CN110613511A - 手术机器人避障方法 - Google Patents
手术机器人避障方法 Download PDFInfo
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- CN110613511A CN110613511A CN201910983869.5A CN201910983869A CN110613511A CN 110613511 A CN110613511 A CN 110613511A CN 201910983869 A CN201910983869 A CN 201910983869A CN 110613511 A CN110613511 A CN 110613511A
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/30—Surgical robots
-
- 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
-
- 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
- A61B34/77—Manipulators with motion or force scaling
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
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CN201910983869.5A CN110613511B (zh) | 2019-10-16 | 2019-10-16 | 手术机器人避障方法 |
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CN201910983869.5A CN110613511B (zh) | 2019-10-16 | 2019-10-16 | 手术机器人避障方法 |
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CN110613511A true CN110613511A (zh) | 2019-12-27 |
CN110613511B CN110613511B (zh) | 2021-03-16 |
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CN201910983869.5A Active CN110613511B (zh) | 2019-10-16 | 2019-10-16 | 手术机器人避障方法 |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112179602A (zh) * | 2020-08-28 | 2021-01-05 | 北京邮电大学 | 一种机械臂碰撞检测方法 |
CN112704564A (zh) * | 2020-12-22 | 2021-04-27 | 上海微创医疗机器人(集团)股份有限公司 | 手术机器人系统、碰撞检测方法、系统及可读存储介质 |
CN113069208A (zh) * | 2021-03-31 | 2021-07-06 | 杭州三坛医疗科技有限公司 | 手术导航方法、装置、电子设备及存储介质 |
CN113100944A (zh) * | 2021-03-09 | 2021-07-13 | 武汉联影智融医疗科技有限公司 | 手术环境的构建方法、机器人控制方法和系统 |
CN113730715A (zh) * | 2021-10-15 | 2021-12-03 | 核工业总医院 | 一种遥控麻醉辅助控制方法、装置、电子设备及存储介质 |
CN113768625A (zh) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人系统的机械臂构型确定方法、装置和设备 |
CN113885506A (zh) * | 2021-10-18 | 2022-01-04 | 武汉联影智融医疗科技有限公司 | 机器人避障方法、装置、电子设备及存储介质 |
WO2022119763A1 (en) * | 2020-12-01 | 2022-06-09 | Intuitive Surgical Operations, Inc. | Systems and methods for planning a medical environment |
WO2022160877A1 (zh) * | 2021-01-28 | 2022-08-04 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种腹腔镜手术机器人的语音提示控制方法及系统 |
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CN1883887A (zh) * | 2006-07-07 | 2006-12-27 | 中国科学院力学研究所 | 一种基于虚拟场景的机器人避障路径规划方法 |
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US20140163736A1 (en) * | 2012-12-10 | 2014-06-12 | Intuitive Surgical Operations, Inc. | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
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US20140163736A1 (en) * | 2012-12-10 | 2014-06-12 | Intuitive Surgical Operations, Inc. | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
CN105050527A (zh) * | 2013-03-15 | 2015-11-11 | 圣纳普医疗(巴巴多斯)公司 | 智能定位系统和用于其的方法 |
US20150257837A1 (en) * | 2014-03-17 | 2015-09-17 | Intuitive Surgical Operations, Inc. | Surgical system with obstacle indication system |
US20150366546A1 (en) * | 2014-06-18 | 2015-12-24 | Siemens Medical Solutions Usa, Inc. | System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm |
CN105455901A (zh) * | 2015-11-20 | 2016-04-06 | 清华大学 | 针对手术机器人的避障规划方法和避障规划系统 |
CN105437232A (zh) * | 2016-01-11 | 2016-03-30 | 湖南拓视觉信息技术有限公司 | 一种控制多关节移动机器人避障的方法及装置 |
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CN109567942A (zh) * | 2018-10-31 | 2019-04-05 | 上海盼研机器人科技有限公司 | 采用人工智能技术的颅颌面外科手术机器人辅助系统 |
CN109620410A (zh) * | 2018-12-04 | 2019-04-16 | 微创(上海)医疗机器人有限公司 | 机械臂防碰撞的方法及系统、医疗机器人 |
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112179602A (zh) * | 2020-08-28 | 2021-01-05 | 北京邮电大学 | 一种机械臂碰撞检测方法 |
WO2022119763A1 (en) * | 2020-12-01 | 2022-06-09 | Intuitive Surgical Operations, Inc. | Systems and methods for planning a medical environment |
CN112704564A (zh) * | 2020-12-22 | 2021-04-27 | 上海微创医疗机器人(集团)股份有限公司 | 手术机器人系统、碰撞检测方法、系统及可读存储介质 |
WO2022160877A1 (zh) * | 2021-01-28 | 2022-08-04 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种腹腔镜手术机器人的语音提示控制方法及系统 |
CN113100944A (zh) * | 2021-03-09 | 2021-07-13 | 武汉联影智融医疗科技有限公司 | 手术环境的构建方法、机器人控制方法和系统 |
CN113069208A (zh) * | 2021-03-31 | 2021-07-06 | 杭州三坛医疗科技有限公司 | 手术导航方法、装置、电子设备及存储介质 |
CN113069208B (zh) * | 2021-03-31 | 2022-05-17 | 杭州三坛医疗科技有限公司 | 手术导航方法、装置、电子设备及存储介质 |
CN113768625A (zh) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人系统的机械臂构型确定方法、装置和设备 |
CN113768625B (zh) * | 2021-08-03 | 2023-03-14 | 武汉联影智融医疗科技有限公司 | 手术机器人系统的机械臂构型确定方法、装置和设备 |
CN113730715A (zh) * | 2021-10-15 | 2021-12-03 | 核工业总医院 | 一种遥控麻醉辅助控制方法、装置、电子设备及存储介质 |
CN113730715B (zh) * | 2021-10-15 | 2023-10-03 | 核工业总医院 | 一种遥控麻醉辅助控制方法、装置、电子设备及存储介质 |
CN113885506A (zh) * | 2021-10-18 | 2022-01-04 | 武汉联影智融医疗科技有限公司 | 机器人避障方法、装置、电子设备及存储介质 |
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Effective date of registration: 20210506 Address after: Room 807, Room 302, building 2014, Jiayuan district, Shanghai Patentee after: Shanghai Lianying Zhirong Medical Technology Co.,Ltd. Address before: Room 549-1, building B1, Guanggu biological city, 666 Gaoxin Avenue, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee before: Wuhan Lianying Zhirong Medical Technology Co.,Ltd. |
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Application publication date: 20191227 Assignee: Wuhan Lianying Zhirong Medical Technology Co.,Ltd. Assignor: Shanghai Lianying Zhirong Medical Technology Co.,Ltd. Contract record no.: X2021990000423 Denomination of invention: Obstacle avoidance method of surgical robot Granted publication date: 20210316 License type: Common License Record date: 20210719 |