CN107374727A - 一种微创外科手术机器人简化运动学模型的建模方法 - Google Patents
一种微创外科手术机器人简化运动学模型的建模方法 Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109551478A (zh) * | 2018-11-16 | 2019-04-02 | 重庆邮电大学 | 一种基于集散控制系统的双机器人主从协调控制方法 |
CN111202583A (zh) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | 跟踪手术床运动的方法、系统及介质 |
CN112716608A (zh) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
CN112749512A (zh) * | 2021-01-18 | 2021-05-04 | 杭州易现先进科技有限公司 | 手势估计优化的方法、系统和电子装置 |
CN112828862A (zh) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂系统和存储介质 |
CN113580131A (zh) * | 2021-07-26 | 2021-11-02 | 成都飞机工业(集团)有限责任公司 | 一种基于动作映射的机械臂末端位姿控制装置及控制方法 |
CN113650018A (zh) * | 2021-09-01 | 2021-11-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113925613A (zh) * | 2021-09-27 | 2022-01-14 | 中山大学 | 一种腹腔镜手术持镜机器人系统 |
CN114129266A (zh) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | 保持rc点不变的方法、机械臂、设备、机器人和介质 |
CN114191099A (zh) * | 2022-01-14 | 2022-03-18 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
WO2022141160A1 (zh) * | 2020-12-30 | 2022-07-07 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂系统和存储介质 |
WO2022218387A1 (zh) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X光机控制方法、装置、x光机及可读存储介质 |
CN117481801A (zh) * | 2023-10-26 | 2024-02-02 | 北京瞳沐医疗科技有限公司 | 基于图像的眼科机器人控制方法、系统、设备及介质 |
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CN101227870A (zh) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人系统 |
CN103942427A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 一类六自由度机械臂运动学逆解的快速简便求法 |
US20140316430A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | System and methods for managing multiple null-space objectives and sli behaviors |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
WO2015142943A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | System and method for maintaining a tool pose |
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US20140316430A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | System and methods for managing multiple null-space objectives and sli behaviors |
CN101227870A (zh) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人系统 |
WO2015142943A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | System and method for maintaining a tool pose |
CN103942427A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 一类六自由度机械臂运动学逆解的快速简便求法 |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109551478A (zh) * | 2018-11-16 | 2019-04-02 | 重庆邮电大学 | 一种基于集散控制系统的双机器人主从协调控制方法 |
CN111202583A (zh) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | 跟踪手术床运动的方法、系统及介质 |
CN112828862B (zh) * | 2020-12-30 | 2022-09-16 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂系统和存储介质 |
WO2022141160A1 (zh) * | 2020-12-30 | 2022-07-07 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂系统和存储介质 |
CN112828862A (zh) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂系统和存储介质 |
CN112749512A (zh) * | 2021-01-18 | 2021-05-04 | 杭州易现先进科技有限公司 | 手势估计优化的方法、系统和电子装置 |
CN112749512B (zh) * | 2021-01-18 | 2024-01-26 | 杭州易现先进科技有限公司 | 手势估计优化的方法、系统和电子装置 |
CN112716608A (zh) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
CN112716608B (zh) * | 2021-01-20 | 2022-06-24 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
WO2022218387A1 (zh) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X光机控制方法、装置、x光机及可读存储介质 |
CN113580131A (zh) * | 2021-07-26 | 2021-11-02 | 成都飞机工业(集团)有限责任公司 | 一种基于动作映射的机械臂末端位姿控制装置及控制方法 |
CN113650018A (zh) * | 2021-09-01 | 2021-11-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113650018B (zh) * | 2021-09-01 | 2022-12-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113925613A (zh) * | 2021-09-27 | 2022-01-14 | 中山大学 | 一种腹腔镜手术持镜机器人系统 |
CN114129266A (zh) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | 保持rc点不变的方法、机械臂、设备、机器人和介质 |
CN114191099A (zh) * | 2022-01-14 | 2022-03-18 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
CN114191099B (zh) * | 2022-01-14 | 2023-12-01 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
CN117481801A (zh) * | 2023-10-26 | 2024-02-02 | 北京瞳沐医疗科技有限公司 | 基于图像的眼科机器人控制方法、系统、设备及介质 |
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