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1.发明公开
公开(公告)号：EP4411656A1
公开(公告)日：2024-08-07
申请号：EP22889273.3
申请日：2022-11-01
发明人： YU, Supu , WU, Tong , ZHANG, Yang , WANG, Quanquan , XIE, Qiang
IPC分类号： G06T17/00
摘要： Embodiment of the present disclosure provides a method for obstacle avoidance of a surgical robot. The method may include: collecting first data through a first acquisition device, wherein the first data is image data of a space in which a target subject is located; constructing a safety zone for the target subject based on the first data; collecting second data outside the safety zone through a second acquisition device, wherein the second data is image data of the target subject; and constructing a three-dimensional model of the target subject based on the second data, wherein the three-dimensional model of the target subject may be used for obstacle avoidance detection during an operation of the surgical robot.
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公开(公告)号：EP4368140A1
公开(公告)日：2024-05-15
申请号：EP22837055.7
申请日：2022-07-08
发明人： ZENG, Zhixian , CHEN, Long , WANG, Xuan , LIU, Qiang , LUO, Cailian , MA, Boqi , YANG, Fan , CHEN, Chaomin , XIE, Qiang
IPC分类号： A61B34/30
CPC分类号： A61B34/30
摘要： One or more embodiments of the present disclosure relate to a surgical robot (100) and a method of controlling the surgical robot, the method comprising: obtaining pose information of an end tool; and providing first feedback information to an operator based on the pose information.
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公开(公告)号：EP4360049A1
公开(公告)日：2024-05-01
申请号：EP22848643.7
申请日：2022-07-28
发明人： YU, Supu , WANG, Quanquan , ZHANG, Yang , XIE, Qiang
CPC分类号： G06T2210/4120130101 , G06T2215/1620130101 , G06T2210/2120130101 , G06T19/00 , G06V10/147 , G06V2201/0620220101 , G06V20/00 , G06V20/64
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公开(公告)号：EP4218649A1
公开(公告)日：2023-08-02
申请号：EP21871583.7
申请日：2021-09-24
发明人： CHEN, Long , HUANG, Qin , WANG, Quanquan , XIE, Qiang , NIE, Yongxiang , GAO, Hao
摘要： This application provides a surgical robot control method, a computer device, and a surgical robot system. The surgical robot control method includes: receiving a user demand, and generating an interactive control command; generating a motion control command according to the interactive control command; and controlling a terminal of a mechanical arm to perform the motion control command. The motion control command includes controlling the terminal of the mechanical arm to act in accordance with a plurality of motion modes. The surgical robot control method may control the terminal of the mechanical arm to act in accordance with the plurality of motion modes through the motion control command, realize different motion schemes in various clinical application scenarios, and realize controlling the terminal of the mechanical arm to be flexibly switched between the plurality of motion modes in any application scenario through the interactive control command.
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公开(公告)号：EP4454577A1
公开(公告)日：2024-10-30
申请号：EP22913987.8
申请日：2022-11-30
发明人： KE, Xianfeng , XIE, Qiang
IPC分类号： A61B17/34
摘要： The embodiments of the present description provide a device control method and system for image-guided interventional punctures. The method comprises: obtaining an initial motion state of an image device and/or a surgical robot; controlling a target motion state of the surgical robot and/or the image device according to the initial motion state.
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公开(公告)号：EP4364902A1
公开(公告)日：2024-05-08
申请号：EP22848584.3
申请日：2022-07-27
发明人： WU, Tong , WU, Bo , XIE, Qiang
IPC分类号： B25J9/16
摘要： A hand-eye calibration method for a robot. The method includes: obtaining images of a target body of a calibration target acquired by an imaging device when the robot (110) is in different poses; for any pose, determining, based on at least one image collected in the pose, a first transformation relationship between a first coordinate system of the calibration target and a second coordinate system of the imaging device in the pose; obtaining a second transformation relationship between a third coordinate system and a fourth coordinate system of the robot (110); and determining, based on the first transformation relationships and the second transformation relationships corresponding to the different poses, a third transformation relationship between the second coordinate system and one of the third coordinate system and the fourth coordinate system. The third coordinate system is related to a base of the robot (110). The fourth coordinate system is related to an EOAT of a robotic arm of the robot (110). Further provided are a hand-eye calibration apparatus and system for a robot, and a storage medium and a calibration target.
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