CN111772801A - 一种用于主从式血管介入手术机器人系统的反馈力融合再现方法 - Google Patents
一种用于主从式血管介入手术机器人系统的反馈力融合再现方法 Download PDFInfo
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- CN111772801A CN111772801A CN202010642416.9A CN202010642416A CN111772801A CN 111772801 A CN111772801 A CN 111772801A CN 202010642416 A CN202010642416 A CN 202010642416A CN 111772801 A CN111772801 A CN 111772801A
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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
- A61B34/37—Master-slave 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
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CN202010642416.9A CN111772801A (zh) | 2020-07-06 | 2020-07-06 | 一种用于主从式血管介入手术机器人系统的反馈力融合再现方法 |
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CN202010642416.9A CN111772801A (zh) | 2020-07-06 | 2020-07-06 | 一种用于主从式血管介入手术机器人系统的反馈力融合再现方法 |
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CN202010642416.9A Pending CN111772801A (zh) | 2020-07-06 | 2020-07-06 | 一种用于主从式血管介入手术机器人系统的反馈力融合再现方法 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113545855A (zh) * | 2021-05-31 | 2021-10-26 | 中国科学院自动化研究所 | 应用于血管介入手术的力检测系统及方法 |
CN115624393A (zh) * | 2022-12-21 | 2023-01-20 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人系统、提供操纵提示的方法 |
Citations (7)
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---|---|---|---|---|
JP2010284327A (ja) * | 2009-06-11 | 2010-12-24 | Univ Of Tsukuba | カテーテル装置 |
WO2012101583A1 (en) * | 2011-01-28 | 2012-08-02 | Koninklijke Philips Electronics N.V. | Detection of foreign object in proximty of surgical end-effector |
CN103006328A (zh) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | 血管介入手术机器人系统力反馈的模糊融合方法 |
CN103961179A (zh) * | 2014-04-09 | 2014-08-06 | 深圳先进技术研究院 | 手术器械运动模拟方法 |
CN104622579A (zh) * | 2015-02-06 | 2015-05-20 | 北京理工大学 | 用于血管腔内介入手术机器人的推送力测量装置 |
US20160066794A1 (en) * | 2013-04-12 | 2016-03-10 | Philips Gmbh | Shape sensed ultrasound probe for fractional flow reserve simulation |
CN110141365A (zh) * | 2019-05-06 | 2019-08-20 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
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2020
- 2020-07-06 CN CN202010642416.9A patent/CN111772801A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010284327A (ja) * | 2009-06-11 | 2010-12-24 | Univ Of Tsukuba | カテーテル装置 |
WO2012101583A1 (en) * | 2011-01-28 | 2012-08-02 | Koninklijke Philips Electronics N.V. | Detection of foreign object in proximty of surgical end-effector |
CN103006328A (zh) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | 血管介入手术机器人系统力反馈的模糊融合方法 |
US20160066794A1 (en) * | 2013-04-12 | 2016-03-10 | Philips Gmbh | Shape sensed ultrasound probe for fractional flow reserve simulation |
CN103961179A (zh) * | 2014-04-09 | 2014-08-06 | 深圳先进技术研究院 | 手术器械运动模拟方法 |
CN104622579A (zh) * | 2015-02-06 | 2015-05-20 | 北京理工大学 | 用于血管腔内介入手术机器人的推送力测量装置 |
CN110141365A (zh) * | 2019-05-06 | 2019-08-20 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
Non-Patent Citations (2)
Title |
---|
赵德朋,刘达: "血管介入手术机器人系统力反馈的模糊融合", 《机器人》 * |
赵德朋,刘达: "血管介入手术机器人系统力反馈的模糊融合", 《机器人》, vol. 35, no. 1, 31 January 2013 (2013-01-31), pages 60 - 66 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113545855A (zh) * | 2021-05-31 | 2021-10-26 | 中国科学院自动化研究所 | 应用于血管介入手术的力检测系统及方法 |
CN113545855B (zh) * | 2021-05-31 | 2022-12-06 | 中国科学院自动化研究所 | 应用于血管介入手术的力检测系统及方法 |
CN115624393A (zh) * | 2022-12-21 | 2023-01-20 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人系统、提供操纵提示的方法 |
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Effective date of registration: 20211230 Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 300384 No. 391 Binshui West Road, Xiqing District, Tianjin Applicant before: TIANJIN University OF TECHNOLOGY |
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Country or region after: China Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |