CN113069208B - 手术导航方法、装置、电子设备及存储介质 - Google Patents
手术导航方法、装置、电子设备及存储介质 Download PDFInfo
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- CN113069208B CN113069208B CN202110349812.7A CN202110349812A CN113069208B CN 113069208 B CN113069208 B CN 113069208B CN 202110349812 A CN202110349812 A CN 202110349812A CN 113069208 B CN113069208 B CN 113069208B
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/005—Tree description, e.g. octree, quadtree
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- Pathology (AREA)
- Geometry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gynecology & Obstetrics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
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Claims (16)
Priority Applications (1)
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CN202110349812.7A CN113069208B (zh) | 2021-03-31 | 2021-03-31 | 手术导航方法、装置、电子设备及存储介质 |
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CN202110349812.7A CN113069208B (zh) | 2021-03-31 | 2021-03-31 | 手术导航方法、装置、电子设备及存储介质 |
Publications (2)
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CN113069208A CN113069208A (zh) | 2021-07-06 |
CN113069208B true CN113069208B (zh) | 2022-05-17 |
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CN202110349812.7A Active CN113069208B (zh) | 2021-03-31 | 2021-03-31 | 手术导航方法、装置、电子设备及存储介质 |
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN110613511A (zh) * | 2019-10-16 | 2019-12-27 | 武汉联影智融医疗科技有限公司 | 手术机器人避障方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8386080B2 (en) * | 2009-09-15 | 2013-02-26 | Harris Corporation | Robotic apparatus implementing collision avoidance scheme and associated methods |
DE102018122376B3 (de) * | 2018-09-13 | 2019-11-07 | Pilz Gmbh & Co. Kg | Verfahren und Vorrichtung zur kollisionsfreien Bewegungsplanung eines Manipulators |
CN109571466B (zh) * | 2018-11-22 | 2021-01-26 | 浙江大学 | 一种基于快速随机搜索树的七自由度冗余机械臂动态避障路径规划方法 |
CN110228069B (zh) * | 2019-07-17 | 2022-04-01 | 东北大学 | 一种机械臂在线避障运动规划方法 |
CN112223291B (zh) * | 2020-10-21 | 2022-02-11 | 哈工大机器人(合肥)国际创新研究院 | 一种基于三维任务空间约束的机械臂避障方法及装置 |
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2021
- 2021-03-31 CN CN202110349812.7A patent/CN113069208B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN110613511A (zh) * | 2019-10-16 | 2019-12-27 | 武汉联影智融医疗科技有限公司 | 手术机器人避障方法 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Surgical navigation method, device, electronic device and storage medium Effective date of registration: 20220830 Granted publication date: 20220517 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU SANTAN MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2022330001974 |
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Date of cancellation: 20230621 Granted publication date: 20220517 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU SANTAN MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2022330001974 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Surgical navigation methods, devices, electronic devices, and storage media Effective date of registration: 20230703 Granted publication date: 20220517 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU SANTAN MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2023330001348 |