CN107374727A - 一种微创外科手术机器人简化运动学模型的建模方法 - Google Patents
一种微创外科手术机器人简化运动学模型的建模方法 Download PDFInfo
- Publication number
- CN107374727A CN107374727A CN201710630714.4A CN201710630714A CN107374727A CN 107374727 A CN107374727 A CN 107374727A CN 201710630714 A CN201710630714 A CN 201710630714A CN 107374727 A CN107374727 A CN 107374727A
- Authority
- CN
- China
- Prior art keywords
- msub
- mrow
- hand
- mtd
- joint
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000011159 matrix material Substances 0.000 claims abstract description 65
- 210000000707 wrist Anatomy 0.000 claims abstract description 26
- 238000013507 mapping Methods 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000012636 effector Substances 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001766 physiological effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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
- A61B34/10—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
- A61B34/30—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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- 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
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710630714.4A CN107374727B (zh) | 2017-07-28 | 2017-07-28 | 一种微创外科手术机器人简化运动学模型的建模方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710630714.4A CN107374727B (zh) | 2017-07-28 | 2017-07-28 | 一种微创外科手术机器人简化运动学模型的建模方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107374727A true CN107374727A (zh) | 2017-11-24 |
CN107374727B CN107374727B (zh) | 2019-10-22 |
Family
ID=60342209
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710630714.4A Active CN107374727B (zh) | 2017-07-28 | 2017-07-28 | 一种微创外科手术机器人简化运动学模型的建模方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107374727B (zh) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109551478A (zh) * | 2018-11-16 | 2019-04-02 | 重庆邮电大学 | 一种基于集散控制***的双机器人主从协调控制方法 |
CN111202583A (zh) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | 跟踪手术床运动的方法、***及介质 |
CN112716608A (zh) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
CN112749512A (zh) * | 2021-01-18 | 2021-05-04 | 杭州易现先进科技有限公司 | 手势估计优化的方法、***和电子装置 |
CN112828862A (zh) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
CN113580131A (zh) * | 2021-07-26 | 2021-11-02 | 成都飞机工业(集团)有限责任公司 | 一种基于动作映射的机械臂末端位姿控制装置及控制方法 |
CN113650018A (zh) * | 2021-09-01 | 2021-11-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113925613A (zh) * | 2021-09-27 | 2022-01-14 | 中山大学 | 一种腹腔镜手术持镜机器人*** |
CN114129266A (zh) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | 保持rc点不变的方法、机械臂、设备、机器人和介质 |
CN114191099A (zh) * | 2022-01-14 | 2022-03-18 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
WO2022141160A1 (zh) * | 2020-12-30 | 2022-07-07 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
WO2022218387A1 (zh) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X光机控制方法、装置、x光机及可读存储介质 |
CN117481801A (zh) * | 2023-10-26 | 2024-02-02 | 北京瞳沐医疗科技有限公司 | 基于图像的眼科机器人控制方法、***、设备及介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101227870A (zh) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人*** |
CN103942427A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 一类六自由度机械臂运动学逆解的快速简便求法 |
US20140316430A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | System and methods for managing multiple null-space objectives and sli behaviors |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
WO2015142943A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | System and method for maintaining a tool pose |
-
2017
- 2017-07-28 CN CN201710630714.4A patent/CN107374727B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140316430A1 (en) * | 1999-09-17 | 2014-10-23 | Intuitive Surgical Operations, Inc. | System and methods for managing multiple null-space objectives and sli behaviors |
CN101227870A (zh) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人*** |
WO2015142943A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | System and method for maintaining a tool pose |
CN103942427A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 一类六自由度机械臂运动学逆解的快速简便求法 |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109551478A (zh) * | 2018-11-16 | 2019-04-02 | 重庆邮电大学 | 一种基于集散控制***的双机器人主从协调控制方法 |
CN111202583A (zh) * | 2020-01-20 | 2020-05-29 | 上海奥朋医疗科技有限公司 | 跟踪手术床运动的方法、***及介质 |
CN112828862B (zh) * | 2020-12-30 | 2022-09-16 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
CN112828862A (zh) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
WO2022141160A1 (zh) * | 2020-12-30 | 2022-07-07 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
CN112749512A (zh) * | 2021-01-18 | 2021-05-04 | 杭州易现先进科技有限公司 | 手势估计优化的方法、***和电子装置 |
CN112749512B (zh) * | 2021-01-18 | 2024-01-26 | 杭州易现先进科技有限公司 | 手势估计优化的方法、***和电子装置 |
CN112716608B (zh) * | 2021-01-20 | 2022-06-24 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
CN112716608A (zh) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
WO2022218387A1 (zh) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X光机控制方法、装置、x光机及可读存储介质 |
CN113580131A (zh) * | 2021-07-26 | 2021-11-02 | 成都飞机工业(集团)有限责任公司 | 一种基于动作映射的机械臂末端位姿控制装置及控制方法 |
CN113650018A (zh) * | 2021-09-01 | 2021-11-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113650018B (zh) * | 2021-09-01 | 2022-12-16 | 珠海格力智能装备有限公司 | 轴式机器人轨迹规划方法、装置与计算机可读存储介质 |
CN113925613A (zh) * | 2021-09-27 | 2022-01-14 | 中山大学 | 一种腹腔镜手术持镜机器人*** |
CN114129266A (zh) * | 2021-11-11 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | 保持rc点不变的方法、机械臂、设备、机器人和介质 |
CN114129266B (zh) * | 2021-11-11 | 2024-05-14 | 深圳市精锋医疗科技股份有限公司 | 保持rc点不变的方法、机械臂、设备、机器人和介质 |
CN114191099A (zh) * | 2022-01-14 | 2022-03-18 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
CN114191099B (zh) * | 2022-01-14 | 2023-12-01 | 山东威高手术机器人有限公司 | 微创手术机器人主从跟踪延时测试方法 |
CN117481801A (zh) * | 2023-10-26 | 2024-02-02 | 北京瞳沐医疗科技有限公司 | 基于图像的眼科机器人控制方法、***、设备及介质 |
Also Published As
Publication number | Publication date |
---|---|
CN107374727B (zh) | 2019-10-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107374727A (zh) | 一种微创外科手术机器人简化运动学模型的建模方法 | |
Simaan et al. | Intelligent surgical robots with situational awareness | |
CN104736093B (zh) | 接头估测和控制中的假想自由度 | |
CN104736094B (zh) | 操纵外科***的活动的假想自由度 | |
CN104334112B (zh) | 多端口手术机器人***架构 | |
JP6421171B2 (ja) | ゼロ空間を使用する経路を追従するためのシステム及び方法 | |
Bajo et al. | Integration and preliminary evaluation of an insertable robotic effectors platform for single port access surgery | |
CN105232155B (zh) | 手术机器人调整*** | |
US20140194699A1 (en) | Single port surgical robot and control method thereof | |
CN107049492A (zh) | 手术机器人***及手术器械位置的显示方法 | |
Wei et al. | Performance evaluation for multi-arm manipulation of hollow suspended organs | |
AU2007297702A1 (en) | Systems, devices, and methods for surgery on a hollow anatomically suspended organ | |
CN108366835A (zh) | 具有独立的侧倾、俯仰和偏摆缩放的机器人外科手术*** | |
CN105073058A (zh) | 用于通过在零垂直空间内进行咬合同时发生零空间移动而定位操纵器臂的***和方法 | |
Dupont et al. | Real-time position control of concentric tube robots | |
CN110177517A (zh) | 具有包含修整和翻转算法的横滚、俯仰和偏转重新对准的机器人手术*** | |
CN107688293A (zh) | 一种微创外科手术机器人的建模方法 | |
Laribi et al. | A design of slave surgical robot based on motion capture | |
Pisla et al. | Application oriented modelling and simulation of an innovative parallel robot for single incision laparoscopic surgery | |
WO2022100480A1 (zh) | 手术机器人末端位置和姿态的控制方法及手术机器人控制方法 | |
CN112957125B (zh) | 一种腔镜手术机器人的手术臂初始位姿规划方法及装置 | |
Trejos et al. | Port placement for endoscopic cardiac surgery based on robot dexterity optimization | |
Bihlmaier et al. | Endoscope robots and automated camera guidance | |
Sagitov et al. | Design of simple one-arm surgical robot for minimally invasive surgery | |
KR20220091551A (ko) | 환자 모델 및 커스터마이징 가능 수술실을 이용하여 수술 워크플로우를 시뮬레이션하기 위한 가상 현실 시스템들 |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20181017 Address after: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Applicant after: Chongqing Jinshan Medical Instrument Co., Ltd. Applicant after: Chongqing Jinshan medical robot Co., Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Applicant before: Chongqing Jinshan Medical Instrument Co., Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210128 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. Patentee before: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A simplified kinematics modeling method for minimally invasive surgical robot Effective date of registration: 20210526 Granted publication date: 20191022 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210802 Granted publication date: 20191022 Pledgee: Changshou sub branch of Bank of Chongqing Co.,Ltd. Pledgor: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Registration number: Y2021500000017 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right |