CN111658144B - 基于自主控制的血管机器人的控制***及方法 - Google Patents
基于自主控制的血管机器人的控制***及方法 Download PDFInfo
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- CN111658144B CN111658144B CN202010544332.1A CN202010544332A CN111658144B CN 111658144 B CN111658144 B CN 111658144B CN 202010544332 A CN202010544332 A CN 202010544332A CN 111658144 B CN111658144 B CN 111658144B
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- 230000002792 vascular Effects 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 27
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 76
- 238000002591 computed tomography Methods 0.000 claims abstract description 11
- 239000008280 blood Substances 0.000 claims abstract description 9
- 210000004369 blood Anatomy 0.000 claims abstract description 9
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- 239000002131 composite material Substances 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000011160 research Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 1
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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
-
- 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
-
- 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
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
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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)
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Abstract
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Application Number | Priority Date | Filing Date | Title |
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CN202010544332.1A CN111658144B (zh) | 2020-06-15 | 2020-06-15 | 基于自主控制的血管机器人的控制***及方法 |
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CN202010544332.1A CN111658144B (zh) | 2020-06-15 | 2020-06-15 | 基于自主控制的血管机器人的控制***及方法 |
Publications (2)
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CN111658144A CN111658144A (zh) | 2020-09-15 |
CN111658144B true CN111658144B (zh) | 2021-07-27 |
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CN202010544332.1A Expired - Fee Related CN111658144B (zh) | 2020-06-15 | 2020-06-15 | 基于自主控制的血管机器人的控制***及方法 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113274135B (zh) * | 2021-04-26 | 2022-10-14 | 上海友脉科技有限责任公司 | 一种血管腔内介入手术***及手术机器人 |
CN113229936A (zh) * | 2021-05-06 | 2021-08-10 | 卫飞鹏 | 一种提高肝脏介入靶向定位精确度的方法及*** |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102908144A (zh) * | 2011-08-03 | 2013-02-06 | 西门子公司 | 用于治疗计划的磁共振成像 |
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 |
CN106456251A (zh) * | 2014-03-17 | 2017-02-22 | 直观外科手术操作公司 | 用于对成像装置和输入控制装置重定中心的***和方法 |
CN108836440A (zh) * | 2018-03-21 | 2018-11-20 | 北京理工大学 | 一种穿刺辅助机器人的控制决策方法与*** |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012090197A1 (en) * | 2010-12-30 | 2012-07-05 | Given Imaging Ltd. | System and method for automatic navigation of a capsule based on image stream captured in-vivo |
CN105916437A (zh) * | 2013-11-14 | 2016-08-31 | 赫拉梅德公司 | 配置成仅在特定加速度范围内操作的可移动医疗设备 |
CN106725762A (zh) * | 2016-12-30 | 2017-05-31 | 西安中科微光影像技术有限公司 | 一种自动穿刺方法 |
US11911045B2 (en) * | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
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2020
- 2020-06-15 CN CN202010544332.1A patent/CN111658144B/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102908144A (zh) * | 2011-08-03 | 2013-02-06 | 西门子公司 | 用于治疗计划的磁共振成像 |
CN106456251A (zh) * | 2014-03-17 | 2017-02-22 | 直观外科手术操作公司 | 用于对成像装置和输入控制装置重定中心的***和方法 |
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 |
CN108836440A (zh) * | 2018-03-21 | 2018-11-20 | 北京理工大学 | 一种穿刺辅助机器人的控制决策方法与*** |
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CN111658144A (zh) | 2020-09-15 |
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CB03 | Change of inventor or designer information |
Inventor after: Zhang Zhongan Inventor after: Gu Dean Inventor after: Zhong Ping Inventor after: Tan Shizhong Inventor before: Tan Shizhong |
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Effective date of registration: 20210707 Address after: No. 127, four - flow South Road, Qingdao, Shandong Province Applicant after: QINGDAO CENTRAL Hospital Address before: 430063 No.2, floor 30, unit 1, building G2, Shuian Xingcheng, No.2, Xudong 2nd Road, xujiapeng street, Wuchang District, Wuhan City, Hubei Province Applicant before: Tan Shizhong |
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