[go: up one dir, main page]

WO2023024397A1 - Appareil, système et procédé de robot médical - Google Patents

Appareil, système et procédé de robot médical Download PDF

Info

Publication number
WO2023024397A1
WO2023024397A1 PCT/CN2022/000118 CN2022000118W WO2023024397A1 WO 2023024397 A1 WO2023024397 A1 WO 2023024397A1 CN 2022000118 W CN2022000118 W CN 2022000118W WO 2023024397 A1 WO2023024397 A1 WO 2023024397A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
scanning
medical
module
joints
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.)
Ceased
Application number
PCT/CN2022/000118
Other languages
English (en)
Chinese (zh)
Inventor
谈斯聪
于皓
于梦非
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN202280056989.0A priority Critical patent/CN118265498A/zh
Priority to AU2022332824A priority patent/AU2022332824A1/en
Publication of WO2023024397A1 publication Critical patent/WO2023024397A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/037—Emission tomography

Definitions

  • the invention belongs to the application of artificial intelligence robot technology to the medical field, and relates to robot technology, an artificial intelligence image intelligent recognition method, intelligent equipment and a system.
  • the purpose of the present invention is to overcome the shortcomings and deficiencies of the above-mentioned prior art, and to provide a medical robot device, which utilizes a remote, autonomous robot to collect medical image devices, and solves artificial scanning, inspection, collection, diagnosis and treatment errors, and a single The limitations of the diagnosis and treatment department and the singleness of the diagnosis plan.
  • the radar and the mobile base realize autonomous movement, map positioning and navigation, and solve the problem of mobile collection.
  • Plane vision device intelligently identify plane information, depth information such as bones, intelligently identify human organs, and scan and collect positions.
  • X-ray imaging device direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device, intelligent identification, autonomous positioning, scanning task organs.
  • the remote control of the robot and autonomous acquisition can be realized, and the problems of high operating pressure and various acquisition tasks for medical staff can be solved.
  • a robotic device for medical use comprising:
  • the robot main system is used to connect and control the robot device module, including: voice module, vision module and visual recognition module, radar autonomous positioning navigation mobile module, medical device and module, robot arm and action planning module .
  • Voice device and voice module the main system of the robot is connected with the voice device for collecting and recognizing voice, voice interaction between users and administrators, and voice commands;
  • the radar autonomous positioning and navigation mobile module includes:
  • Mobile base connected to the radar, connected to the main system of the robot, for movement;
  • Radar connected with the main system of the robot, connected with the mobile base, used for autonomous mapping, positioning, and navigation;
  • Medical devices and modules including: medical imaging devices, scanning devices, scanning radiation mediation devices, radiation protection devices, the medical devices are one or more of the following devices,
  • X-ray imaging device direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device,
  • direct digital imaging DR device includes:
  • the X-ray emitting device is an X-ray generator for generating X-rays.
  • X-ray irradiation scanning device connected with the main system of the robot, integrated with the robot arm, as a scanning device for the scanning robot arm, emits x-rays, and the scanning robot arm is used to collect medical images
  • the robot arm is a U-shaped arm, a C-shaped arm ;
  • X-ray imaging devices are used to examine the brain, cervical spine, lumbar spine, thoracic spine, and bone joints;
  • the flat-panel detection device is used to receive X-rays and assist in the collection of X-ray images.
  • the flat-panel detection device is detachable and connected to the information verification robot arm to receive X-rays and assist in the collection of X-ray images.
  • the flat-panel detection device is connected to the information verification robot arm and is detachable.
  • the robot main system and the remote client control the robot arm and the flat-panel detection device to separate, combine and move.
  • CT device computerized tomography imaging device, the computerized tomography imaging device, connected with the scanning device and the main robot system, is used to check the cranium, cervical cone, lumbar spine, thoracic spine, abdomen, bone joints,
  • the heart, the scanning device is a circular robotic arm;
  • MRI device magnetic resonance device, the magnetic resonance device, connected with the scanning device, connected with the robot main system, is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage, soft tissue, muscle, chest, blood vessel,
  • the abdomen, bone joints, heart, and the scanning device are ring-shaped robotic arms;
  • PET device positron emission computed tomography imaging device
  • said positron emission tomography imaging device connected with scanning device, with robot main system, is used for examining cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage , soft tissue, muscle, chest, blood vessel, abdomen, bone joint, heart
  • the scanning device is a circular robotic arm;
  • Scanning and irradiation mediation device used for scanning, irradiating parts, mediating the position, height, angle, direction and various scanning irradiation parameters of bones and joints;
  • Radiation protection device for radiation protection for radiation protection
  • the visual collection device and the visual recognition module are used for collecting images and videos, and recognizing images and videos.
  • Robotic arms including scanning robotic arms and information verification robotic arms, are used to collect medical images and scan and read information.
  • Voice device and voice module the main robot system is connected with the voice device for collecting and recognizing voice, voice interaction between users and administrators, voice command, voice consultation and voice guidance.
  • Communication module remote control and autonomous control image acquisition module, the communication module is connected with the robot main system and remote client, the communication module includes wireless communication module, bluetooth communication module, wired Internet communication module, radio frequency communication, radio One or more communication methods in communication.
  • Medical devices include: medical imaging devices, scanning devices, scanning irradiation mediation devices, radiation protection devices,
  • the medical device is one or more of the following devices,
  • X-ray imaging device direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device;
  • the robotic arm can be remotely controlled and autonomously controlled
  • the robotic arm includes a scanning robotic arm, an information verification robotic arm, a scanning robotic arm and a scanning device to collect medical images
  • the remote control is through management
  • the user remotely controls and mediates setting parameters
  • the self-controlled scanning device collects medical images, trains actions and adaptively mediates parameters of the scanning device through the neural network and its improved method, and sets action planning parameters for action planning.
  • the collection of medical images and videos, the collection module includes: medical images and video collection modules.
  • the scanning robot arm is connected with the main system of the robot and integrated with the robot arm.
  • the robot arm is a U-shaped arm, a C-shaped arm, and a ring-shaped robot arm.
  • the scanning and irradiation mediation device is integrated with the scanning robot arm and connected with the main robot system, so that the medical object can move, lift and rotate the scanning robot arm according to the standard scanning requirements, and mediate the irradiation position of the scanning task. Bones, joint positions, heights, angles, directions.
  • An information collection and reading device includes: an information collection device, an information scanning device, the reading device is connected to an information verification robot arm, and is used as an information reading robot arm for scanning digital codes, two-dimensional codes , RFID, biometrics, intelligent identification to read two-dimensional codes, digital codes, text, logos, biological information, RFID information, patients, user information.
  • a visual acquisition device and a visual recognition module the main robot system is connected with the visual acquisition device for collecting images, videos, identifying images, and videos.
  • the visual acquisition device includes: a plane vision device and a depth vision device;
  • Visual recognition module including: planar vision device and planar image recognition, depth vision device and depth image recognition, used for image and video recognition,
  • Planar vision devices and planar image recognition include: face image recognition, facial features image recognition, human body feature recognition, and medical scene recognition.
  • Depth vision device and depth image recognition include: bone image, joint image, feature position recognition, key joint position and other special feature recognition of the human body, combined with positioning, to scan human organs.
  • the fusion of radar and vision devices is used for autonomous mapping, positioning, and navigation.
  • the radar is connected to the mobile base for movement.
  • the mobile base, radar, and vision devices are connected to the main robot system for autonomous positioning and navigation.
  • the fusion of plane image and depth vision image intelligently recognizes the intelligent recognition method of human facial features, bones, joints, organs, tissues, human body features and their positions. Bones, joints, human body feature points and their positions are autonomously positioned, scanned and inspected for organ tissues, and the method includes the following steps:
  • bone model including: head bones, facial bones, skull, neck bones, vertebrae, scapula, shoulder joints, shoulder bones, sternum, ribs, thoracic spine, waist bones, Spine, sacrum, coccyx, left and right upper limb bones, elbow joints, wrist joints, hand joints, waist joints, knee joints, ankle joints, foot joints and their positions are used as feature items, using neural network algorithms and their improved methods to intelligently identify bones and For its position, the depth information and the position information of the human body where the skeleton is located and the information of the adjacent characteristic organs identified by the general image model described in S1 are combined as the feature items of the bone intelligent recognition model as input items;
  • S5. Delineate the part to be scanned, scan area, return to scan range, position area, collect position coordinates, autonomous positioning, and move the device;
  • the medical imaging device and the scanning device are positioned independently, and moved to the position of the tissue and organ, the corresponding organ and bone;
  • Extracting the appearance features of the disease and the graphic features of the organ image including: the outline, color, texture, grayscale contrast, shape, position, color, structure and graphical feature items of the disease of the organ;
  • Figure 1 is a schematic diagram of a medical robot device module in the specification of this application.
  • 101-Robot main system module 101-Robot main system module; 102-Robot arm scanning acquisition action planning module; 103-Vision module;
  • 106-Robot arm grasping and scanning code movement planning module 107-Information collection and reading device and module;
  • Figure 2 is a schematic diagram of the composition and structure of the medical robot device in the specification of this application;
  • 201 Vision acquisition device 202-Robot main system; 203-Medical device; 204-Scanning irradiation mediation device;
  • 209-mobile device 210-information scanning device; 211-radar; 212-voice device; 213-radiation protection device;
  • the purpose of the present invention is to design a remote control robot that can replace human work, realize remote control of robot arm acquisition, and effectively solve autonomous scanning, acquisition of medical images and videos.
  • artificial intelligence robot technology autonomous collection in the field of automation, robot arm motion planning technology, plane vision device to collect human face, facial features, external features of human body, depth vision device to collect bone and joint images.
  • the medical robot device uses the remote end, and the robot autonomously collects medical image devices.
  • the mobile base realizes autonomous movement, constructs maps, locates and navigates, and solves the problem of mobile collection.
  • Use plane vision device and depth vision device to intelligently identify plane information, skeleton and depth information.
  • a robotic device for medical use comprising:
  • Robot main system 101 the robot main system module is used to connect and control the robot device module, including: voice module 105, vision module and visual recognition module 103, radar autonomous positioning navigation mobile module 108, medical device and module 104, machine Arm and motion planning module.
  • voice module 105 voice module 105
  • vision module and visual recognition module 103 radar autonomous positioning navigation mobile module 108
  • medical device and module 104 machine Arm and motion planning module.
  • Voice device 212 and voice module 105 robot main system 101 is connected with voice device 212, is used for collecting and recognizing sound, voice interaction between administrators between users, voice command;
  • the radar autonomous positioning and navigation mobile module includes:
  • the mobile base 209 is connected with the radar 211 and connected with the main robot system 101 for moving;
  • the radar 211 is connected with the main robot system 101 and the mobile base 209 for autonomous mapping, positioning and navigation;
  • Medical device and module 104 including: medical imaging device, scanning device, scanning irradiation mediation device, radiation protection device, the medical device described is one or more of the following devices,
  • X-ray imaging device 203 direct digital imaging DR device, computerized tomography imaging CT device, magnetic resonance MR device, PET positron emission computed tomography imaging device,
  • direct digital imaging DR device includes:
  • the X-ray emitting device 204 is an X-ray generator for generating X-rays.
  • X-ray irradiation scanning device connected with the main system of the robot, integrated with the robot arm, as a scanning device for the scanning robot arm, emits x-rays, and the scanning robot arm is used to collect medical images
  • the robot arm is a U-shaped arm, a C-shaped arm ;
  • X-ray imaging devices are used to examine the brain, cervical spine, lumbar spine, thoracic spine, and bone joints;
  • the flat-panel detection device 207 is used to receive X-rays and assist in the acquisition of X-ray images.
  • the flat-panel detection device is detachable and connected to the information verification robot arm to receive X-rays and assist in the acquisition of X-ray images.
  • the flat-panel detection device is connected to the information verification robot arm and is detachable.
  • the robot main system and the remote client control the robot arm and the flat-panel detection device to separate, combine and move.
  • CT device computerized tomography imaging device, the computerized tomography imaging device, connected with the scanning device and the main robot system, is used to check the cranium, cervical cone, lumbar spine, thoracic spine, abdomen, bone joints,
  • the heart, the scanning device is a circular robotic arm;
  • MRI device magnetic resonance device
  • the magnetic resonance device is connected with the scanning device and the robot main system 101, and is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage, soft tissue, muscle, chest, blood vessel , abdomen, bone joints, heart, the scanning device is a ring-shaped robotic arm;
  • PET device positron emission computed tomography imaging device, described positron emission computed tomography imaging device, is connected with the scanning device and the main robot system 101, and is used to examine the cranium, cervical cone, lumbar spine, thoracic spine, bone, cartilage.
  • the visual collection device and the visual recognition module 103 are used for collecting images and videos, and recognizing images and videos.
  • the robot arm including the robot scanning arm 206 and the information verification robot arm 208, is used to collect medical images and scan and read information.
  • the voice device 212 and the voice module 105, the main robot system 101 is connected with the voice device 212, and is used for collecting and recognizing sounds, voice interaction between users and administrators, voice commands, voice consultation and voice guidance.
  • Communication module 110 remote control and autonomous control image acquisition module, the communication module is connected with the robot main system and the remote client, the communication module includes a wireless communication module, a bluetooth communication module, a wired Internet communication module, radio frequency communication, One or more communication methods in radio communication.
  • the scanning task read the organs and tissues that need to be scanned and inspect, extract the face, facial features, neck, nipples, breasts, navel, characteristic genitals, characteristic parts and their positions from the plane image of the human body and input them into the neural network algorithm as feature items
  • intelligent recognition marking human body feature points and their positions, extracting head bones, neck spine bones, clavicle, shoulder bones, shoulder joints, left and right upper limb bones, elbow joints, wrist joints, Hand joints, lungs, ribs, spine, waist joints, knee joints, ankle joints, and foot joints are input into the neural network algorithm and its improvement method as feature items, intelligently identify bones and their positions, and intelligently identify the characteristic parts and positions of human organs.
  • the medical imaging device and the scanning device are positioned independently , move to the location of tissues and organs, corresponding organs and bones, scan corresponding organs and bones, obtain images of organs and bones, create disease models corresponding to organs, tissues, and parts, establish mathematical models for image recognition, and extract the appearance of diseases
  • graphic features of organ images including: organ outline, color, texture, grayscale contrast, shape, position, color, structure, and graphic feature items of diseases, using improved deep neural network to adjust weight parameters to obtain output values According to the range of the output value to identify the normal signs of the corresponding organ or the disease, intelligently identify the organ and its disease, intelligently circle the disease mask of the disease on the image, and the position of the suspected disease mask.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

L'invention concerne un appareil, un système et un procédé de robot médical. L'appareil de robot médical est un appareil de robot médical à distance pour un diagnostic autonome et une thérapie adjuvante utilisant une technologie de robot à intelligence artificielle. L'appareil comprend : un système de robot principal (202), qui est connecté à un appareil d'imagerie, tel qu'un appareil IRM et un appareil TDM, et qui effectue une commande à distance et une commande autonome pour collecter une image médicale. Au moyen d'un radar (211), une base mobile (209) réalise un mappage, un positionnement, une navigation et un mouvement autonomes, de façon à résoudre le problème de la collecte mobile. L'appareil de robot médical est connecté à un appareil de vision de plan et à un appareil de vision profonde, et identifie de manière intelligente des informations de plan, et des informations de profondeur telles qu'un squelette. Au moyen de l'appareil de robot médical, la commande à distance de la collecte d'image et la collecte autonome peuvent être réalisées, ce qui permet de réduire la charge d'un soignant, et d'améliorer la flexibilité de partage d'image à distance et d'interrogation à distance par un spécialiste et un médecin.
PCT/CN2022/000118 2021-08-27 2022-08-18 Appareil, système et procédé de robot médical Ceased WO2023024397A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280056989.0A CN118265498A (zh) 2021-08-27 2022-08-18 一种医疗用机器人装置，系统及方法
AU2022332824A AU2022332824A1 (en) 2021-08-27 2022-08-18 Medical robot apparatus, system and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111008052.XA CN113855250A (zh) 2021-08-27 2021-08-27 一种医疗用机器人装置、系统及方法
CN202111008052.X 2021-08-27

Publications (1)

Publication Number Publication Date
WO2023024397A1 true WO2023024397A1 (fr) 2023-03-02

Family

ID=78988759

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/000118 Ceased WO2023024397A1 (fr) 2021-08-27 2022-08-18 Appareil, système et procédé de robot médical

Country Status (3)

Country Link
CN (2) CN113855250A (fr)
AU (1) AU2022332824A1 (fr)
WO (1) WO2023024397A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113855250A (zh) * 2021-08-27 2021-12-31 谈斯聪 一种医疗用机器人装置、系统及方法
TWI875375B (zh) * 2023-12-13 2025-03-01 國立勤益科技大學 智慧型自走巡檢機器人輔助醫療系統

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150273697A1 (en) * 2014-03-27 2015-10-01 Fatemah A.J.A. Abdullah Robot for medical assistance
CN107030714A (zh) * 2017-05-26 2017-08-11 深圳市天益智网科技有限公司 一种医用看护机器人
CN107322602A (zh) * 2017-06-15 2017-11-07 重庆柚瓣家科技有限公司 用于远程医疗的家庭服务机器人
CN107788958A (zh) * 2017-10-20 2018-03-13 深圳市前海安测信息技术有限公司 医疗监护机器人及医疗监护方法
CN109758233A (zh) * 2019-01-21 2019-05-17 上海益超医疗器械有限公司 一种诊疗一体化手术机器人系统及其导航定位方法
WO2019175675A2 (fr) * 2019-07-01 2019-09-19 Wasfi Alshdaifat Agencement robotique médical à intelligence artificielle de robot dr
CN110477956A (zh) * 2019-09-27 2019-11-22 哈尔滨工业大学 一种基于超声图像引导的机器人诊断系统的智能扫查方法
US20190358820A1 (en) * 2018-05-23 2019-11-28 Aeolus Robotics, Inc. Robotic Interactions for Observable Signs of Intent
CN111481227A (zh) * 2020-05-18 2020-08-04 国登刚 基于计算机视觉技术的医用检查床智能摆位系统
CN111906785A (zh) * 2020-07-23 2020-11-10 谈斯聪 多模式综合信息识别移动式双臂机器人装置系统及方法
CN111916195A (zh) * 2020-08-05 2020-11-10 谈斯聪 一种医疗用机器人装置，系统及方法
CN111973228A (zh) * 2020-06-17 2020-11-24 谈斯聪 B超数据采集分析诊断一体化机器人，平台
CN111973152A (zh) * 2020-06-17 2020-11-24 谈斯聪 五官及外科医疗数据采集分析诊断机器人，平台
CN112155729A (zh) * 2020-10-15 2021-01-01 中国科学院合肥物质科学研究院 手术穿刺路径智能自动化规划方法及系统和医疗系统
CN113855250A (zh) * 2021-08-27 2021-12-31 谈斯聪 一种医疗用机器人装置、系统及方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111407414A (zh) * 2020-04-07 2020-07-14 上海市第一人民医院 一种用于临床诊疗的多功能远程机器人
CN111658154B (zh) * 2020-05-11 2021-10-26 首都医科大学附属北京天坛医院 一种自动远程造影手术机器人系统

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150273697A1 (en) * 2014-03-27 2015-10-01 Fatemah A.J.A. Abdullah Robot for medical assistance
CN107030714A (zh) * 2017-05-26 2017-08-11 深圳市天益智网科技有限公司 一种医用看护机器人
CN107322602A (zh) * 2017-06-15 2017-11-07 重庆柚瓣家科技有限公司 用于远程医疗的家庭服务机器人
CN107788958A (zh) * 2017-10-20 2018-03-13 深圳市前海安测信息技术有限公司 医疗监护机器人及医疗监护方法
US20190358820A1 (en) * 2018-05-23 2019-11-28 Aeolus Robotics, Inc. Robotic Interactions for Observable Signs of Intent
CN109758233A (zh) * 2019-01-21 2019-05-17 上海益超医疗器械有限公司 一种诊疗一体化手术机器人系统及其导航定位方法
WO2019175675A2 (fr) * 2019-07-01 2019-09-19 Wasfi Alshdaifat Agencement robotique médical à intelligence artificielle de robot dr
CN110477956A (zh) * 2019-09-27 2019-11-22 哈尔滨工业大学 一种基于超声图像引导的机器人诊断系统的智能扫查方法
CN111481227A (zh) * 2020-05-18 2020-08-04 国登刚 基于计算机视觉技术的医用检查床智能摆位系统
CN111973228A (zh) * 2020-06-17 2020-11-24 谈斯聪 B超数据采集分析诊断一体化机器人，平台
CN111973152A (zh) * 2020-06-17 2020-11-24 谈斯聪 五官及外科医疗数据采集分析诊断机器人，平台
CN111906785A (zh) * 2020-07-23 2020-11-10 谈斯聪 多模式综合信息识别移动式双臂机器人装置系统及方法
CN111916195A (zh) * 2020-08-05 2020-11-10 谈斯聪 一种医疗用机器人装置，系统及方法
CN112155729A (zh) * 2020-10-15 2021-01-01 中国科学院合肥物质科学研究院 手术穿刺路径智能自动化规划方法及系统和医疗系统
CN113855250A (zh) * 2021-08-27 2021-12-31 谈斯聪 一种医疗用机器人装置、系统及方法

Also Published As

Publication number Publication date
AU2022332824A1 (en) 2024-04-11
CN113855250A (zh) 2021-12-31
CN118265498A (zh) 2024-06-28

Similar Documents

Publication Publication Date Title
Li et al. An overview of systems and techniques for autonomous robotic ultrasound acquisitions
CN112641511B (zh) 关节置换手术导航系统及方法
CN101474075B (zh) 微创手术导航系统
US12245835B2 (en) Real-time adjustment of haptic feedback in surgical robots
Li et al. Image-guided navigation of a robotic ultrasound probe for autonomous spinal sonography using a shadow-aware dual-agent framework
WO2022027921A1 (fr) Dispositif robotique médical, système et procédé
US12245826B2 (en) Robotic surgical systems with multi-modality imaging for performing surgical steps
CN110533763B (zh) 一种基于云平台的智能矫形外固定系统
US12089905B1 (en) Computerized control and navigation of a robotic surgical apparatus
CN109820695A (zh) 一种具有通信和自主导航移动功能的icu病房卧式双侧脑瘫下肢康复机器人
CN109820590A (zh) 一种骨盆骨折复位智能监控系统
CN112641512A (zh) 一种应用于手术机器人前规划的空间配准方法
CN118213040A (zh) 基于人体三维模型的结构化腧穴知识图谱构建系统及方法
US11571266B1 (en) Robotic surgical system for insertion of surgical implants
WO2023024397A1 (fr) Appareil, système et procédé de robot médical
CN111558174A (zh) 用于放疗体表光学追踪的定位装置
WO2023024396A1 (fr) Procédé de reconnaissance, de positionnement autonome et de balayage pour une image visuelle et fusion d'image médicale
US11547486B1 (en) Digital image analysis for robotic installation of surgical implants
Lavallée et al. Computer integrated surgery and therapy: State of the art
WO2023024398A1 (fr) Procédé pour identifier de manière intelligente un organe thoracique, localiser et balayer de manière autonome un organe thoracique
JP2024546696A (ja) 胸部ｘ線システム及び方法
CN114689041B (zh) 基于二维图像的磁导航定位系统、方法及相关设备
CN202404813U (zh) 数字x线机摆位自动识别装置
CN119791843A (zh) 一种用于介入穿刺手术运动轨迹规划系统和方法
CN118216983A (zh) 经皮穿刺方法、装置、系统、电子设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22859759

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 202280056989.0

Country of ref document: CN

WWE Wipo information: entry into national phase

Ref document number: 2022332824

Country of ref document: AU

Ref document number: AU2022332824

Country of ref document: AU

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022332824

Country of ref document: AU

Date of ref document: 20220818

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 22859759

Country of ref document: EP

Kind code of ref document: A1