Operating robot |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
Cited By (82)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11857156B2 (en) | 2010-06-24 | 2024-01-02 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
| US11051681B2 (en) | 2010-06-24 | 2021-07-06 | Auris Health, Inc. | Methods and devices for controlling a shapeable medical device |
| US11147637B2 (en) | 2012-05-25 | 2021-10-19 | Auris Health, Inc. | Low friction instrument driver interface for robotic systems |
| US11241203B2 (en) | 2013-03-13 | 2022-02-08 | Auris Health, Inc. | Reducing measurement sensor error |
| US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
| US11517717B2 (en) | 2013-03-14 | 2022-12-06 | Auris Health, Inc. | Active drives for robotic catheter manipulators |
| US11779414B2 (en) | 2013-03-14 | 2023-10-10 | Auris Health, Inc. | Active drive for robotic catheter manipulators |
| US11452844B2 (en) | 2013-03-14 | 2022-09-27 | Auris Health, Inc. | Torque-based catheter articulation |
| US11426095B2 (en) | 2013-03-15 | 2022-08-30 | Auris Health, Inc. | Flexible instrument localization from both remote and elongation sensors |
| US11376085B2 (en) | 2013-03-15 | 2022-07-05 | Auris Health, Inc. | Remote catheter manipulator |
| US11504187B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
| US11504195B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Active drive mechanism for simultaneous rotation and translation |
| US11129602B2 (en) | 2013-03-15 | 2021-09-28 | Auris Health, Inc. | Systems and methods for tracking robotically controlled medical instruments |
| US11660153B2 (en) | 2013-03-15 | 2023-05-30 | Auris Health, Inc. | Active drive mechanism with finite range of motion |
| US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
| US10912924B2 (en) | 2014-03-24 | 2021-02-09 | Auris Health, Inc. | Systems and devices for catheter driving instinctiveness |
| US11278703B2 (en) | 2014-04-21 | 2022-03-22 | Auris Health, Inc. | Devices, systems, and methods for controlling active drive systems |
| US11690977B2 (en) | 2014-05-15 | 2023-07-04 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
| US11350998B2 (en) | 2014-07-01 | 2022-06-07 | Auris Health, Inc. | Medical instrument having translatable spool |
| US11534250B2 (en) | 2014-09-30 | 2022-12-27 | Auris Health, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
| CN104537939A (en) * | 2014-12-31 | 2015-04-22 | 佛山市中医院 | Virtual method and device for pedicle screw implantation |
| CN104537939B (en) * | 2014-12-31 | 2017-05-03 | 佛山市中医院 | Virtual method and device for pedicle screw implantation |
| US11141048B2 (en) | 2015-06-26 | 2021-10-12 | Auris Health, Inc. | Automated endoscope calibration |
| US11771521B2 (en) | 2015-09-09 | 2023-10-03 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
| US11403759B2 (en) | 2015-09-18 | 2022-08-02 | Auris Health, Inc. | Navigation of tubular networks |
| US11382650B2 (en) | 2015-10-30 | 2022-07-12 | Auris Health, Inc. | Object capture with a basket |
| US11534249B2 (en) | 2015-10-30 | 2022-12-27 | Auris Health, Inc. | Process for percutaneous operations |
| US11559360B2 (en) | 2015-10-30 | 2023-01-24 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
| US11571229B2 (en) | 2015-10-30 | 2023-02-07 | Auris Health, Inc. | Basket apparatus |
| US11464591B2 (en) | 2015-11-30 | 2022-10-11 | Auris Health, Inc. | Robot-assisted driving systems and methods |
| US10903725B2 (en) | 2016-04-29 | 2021-01-26 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
| CN105997252A (en) * | 2016-06-20 | 2016-10-12 | 深圳市罗伯医疗科技有限公司 | Method for feeding back touch force through robot in operation of and robot |
| US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
| CN106264751A (en) * | 2016-08-31 | 2017-01-04 | 华科精准（北京）医疗科技有限公司 | A kind of medical operating alignment sensor |
| US11564759B2 (en) | 2016-08-31 | 2023-01-31 | Auris Health, Inc. | Length conservative surgical instrument |
| US11712154B2 (en) | 2016-09-30 | 2023-08-01 | Auris Health, Inc. | Automated calibration of surgical instruments with pull wires |
| US10813539B2 (en) | 2016-09-30 | 2020-10-27 | Auris Health, Inc. | Automated calibration of surgical instruments with pull wires |
| US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
| US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
| US11490782B2 (en) | 2017-03-31 | 2022-11-08 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
| US11529129B2 (en) | 2017-05-12 | 2022-12-20 | Auris Health, Inc. | Biopsy apparatus and system |
| US11278357B2 (en) | 2017-06-23 | 2022-03-22 | Auris Health, Inc. | Robotic systems for determining an angular degree of freedom of a medical device in luminal networks |
| US11759266B2 (en) | 2017-06-23 | 2023-09-19 | Auris Health, Inc. | Robotic systems for determining a roll of a medical device in luminal networks |
| US11832907B2 (en) | 2017-06-28 | 2023-12-05 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| US11534247B2 (en) | 2017-06-28 | 2022-12-27 | Auris Health, Inc. | Instrument insertion compensation |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| US11666393B2 (en) | 2017-06-30 | 2023-06-06 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
| US11796410B2 (en) | 2017-10-10 | 2023-10-24 | Auris Health, Inc. | Robotic manipulator force determination |
| US11280690B2 (en) | 2017-10-10 | 2022-03-22 | Auris Health, Inc. | Detection of undesirable forces on a robotic manipulator |
| US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
| US11801105B2 (en) | 2017-12-06 | 2023-10-31 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
| US10987179B2 (en) | 2017-12-06 | 2021-04-27 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
| US11839439B2 (en) | 2017-12-11 | 2023-12-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
| US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
| US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
| US10888386B2 (en) | 2018-01-17 | 2021-01-12 | Auris Health, Inc. | Surgical robotics systems with improved robotic arms |
| US10827913B2 (en) | 2018-03-28 | 2020-11-10 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| US11576730B2 (en) | 2018-03-28 | 2023-02-14 | Auris Health, Inc. | Systems and methods for registration of location sensors |
| US10898277B2 (en) | 2018-03-28 | 2021-01-26 | Auris Health, Inc. | Systems and methods for registration of location sensors |
| US11950898B2 (en) | 2018-03-28 | 2024-04-09 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| US11712173B2 (en) | 2018-03-28 | 2023-08-01 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| US11793580B2 (en) | 2018-05-30 | 2023-10-24 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
| US10905499B2 (en) | 2018-05-30 | 2021-02-02 | Auris Health, Inc. | Systems and methods for location sensor-based branch prediction |
| US11503986B2 (en) | 2018-05-31 | 2022-11-22 | Auris Health, Inc. | Robotic systems and methods for navigation of luminal network that detect physiological noise |
| US10898275B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Image-based airway analysis and mapping |
| US11864850B2 (en) | 2018-05-31 | 2024-01-09 | Auris Health, Inc. | Path-based navigation of tubular networks |
| US11759090B2 (en) | 2018-05-31 | 2023-09-19 | Auris Health, Inc. | Image-based airway analysis and mapping |
| US10898286B2 (en) | 2018-05-31 | 2021-01-26 | Auris Health, Inc. | Path-based navigation of tubular networks |
| US11497568B2 (en) | 2018-09-28 | 2022-11-15 | Auris Health, Inc. | Systems and methods for docking medical instruments |
| US11864842B2 (en) | 2018-09-28 | 2024-01-09 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
| US11638618B2 (en) | 2019-03-22 | 2023-05-02 | Auris Health, Inc. | Systems and methods for aligning inputs on medical instruments |
| CN110281234A (en) * | 2019-05-17 | 2019-09-27 | 爱驰汽车有限公司 | A kind of dolly set error-preventing method and device based on self-piercing riveting |
| US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| US11207141B2 (en) | 2019-08-30 | 2021-12-28 | Auris Health, Inc. | Systems and methods for weight-based registration of location sensors |
| US11147633B2 (en) | 2019-08-30 | 2021-10-19 | Auris Health, Inc. | Instrument image reliability systems and methods |
| US11944422B2 (en) | 2019-08-30 | 2024-04-02 | Auris Health, Inc. | Image reliability determination for instrument localization |
| US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
| US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
| US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
| US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
| US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
| US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103735313B (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103735313A (en) | Surgical robot and condition monitoring method thereof | |
| Tonetti et al. | Percutaneous iliosacral screw placement using image guided techniques. | |
| Tian et al. | A robot-assisted surgical system using a force-image control method for pedicle screw insertion | |
| CN104363826B (en) | The surgical guidance part and its application method of patient's matching | |
| CN112533555A (en) | Robotically assisted ligament graft placement and tensioning | |
| US20130172902A1 (en) | Neural Monitor-Based Dynamic Haptics | |
| EP3012759A1 (en) | Method for planning, preparing, accompaniment, monitoring and/or final control of a surgical procedure in the human or animal body, system for carrying out such a procedure and use of the device | |
| CN104644258A (en) | Individuation minimal invasive vertebral pedicle screw entering navigation template and preparation method thereof | |
| CN112867460A (en) | Dual position tracking hardware mount for surgical navigation | |
| CN113473940A (en) | Augmented reality assisted surgical tool alignment | |
| CN105310777A (en) | Operation of a medical robotic device | |
| CN104622572A (en) | Individual orthopedics department positioning sheet based on medical images | |
| Ryken et al. | Image-based drill templates for cervical pedicle screw placement | |
| US20220338935A1 (en) | Computer controlled surgical rotary tool | |
| CN112930149A (en) | Patella tracking method and system | |
| CN114901217A (en) | Primary trial measurement device for use during total knee replacement revision surgery | |
| CN114901195A (en) | Improved and CASS-assisted osteotomy | |
| CN115210756A (en) | Method for arthroscopic surgical video segmentation and apparatus therefor | |
| CN113993477A (en) | Operation auxiliary device | |
| CN114945330A (en) | Joint tensioning system | |
| CN102194047B (en) | Computer assisted surgery system | |
| WO2022267838A1 (en) | Spinal surgery robot system for screw placement operation | |
| CN115426971A (en) | Optical tracking device with built-in structured light module | |
| CN114730484A (en) | Three-dimensional selective bone matching from two-dimensional image data | |
| CN105434008B (en) | A kind of measurement and positioning device and its implementation for total knee replacement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |