CN111557736B - 医疗机器人导航系统中截骨导板的标定方法 - Google Patents
医疗机器人导航系统中截骨导板的标定方法 Download PDFInfo
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- CN111557736B CN111557736B CN202010489348.7A CN202010489348A CN111557736B CN 111557736 B CN111557736 B CN 111557736B CN 202010489348 A CN202010489348 A CN 202010489348A CN 111557736 B CN111557736 B CN 111557736B
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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
- 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
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
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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
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- Medical Informatics (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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CN202010489348.7A CN111557736B (zh) | 2020-06-02 | 2020-06-02 | 医疗机器人导航系统中截骨导板的标定方法 |
PCT/CN2020/130913 WO2021243977A1 (zh) | 2020-06-02 | 2020-11-23 | 医疗机器人导航系统中截骨导板的标定方法、装置、标定设备及计算机可读存储介质 |
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CN202010489348.7A CN111557736B (zh) | 2020-06-02 | 2020-06-02 | 医疗机器人导航系统中截骨导板的标定方法 |
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CN111557736A CN111557736A (zh) | 2020-08-21 |
CN111557736B true CN111557736B (zh) | 2021-03-12 |
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CN202010489348.7A Active CN111557736B (zh) | 2020-06-02 | 2020-06-02 | 医疗机器人导航系统中截骨导板的标定方法 |
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CN (1) | CN111557736B (zh) |
WO (1) | WO2021243977A1 (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111557736B (zh) * | 2020-06-02 | 2021-03-12 | 杭州键嘉机器人有限公司 | 医疗机器人导航系统中截骨导板的标定方法 |
CN114209431B (zh) * | 2021-12-24 | 2023-11-21 | 杭州柳叶刀机器人有限公司 | 光学探针识别方法、装置、电子设备及存储介质 |
CN114224428B (zh) * | 2021-12-31 | 2023-08-18 | 杭州三坛医疗科技有限公司 | 一种截骨平面定位方法、系统及装置 |
WO2024032706A1 (zh) * | 2022-08-12 | 2024-02-15 | 北京和华瑞博医疗科技有限公司 | 配准点确定以及配准方法、装置、设备、介质和程序产品 |
Citations (3)
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CN108972559A (zh) * | 2018-08-20 | 2018-12-11 | 上海嘉奥信息科技发展有限公司 | 基于红外立体视觉定位系统和机械臂的手眼标定方法 |
CN109974584A (zh) * | 2019-04-12 | 2019-07-05 | 山东大学 | 一种辅助激光截骨手术机器人的标定系统及标定方法 |
CN110123452A (zh) * | 2019-05-08 | 2019-08-16 | 上海电气集团股份有限公司 | 机器人的导航方法及系统 |
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CN101448467B (zh) * | 2006-05-19 | 2014-07-09 | 马科外科公司 | 用于控制触觉设备的方法和装置 |
ES2641598T3 (es) * | 2009-03-24 | 2017-11-10 | Masmec S.P.A. | Sistema asistido por ordenador para guiar un instrumento quirúrgico durante operacioes percutáneas de diagnóstico o terapéuticas |
DE102010042540B4 (de) * | 2010-10-15 | 2014-09-04 | Scopis Gmbh | Verfahren und Vorrichtung zum Kalibrieren einer Abstandsbestimmungsvorrichtung eines optischen Systems |
US9289264B2 (en) * | 2011-12-29 | 2016-03-22 | Mako Surgical Corp. | Systems and methods for guiding an instrument using haptic object with collapsing geometry |
ITTO20130349A1 (it) * | 2013-04-30 | 2014-10-31 | Masmec S P A | Guida assistita da calcolatore di uno strumento chirurgico durante interventi diagnostici o terapeutici |
US20150106024A1 (en) * | 2013-10-10 | 2015-04-16 | Orthonetic, LLC | Systems and methods for determining implant position and orientation |
JP6894431B2 (ja) * | 2015-08-31 | 2021-06-30 | ケービー メディカル エスアー | ロボット外科用システム及び方法 |
CN109528274A (zh) * | 2017-09-22 | 2019-03-29 | 清华大学深圳研究生院 | 一种配准方法和装置 |
CN109199586B (zh) * | 2018-11-09 | 2020-05-19 | 山东大学 | 一种激光截骨手术机器人系统及其路径规划方法 |
CN110711029B (zh) * | 2019-09-30 | 2021-05-14 | 苏州微创畅行机器人有限公司 | 截骨导向工具的位置校正方法及骨科手术系统 |
CN110834333B (zh) * | 2019-11-14 | 2021-11-02 | 中科新松有限公司 | 一种机器人手眼标定方法及存储介质 |
CN110840517B (zh) * | 2019-11-20 | 2021-03-12 | 杭州键嘉机器人有限公司 | 骨科z字型切割导向装置及包括该导向装置的骨科手术机器人 |
CN110811832B (zh) * | 2019-11-21 | 2021-02-23 | 苏州微创畅行机器人有限公司 | 截骨校验方法、校验设备、可读存储介质及骨科手术系统 |
CN110811833B (zh) * | 2019-11-21 | 2021-07-02 | 苏州微创畅行机器人有限公司 | 截骨校验方法、校验工具、可读存储介质及骨科手术系统 |
CN113243991B (zh) * | 2019-11-22 | 2022-08-09 | 苏州微创畅行机器人有限公司 | 截骨导向工具的校验方法、校验系统及检测靶标 |
CN111035452B (zh) * | 2019-12-27 | 2021-07-02 | 苏州微创畅行机器人有限公司 | 定位工具、机械臂系统、手术系统以及注册配准方法 |
CN111508061B (zh) * | 2020-04-01 | 2023-10-27 | 朱鴷 | 基于下颌截骨平面定位的截骨导板制作方法、系统、终端以及介质 |
CN111557736B (zh) * | 2020-06-02 | 2021-03-12 | 杭州键嘉机器人有限公司 | 医疗机器人导航系统中截骨导板的标定方法 |
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- 2020-06-02 CN CN202010489348.7A patent/CN111557736B/zh active Active
- 2020-11-23 WO PCT/CN2020/130913 patent/WO2021243977A1/zh active Application Filing
Patent Citations (3)
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CN108972559A (zh) * | 2018-08-20 | 2018-12-11 | 上海嘉奥信息科技发展有限公司 | 基于红外立体视觉定位系统和机械臂的手眼标定方法 |
CN109974584A (zh) * | 2019-04-12 | 2019-07-05 | 山东大学 | 一种辅助激光截骨手术机器人的标定系统及标定方法 |
CN110123452A (zh) * | 2019-05-08 | 2019-08-16 | 上海电气集团股份有限公司 | 机器人的导航方法及系统 |
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Effective date of registration: 20210202 Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant after: HANGZHOU JIANJIA ROBOT Co.,Ltd. Address before: 518000 1003, building B4, nanjingxin village, Minzhi street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Du Siao |
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Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |