CN112245014A - 一种医疗机器人、检测机械臂碰撞的方法及存储介质 - Google Patents
一种医疗机器人、检测机械臂碰撞的方法及存储介质 Download PDFInfo
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- CN112245014A CN112245014A CN202011190674.4A CN202011190674A CN112245014A CN 112245014 A CN112245014 A CN 112245014A CN 202011190674 A CN202011190674 A CN 202011190674A CN 112245014 A CN112245014 A CN 112245014A
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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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- 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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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113487655A (zh) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | 一种室内模型生成方法、一种电子设备及一种存储介质 |
CN113658247A (zh) * | 2021-07-29 | 2021-11-16 | 武汉联影智融医疗科技有限公司 | 器械空间预测方法、装置、计算机设备和存储介质 |
CN114043477A (zh) * | 2021-11-23 | 2022-02-15 | 上海微创医疗机器人(集团)股份有限公司 | 机械臂碰撞力检测系统、方法、电子设备和存储介质 |
CN114099005A (zh) * | 2021-11-24 | 2022-03-01 | 重庆金山医疗机器人有限公司 | 器械是否在视野内、是否被遮挡的判断法及能量显示方法 |
CN114533274A (zh) * | 2022-02-21 | 2022-05-27 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种基于术式仿真的腔镜手术机器人碰撞检测方法及装置 |
CN114536342A (zh) * | 2022-03-23 | 2022-05-27 | 宁波睿达医疗器械有限公司 | 一种多臂系统及其臂间防撞控制方法 |
CN117506965A (zh) * | 2024-01-08 | 2024-02-06 | 武汉联影智融医疗科技有限公司 | 手术机器人的摆位系统、方法、计算机设备和存储介质 |
CN113658247B (zh) * | 2021-07-29 | 2024-05-28 | 武汉联影智融医疗科技有限公司 | 器械空间预测方法、装置、计算机设备和存储介质 |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113658247A (zh) * | 2021-07-29 | 2021-11-16 | 武汉联影智融医疗科技有限公司 | 器械空间预测方法、装置、计算机设备和存储介质 |
CN113658247B (zh) * | 2021-07-29 | 2024-05-28 | 武汉联影智融医疗科技有限公司 | 器械空间预测方法、装置、计算机设备和存储介质 |
CN113487655A (zh) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | 一种室内模型生成方法、一种电子设备及一种存储介质 |
CN114043477A (zh) * | 2021-11-23 | 2022-02-15 | 上海微创医疗机器人(集团)股份有限公司 | 机械臂碰撞力检测系统、方法、电子设备和存储介质 |
CN114099005A (zh) * | 2021-11-24 | 2022-03-01 | 重庆金山医疗机器人有限公司 | 器械是否在视野内、是否被遮挡的判断法及能量显示方法 |
CN114099005B (zh) * | 2021-11-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | 器械是否在视野内、是否被遮挡的判断法及能量显示方法 |
CN114533274A (zh) * | 2022-02-21 | 2022-05-27 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种基于术式仿真的腔镜手术机器人碰撞检测方法及装置 |
CN114536342A (zh) * | 2022-03-23 | 2022-05-27 | 宁波睿达医疗器械有限公司 | 一种多臂系统及其臂间防撞控制方法 |
CN117506965A (zh) * | 2024-01-08 | 2024-02-06 | 武汉联影智融医疗科技有限公司 | 手术机器人的摆位系统、方法、计算机设备和存储介质 |
CN117506965B (zh) * | 2024-01-08 | 2024-04-12 | 武汉联影智融医疗科技有限公司 | 手术机器人的摆位系统、方法、计算机设备和存储介质 |
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Address after: 201203 Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area, Shanghai Applicant after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203 Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area, Shanghai Applicant before: Microport (Shanghai) Medbot Co.,Ltd. |
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Inventor after: Li Zihan Inventor after: Su Mingxuan Inventor after: He Chao Inventor after: Wang Jiayin Inventor after: Tang Wenbo Inventor before: Li Zi Inventor before: Su Mingxuan Inventor before: He Chao Inventor before: Wang Jiayin Inventor before: Tang Wenbo |
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