CN111437033B - 一种用于血管介入手术机器人***的虚拟传感器 - Google Patents
一种用于血管介入手术机器人***的虚拟传感器 Download PDFInfo
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- CN111437033B CN111437033B CN202010257475.4A CN202010257475A CN111437033B CN 111437033 B CN111437033 B CN 111437033B CN 202010257475 A CN202010257475 A CN 202010257475A CN 111437033 B CN111437033 B CN 111437033B
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- 210000004204 blood vessel Anatomy 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 14
- 238000001356 surgical procedure Methods 0.000 claims description 8
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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
-
- 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
- A61B2034/107—Visualisation of planned trajectories or target regions
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
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CN202010257475.4A CN111437033B (zh) | 2020-04-03 | 2020-04-03 | 一种用于血管介入手术机器人***的虚拟传感器 |
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CN202010257475.4A CN111437033B (zh) | 2020-04-03 | 2020-04-03 | 一种用于血管介入手术机器人***的虚拟传感器 |
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CN111437033A CN111437033A (zh) | 2020-07-24 |
CN111437033B true CN111437033B (zh) | 2021-03-02 |
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Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN116115351B (zh) * | 2022-09-26 | 2023-09-26 | 上海睿触科技有限公司 | 一种血管介入机器人主从力反馈*** |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101529487A (zh) * | 2006-10-16 | 2009-09-09 | 英默森公司 | 柔性的对象模拟器 |
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 |
CN104739519A (zh) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | 一种基于增强现实的力反馈手术机器人控制*** |
CN107705855A (zh) * | 2017-09-21 | 2018-02-16 | 北京众绘虚拟现实技术研究院有限公司 | 一种支持个性化的经皮冠状动脉成形术模拟训练***及方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000042118A (ja) * | 1998-07-10 | 2000-02-15 | Mitsubishi Electric Inf Technol Center America Inc | カテ―テル等の細長い物体の触感的フィ―ドバック発生方法および装置 |
CN101131728A (zh) * | 2007-09-29 | 2008-02-27 | 东华大学 | 一种基于Shape Context的人脸形状匹配方法 |
US8504500B2 (en) * | 2009-07-30 | 2013-08-06 | Northwestern University | Systems, methods, and apparatus for reconstruction of 3-D object morphology, position, orientation and texture using an array of tactile sensors |
CN103006328B (zh) * | 2012-12-03 | 2014-09-17 | 北京航空航天大学 | 血管介入手术机器人***力反馈的模糊融合方法 |
CN106556486B (zh) * | 2015-09-28 | 2023-02-28 | 上海微创医疗器械(集团)有限公司 | 介入类医疗器械推送效率的测量***及其测量方法 |
US11346730B2 (en) * | 2016-12-05 | 2022-05-31 | Koninklijke Philips N.V. | Systems and methods for determining the length of a non-shape-sensed interventional device with a shape-sensed guidewire and determining a state of the guidewire with respect to an interventional device |
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2020
- 2020-04-03 CN CN202010257475.4A patent/CN111437033B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101529487A (zh) * | 2006-10-16 | 2009-09-09 | 英默森公司 | 柔性的对象模拟器 |
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 |
CN104739519A (zh) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | 一种基于增强现实的力反馈手术机器人控制*** |
CN107705855A (zh) * | 2017-09-21 | 2018-02-16 | 北京众绘虚拟现实技术研究院有限公司 | 一种支持个性化的经皮冠状动脉成形术模拟训练***及方法 |
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Effective date of registration: 20211228 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 Patentee after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 300384 No. 391 Binshui West Road, Xiqing District, Tianjin Patentee before: TIANJIN University OF TECHNOLOGY |
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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 Patentee 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 Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |
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