CN106725711A - Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method - Google Patents
Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method Download PDFInfo
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- CN106725711A CN106725711A CN201611144542.1A CN201611144542A CN106725711A CN 106725711 A CN106725711 A CN 106725711A CN 201611144542 A CN201611144542 A CN 201611144542A CN 106725711 A CN106725711 A CN 106725711A
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- sclerotin
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- grinding
- bone drill
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201611144542.1A CN106725711A (en) | 2016-12-13 | 2016-12-13 | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method |
Applications Claiming Priority (1)
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CN201611144542.1A CN106725711A (en) | 2016-12-13 | 2016-12-13 | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method |
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CN106725711A true CN106725711A (en) | 2017-05-31 |
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CN201611144542.1A Pending CN106725711A (en) | 2016-12-13 | 2016-12-13 | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method |
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Cited By (26)
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---|---|---|---|---|
CN108464853A (en) * | 2018-03-30 | 2018-08-31 | 广东知识城运营服务有限公司 | A kind of orthopedist's special intelligent drilling guiding equipment with cleaning device |
CN108652705A (en) * | 2018-03-30 | 2018-10-16 | 广东知识城运营服务有限公司 | A kind of medicinal intelligent drilling guide device |
CN109259863A (en) * | 2017-07-18 | 2019-01-25 | 格罗伯斯医疗有限公司 | System and method for using multi-axial forces and torque-feedback is inserted into operation tool |
CN109276316A (en) * | 2017-07-21 | 2019-01-29 | 格罗伯斯医疗有限公司 | Robotic surgery platform |
CN109512509A (en) * | 2018-12-27 | 2019-03-26 | 中国科学院深圳先进技术研究院 | A kind of Shared control method, device and equipment of robot |
CN109567894A (en) * | 2018-11-06 | 2019-04-05 | 张元豫 | Vertebra bone drill control system |
CN110936379A (en) * | 2019-03-27 | 2020-03-31 | 中国科学院深圳先进技术研究院 | Robot control method, robot control device and robot |
CN111134846A (en) * | 2020-01-10 | 2020-05-12 | 北京天智航医疗科技股份有限公司 | Assembly and method for detecting precision of active grinding surgical robot system |
CN111248976A (en) * | 2020-02-20 | 2020-06-09 | 京东方科技集团股份有限公司 | Grinding equipment |
CN111340876A (en) * | 2020-02-21 | 2020-06-26 | 京东方科技集团股份有限公司 | Processing method and device for knee joint replacement, storage medium and electronic equipment |
CN111358563A (en) * | 2020-03-11 | 2020-07-03 | 上海交通大学 | Hip arthroscope auxiliary robot system based on cooperative mechanical arm and control method |
CN111643191A (en) * | 2018-04-27 | 2020-09-11 | 微创(上海)医疗机器人有限公司 | Surgical robot system |
CN112494097A (en) * | 2020-11-09 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Spine vertebral plate grinding depth adjusting device and surgical robot |
CN112641486A (en) * | 2020-12-23 | 2021-04-13 | 北京航空航天大学 | Bone grinding dynamic safety control system, equipment and medium |
CN113017834A (en) * | 2021-02-26 | 2021-06-25 | 杭州柳叶刀机器人有限公司 | Joint replacement surgery navigation device and method |
CN113662620A (en) * | 2021-08-16 | 2021-11-19 | 武汉联影智融医疗科技有限公司 | Bone grinding system and control method thereof |
CN113813005A (en) * | 2021-08-20 | 2021-12-21 | 中国科学院深圳先进技术研究院 | Robot for cutting vertebral plate of spine |
CN113876429A (en) * | 2021-06-23 | 2022-01-04 | 上海极睿医疗科技有限公司 | Path planning system of spine surgery robot and robot system |
CN113907886A (en) * | 2021-06-23 | 2022-01-11 | 上海极睿医疗科技有限公司 | Operation execution arm, system and control system of spine operation robot |
CN114224485A (en) * | 2021-11-01 | 2022-03-25 | 中国医学科学院北京协和医院 | Navigation system for open type spinal vertebral plate decompression operation and control method |
WO2022082377A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Surgical instrument force measurement mechanism and surgical instrument force measurement device |
CN114444313A (en) * | 2022-01-29 | 2022-05-06 | 李危石 | Biological tissue identification method and system based on surgical operation cutting efficiency |
US11337766B2 (en) | 2019-03-15 | 2022-05-24 | Mako Surgical Corp. | Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation |
CN115089260A (en) * | 2022-06-08 | 2022-09-23 | 北京航空航天大学 | Power type spine vertebral plate plane grinding robot device and safety control method thereof |
CN116570367A (en) * | 2023-05-12 | 2023-08-11 | 北京长木谷医疗科技股份有限公司 | Intelligent sensing prediction method device and equipment for bone grinding and bone quality of robot operation |
CN116942310A (en) * | 2023-06-29 | 2023-10-27 | 北京长木谷医疗科技股份有限公司 | Intelligent orthopedic surgery robot system based on reinforcement learning |
Citations (5)
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US6336931B1 (en) * | 2000-05-17 | 2002-01-08 | Yeh-Liang Hsu | Automatic bone drilling apparatus for surgery operation |
US20070250045A1 (en) * | 2006-04-24 | 2007-10-25 | Warsaw Orthopedic, Inc. | Controlled release systems and methods for osteal growth |
CN104739487A (en) * | 2013-12-30 | 2015-07-01 | 颜炳郎 | Hand-held robot for orthopedic surgery and control method thereof |
CN105997250A (en) * | 2016-04-27 | 2016-10-12 | 中国科学院深圳先进技术研究院 | Grinding device for spine vertebral plate |
CN105997253A (en) * | 2015-08-24 | 2016-10-12 | 深圳市鑫君特智能医疗器械有限公司 | Intelligent orthopedic surgery system |
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2016
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US6336931B1 (en) * | 2000-05-17 | 2002-01-08 | Yeh-Liang Hsu | Automatic bone drilling apparatus for surgery operation |
US20070250045A1 (en) * | 2006-04-24 | 2007-10-25 | Warsaw Orthopedic, Inc. | Controlled release systems and methods for osteal growth |
CN104739487A (en) * | 2013-12-30 | 2015-07-01 | 颜炳郎 | Hand-held robot for orthopedic surgery and control method thereof |
CN105997253A (en) * | 2015-08-24 | 2016-10-12 | 深圳市鑫君特智能医疗器械有限公司 | Intelligent orthopedic surgery system |
CN105997250A (en) * | 2016-04-27 | 2016-10-12 | 中国科学院深圳先进技术研究院 | Grinding device for spine vertebral plate |
Non-Patent Citations (2)
Title |
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LUPING FAN: "Safety control strategy for vertebral lamina milling task", 《CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY》 * |
SHUAI WANG: "A bone milling robot for spinal surgery", 《JOURNAL OF MEDICAL DEVICE》 * |
Cited By (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109259863A (en) * | 2017-07-18 | 2019-01-25 | 格罗伯斯医疗有限公司 | System and method for using multi-axial forces and torque-feedback is inserted into operation tool |
CN109259863B (en) * | 2017-07-18 | 2021-04-23 | 格罗伯斯医疗有限公司 | Systems and methods for inserting surgical tools using multi-axis force and moment feedback |
CN109276316A (en) * | 2017-07-21 | 2019-01-29 | 格罗伯斯医疗有限公司 | Robotic surgery platform |
CN109276316B (en) * | 2017-07-21 | 2021-08-31 | 格罗伯斯医疗有限公司 | Robot operation platform |
CN108652705A (en) * | 2018-03-30 | 2018-10-16 | 广东知识城运营服务有限公司 | A kind of medicinal intelligent drilling guide device |
CN108464853A (en) * | 2018-03-30 | 2018-08-31 | 广东知识城运营服务有限公司 | A kind of orthopedist's special intelligent drilling guiding equipment with cleaning device |
CN108464853B (en) * | 2018-03-30 | 2021-08-13 | 深圳市第二人民医院(深圳市转化医学研究院) | Special intelligent drilling guide equipment with cleaning device for orthopedic doctor |
CN111643191A (en) * | 2018-04-27 | 2020-09-11 | 微创(上海)医疗机器人有限公司 | Surgical robot system |
CN111643191B (en) * | 2018-04-27 | 2021-11-05 | 上海微创医疗机器人(集团)股份有限公司 | Surgical robot system |
CN109567894A (en) * | 2018-11-06 | 2019-04-05 | 张元豫 | Vertebra bone drill control system |
CN109512509A (en) * | 2018-12-27 | 2019-03-26 | 中国科学院深圳先进技术研究院 | A kind of Shared control method, device and equipment of robot |
US11337766B2 (en) | 2019-03-15 | 2022-05-24 | Mako Surgical Corp. | Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation |
US11986260B2 (en) | 2019-03-15 | 2024-05-21 | Mako Surgical Corp. | Robotic surgical system and methods utilizing virtual boundaries with variable constraint parameters |
CN110936379B (en) * | 2019-03-27 | 2021-02-02 | 中国科学院深圳先进技术研究院 | Robot control method, robot control device and robot |
CN110936379A (en) * | 2019-03-27 | 2020-03-31 | 中国科学院深圳先进技术研究院 | Robot control method, robot control device and robot |
CN111134846B (en) * | 2020-01-10 | 2021-05-07 | 北京天智航医疗科技股份有限公司 | Assembly and method for detecting precision of active grinding surgical robot system |
CN111134846A (en) * | 2020-01-10 | 2020-05-12 | 北京天智航医疗科技股份有限公司 | Assembly and method for detecting precision of active grinding surgical robot system |
CN111248976B (en) * | 2020-02-20 | 2022-06-21 | 京东方科技集团股份有限公司 | Grinding equipment |
CN111248976A (en) * | 2020-02-20 | 2020-06-09 | 京东方科技集团股份有限公司 | Grinding equipment |
CN111340876A (en) * | 2020-02-21 | 2020-06-26 | 京东方科技集团股份有限公司 | Processing method and device for knee joint replacement, storage medium and electronic equipment |
WO2021164537A1 (en) * | 2020-02-21 | 2021-08-26 | 京东方科技集团股份有限公司 | Method, apparatus, device and system for controlling grinding of bone, and storage medium |
CN111358563A (en) * | 2020-03-11 | 2020-07-03 | 上海交通大学 | Hip arthroscope auxiliary robot system based on cooperative mechanical arm and control method |
WO2022082377A1 (en) * | 2020-10-19 | 2022-04-28 | 诺创智能医疗科技(杭州)有限公司 | Surgical instrument force measurement mechanism and surgical instrument force measurement device |
CN112494097B (en) * | 2020-11-09 | 2022-02-15 | 中国科学院深圳先进技术研究院 | Spine vertebral plate grinding depth adjusting device and surgical robot |
CN112494097A (en) * | 2020-11-09 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Spine vertebral plate grinding depth adjusting device and surgical robot |
CN112641486A (en) * | 2020-12-23 | 2021-04-13 | 北京航空航天大学 | Bone grinding dynamic safety control system, equipment and medium |
CN113017834A (en) * | 2021-02-26 | 2021-06-25 | 杭州柳叶刀机器人有限公司 | Joint replacement surgery navigation device and method |
CN113876429B (en) * | 2021-06-23 | 2023-01-20 | 上海极睿医疗科技有限公司 | Path planning system of spine surgery robot and robot system |
CN113907886A (en) * | 2021-06-23 | 2022-01-11 | 上海极睿医疗科技有限公司 | Operation execution arm, system and control system of spine operation robot |
CN113876429A (en) * | 2021-06-23 | 2022-01-04 | 上海极睿医疗科技有限公司 | Path planning system of spine surgery robot and robot system |
CN113662620B (en) * | 2021-08-16 | 2023-12-19 | 武汉联影智融医疗科技有限公司 | Bone removal system and control method thereof |
CN113662620A (en) * | 2021-08-16 | 2021-11-19 | 武汉联影智融医疗科技有限公司 | Bone grinding system and control method thereof |
WO2023019825A1 (en) * | 2021-08-20 | 2023-02-23 | 中国科学院深圳先进技术研究院 | Robot for excising spinal vertebral plate |
CN113813005B (en) * | 2021-08-20 | 2023-01-24 | 中国科学院深圳先进技术研究院 | Robot for cutting vertebral plate of spine |
CN113813005A (en) * | 2021-08-20 | 2021-12-21 | 中国科学院深圳先进技术研究院 | Robot for cutting vertebral plate of spine |
CN114224485A (en) * | 2021-11-01 | 2022-03-25 | 中国医学科学院北京协和医院 | Navigation system for open type spinal vertebral plate decompression operation and control method |
CN114224485B (en) * | 2021-11-01 | 2024-03-26 | 中国医学科学院北京协和医院 | Navigation system and control method for open type vertebral lamina decompression operation |
CN114444313B (en) * | 2022-01-29 | 2022-12-06 | 李危石 | Biological tissue recognition system |
CN114444313A (en) * | 2022-01-29 | 2022-05-06 | 李危石 | Biological tissue identification method and system based on surgical operation cutting efficiency |
CN115089260A (en) * | 2022-06-08 | 2022-09-23 | 北京航空航天大学 | Power type spine vertebral plate plane grinding robot device and safety control method thereof |
CN116570367A (en) * | 2023-05-12 | 2023-08-11 | 北京长木谷医疗科技股份有限公司 | Intelligent sensing prediction method device and equipment for bone grinding and bone quality of robot operation |
CN116942310A (en) * | 2023-06-29 | 2023-10-27 | 北京长木谷医疗科技股份有限公司 | Intelligent orthopedic surgery robot system based on reinforcement learning |
CN116942310B (en) * | 2023-06-29 | 2024-04-02 | 北京长木谷医疗科技股份有限公司 | Intelligent orthopedic surgery robot system based on reinforcement learning |
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Inventor after: Hu Ying Inventor after: Gao Peng Inventor after: Qi Xiaozhi Inventor after: Zhao Shijia Inventor after: Zhao Baoliang Inventor after: Sun Yu Inventor after: Zhang Jianwei Inventor before: Gao Peng Inventor before: Hu Ying Inventor before: Zhao Shijia Inventor before: Zhao Baoliang Inventor before: Sun Yu Inventor before: Zhang Jianwei |
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