CN112932670B - 校准方法、机械臂控制方法及外科手术系统 - Google Patents
校准方法、机械臂控制方法及外科手术系统 Download PDFInfo
- Publication number
- CN112932670B CN112932670B CN202110113527.5A CN202110113527A CN112932670B CN 112932670 B CN112932670 B CN 112932670B CN 202110113527 A CN202110113527 A CN 202110113527A CN 112932670 B CN112932670 B CN 112932670B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- plane
- tail end
- mechanical arm
- moving path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 80
- 239000000700 radioactive tracer Substances 0.000 claims description 52
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000015654 memory Effects 0.000 description 21
- 238000004590 computer program Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000003754 machining Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 2
- 238000013150 knee replacement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Images
Classifications
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- 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
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (12)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21876734.1A EP4029466A4 (en) | 2020-11-07 | 2021-07-29 | CALIBRATION METHOD, ROBOT ARM CONTROL METHOD AND SURGICAL OPERATING SYSTEM |
KR1020227012734A KR20220065819A (ko) | 2020-11-07 | 2021-07-29 | 교정 방법, 로봇암 제어 방법 및 외과 수술 시스템 |
JP2022527216A JP2023504355A (ja) | 2020-11-07 | 2021-07-29 | 較正方法、ロボットアームの制御方法および外科手術システム |
PCT/CN2021/109409 WO2022095517A1 (zh) | 2020-11-07 | 2021-07-29 | 校准方法、机械臂控制方法及外科手术系统 |
US17/721,953 US20220234206A1 (en) | 2020-11-07 | 2022-04-15 | Calibration method, mechanical arm control method, and surgical system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011235567 | 2020-11-07 | ||
CN2020112355679 | 2020-11-07 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112932670A CN112932670A (zh) | 2021-06-11 |
CN112932670B true CN112932670B (zh) | 2022-02-08 |
Family
ID=76238160
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110113527.5A Active CN112932670B (zh) | 2020-11-07 | 2021-01-27 | 校准方法、机械臂控制方法及外科手术系统 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220234206A1 (zh) |
EP (1) | EP4029466A4 (zh) |
JP (1) | JP2023504355A (zh) |
KR (1) | KR20220065819A (zh) |
CN (1) | CN112932670B (zh) |
WO (1) | WO2022095517A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112932670B (zh) * | 2020-11-07 | 2022-02-08 | 北京和华瑞博医疗科技有限公司 | 校准方法、机械臂控制方法及外科手术系统 |
CN113384347B (zh) * | 2021-06-16 | 2022-07-08 | 瑞龙诺赋(上海)医疗科技有限公司 | 一种机器人标定方法、装置、设备及存储介质 |
CN114098988B (zh) * | 2022-01-25 | 2022-12-09 | 亿盛欣科技(北京)有限公司 | 手术机器人系统及其控制方法、介质及计算机设备 |
CN114619448B (zh) * | 2022-03-18 | 2024-06-07 | 珠海市大然机器人科技有限公司 | 一种方便监控机械臂关节角度的装置 |
CN116725680B (zh) * | 2022-09-02 | 2024-09-13 | 北京和华瑞博医疗科技有限公司 | 末端执行器及手术系统 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109129445A (zh) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | 机械臂的手眼标定方法、标定板、装置、设备和存储介质 |
CN109249392A (zh) * | 2018-08-31 | 2019-01-22 | 先临三维科技股份有限公司 | 工件抓取系统的校准方法、标定件、装置、设备和介质 |
CN110811834A (zh) * | 2019-11-22 | 2020-02-21 | 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 |
CN110815203A (zh) * | 2018-08-14 | 2020-02-21 | 广东若铂智能机器人有限公司 | 一种机器臂末端执行器的校正方法 |
CN111037561A (zh) * | 2019-12-27 | 2020-04-21 | 武汉联影智融医疗科技有限公司 | 一种空间注册方法和装置 |
CN111590593A (zh) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | 机械臂的标定方法、装置、系统及存储介质 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10003611A1 (de) * | 2000-01-28 | 2001-08-09 | Duerr Systems Gmbh | Verfahren zum Einmessen eines Roboters |
US6822412B1 (en) * | 2003-06-11 | 2004-11-23 | Zhongxue Gan | Method for calibrating and programming of a robot application |
US6836702B1 (en) * | 2003-06-11 | 2004-12-28 | Abb Ab | Method for fine tuning of a robot program |
WO2009059323A1 (en) * | 2007-11-01 | 2009-05-07 | Rimrock Automation, Inc. Dba Wolf Robotics | A method and system for finding a tool center point for a robot using an external camera |
DE102012209769C5 (de) * | 2012-06-12 | 2021-11-11 | Kuka Deutschland Gmbh | Verfahren zum Betreiben eines Roboters und Vorrichtung mit einem Roboter |
JP2014180720A (ja) * | 2013-03-19 | 2014-09-29 | Yaskawa Electric Corp | ロボットシステム及びキャリブレーション方法 |
CN105588525B (zh) * | 2014-11-14 | 2019-09-20 | 北京配天技术有限公司 | 一种工具在机器人法兰坐标系上的标定方法及装置 |
JP6913021B2 (ja) * | 2015-03-05 | 2021-08-04 | シンク サージカル, インコーポレイテッド | キャリブレーションデバイス |
CN107898501A (zh) * | 2017-12-20 | 2018-04-13 | 东南大学 | 一种瘦脸美容机器人及其使用方法 |
EP3974779A4 (en) * | 2019-07-19 | 2023-01-11 | Siemens Ltd., China | ROBOT HAND-EYE CALIBRATION METHOD AND APPARATUS, COMPUTER DEVICE, MEDIA AND PRODUCT |
US11510684B2 (en) * | 2019-10-14 | 2022-11-29 | Globus Medical, Inc. | Rotary motion passive end effector for surgical robots in orthopedic surgeries |
CN110974426A (zh) * | 2019-12-24 | 2020-04-10 | 上海龙慧医疗科技有限公司 | 骨科关节置换手术机器人系统 |
WO2021191763A1 (en) * | 2020-03-25 | 2021-09-30 | DePuy Synthes Products, Inc. | Systems for using surgical robots with navigation arrays |
CN114310868B (zh) * | 2020-09-29 | 2023-08-01 | 台达电子工业股份有限公司 | 机器手臂的坐标系校正设备及校正方法 |
CN112932670B (zh) * | 2020-11-07 | 2022-02-08 | 北京和华瑞博医疗科技有限公司 | 校准方法、机械臂控制方法及外科手术系统 |
-
2021
- 2021-01-27 CN CN202110113527.5A patent/CN112932670B/zh active Active
- 2021-07-29 JP JP2022527216A patent/JP2023504355A/ja active Pending
- 2021-07-29 EP EP21876734.1A patent/EP4029466A4/en active Pending
- 2021-07-29 KR KR1020227012734A patent/KR20220065819A/ko not_active Application Discontinuation
- 2021-07-29 WO PCT/CN2021/109409 patent/WO2022095517A1/zh unknown
-
2022
- 2022-04-15 US US17/721,953 patent/US20220234206A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110815203A (zh) * | 2018-08-14 | 2020-02-21 | 广东若铂智能机器人有限公司 | 一种机器臂末端执行器的校正方法 |
CN109249392A (zh) * | 2018-08-31 | 2019-01-22 | 先临三维科技股份有限公司 | 工件抓取系统的校准方法、标定件、装置、设备和介质 |
CN109129445A (zh) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | 机械臂的手眼标定方法、标定板、装置、设备和存储介质 |
CN110811834A (zh) * | 2019-11-22 | 2020-02-21 | 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 |
CN111037561A (zh) * | 2019-12-27 | 2020-04-21 | 武汉联影智融医疗科技有限公司 | 一种空间注册方法和装置 |
CN111590593A (zh) * | 2020-06-19 | 2020-08-28 | 浙江大华技术股份有限公司 | 机械臂的标定方法、装置、系统及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
WO2022095517A1 (zh) | 2022-05-12 |
KR20220065819A (ko) | 2022-05-20 |
EP4029466A4 (en) | 2023-03-15 |
EP4029466A1 (en) | 2022-07-20 |
CN112932670A (zh) | 2021-06-11 |
US20220234206A1 (en) | 2022-07-28 |
JP2023504355A (ja) | 2023-02-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112932670B (zh) | 校准方法、机械臂控制方法及外科手术系统 | |
CN104758066B (zh) | 用于手术导航的设备及手术机器人 | |
EP3256811B1 (en) | Laser gauge for robotic calibration and monitoring | |
US10525597B2 (en) | Robot and robot system | |
US10376988B2 (en) | Laser processing robot system and laser processing method | |
EP3303991B1 (en) | Coordinate measuring machine with object location logic | |
JP2016074040A5 (zh) | ||
US10605748B2 (en) | X-ray inspection apparatus and X-ray inspection method | |
CN113662665A (zh) | 膝关节置换手术机器人系统的精度检测方法和装置 | |
CN112720458A (zh) | 一种在线实时校正机器人工具坐标系的系统及方法 | |
CN111189394A (zh) | 异形加工件参数验证装置、系统及方法 | |
CN110251209B (zh) | 一种校正方法和装置 | |
CN117817660A (zh) | 机械臂标定方法、装置、系统、电子设备及存储介质 | |
JPH066236B2 (ja) | レーザー照射処理装置 | |
DE102012209769B4 (de) | Verfahren zum Betreiben eines Roboters und Vorrichtung mit einem Roboter | |
CN116237995A (zh) | 一种调整刀路轨迹的方法、装置及可读存储介质 | |
CN115648211A (zh) | 一种机械臂姿态误差补偿方法、装置、设备及存储介质 | |
JP7317977B2 (ja) | 工作機械をセットアップするための方法および製造システム | |
CN107913106B (zh) | 导向通道的定位方法及设备 | |
US9601896B2 (en) | Method and system for adjusting the alignment of a photonic beam | |
JP2020188075A (ja) | 作業システム、保守方法、及び評価システム | |
CN118542727A (zh) | 手术导航的试点优化方法、系统、设备及存储介质 | |
CN116512278A (zh) | 基于虚拟目标点的机械臂末端直线运动控制方法及系统 | |
WO2024023976A1 (ja) | アライメントシステム、アライメント方法及びプログラム | |
CN118123813A (zh) | 电池传输机器人的点位定位方法、装置、电子设备及介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee after: Beijing Horibo Technology Co.,Ltd. Address before: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee before: BEIJING HEHUA RUIBO TECHNOLOGY Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221201 Address after: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing and Huaruibo Medical Technology Co.,Ltd. Address before: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee before: Beijing Horibo Technology Co.,Ltd. |