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

申请人： Wuhan United Imaging Healthcare Surgical Technology Co., Ltd.

发明人： YU, Supu ,  WANG, Quanquan ,  ZHANG, Yang ,  XIE, Qiang

IPC分类号： G06T7/70 ,  G06T19/00 ,  G06F18/40

CPC分类号： G06T2210/4120130101 ,  G06T2215/1620130101 ,  G06T2210/2120130101 ,  G06T19/00 ,  G06V10/147 ,  G06V2201/0620220101 ,  G06V20/00 ,  G06V20/64

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

申请人： Wuhan United Imaging Healthcare Surgical Technology Co., Ltd.

发明人： CHEN, Long ,  HUANG, Qin ,  WANG, Quanquan ,  XIE, Qiang ,  NIE, Yongxiang ,  GAO, Hao

IPC分类号： A61B34/30 ,  A61B34/10

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.

公开(公告)号：EP4321121A1

公开(公告)日：2024-02-14

申请号：EP22806750.0

申请日：2022-05-10

申请人： Wuhan United Imaging Healthcare Surgical Technology Co., Ltd.

发明人： WU, Tong ,  WU, Bo ,  DENG, Yong ,  WANG, Quanquan ,  HUANG, Qin

IPC分类号： A61B34/30 ,  A61B34/20

摘要： Embodiments of the present disclosure provide a method and system for positioning a robot and adjusting a posture. The method may include obtaining a first image and a second image of a target object. The first image may be captured using an image capturing apparatus, and the second image may be captured using a medical imaging device. The method may also include determining at least one target region corresponding to at least one target portion of the target object from the first image. The at least one target portion may be less affected by physiological motions than other portions. The method may further include determining positioning information of the robot based on the at least one target region and the second image.

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

申请人： Wuhan United Imaging Healthcare Surgical Technology Co., Ltd.

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.