ROBOT-ASSISTED AUTOMATIC TROCAR DOCKING METHOD AND APPARATUS

WIPO Patent Application WO/2023/116333

A1

A robot-assisted automatic trocar docking method and apparatus. The method comprises: acquiring a data set of a trocar, and training by means of a preset U-Net network to obtain a first model; detecting the position of the trocar in an image to be detected by means of the first model, and outputting position information of the trocar meeting a preset condition; performing parameterization on a rotation angle of the trocar according to the position information of the trocar meeting the preset condition, to obtain a rotation matrix of the trocar; and obtaining the orientation of the trocar according to the rotation matrix of the trocar, and controlling an instrument at the tail end of the robot to be docked with the trocar according to the orientation of the trocar. Compared with the prior art, the method and the apparatus detect the position of the trocar by means of the U-Net network and obtain the orientation of the trocar, such that the instrument at the tail end of the robot can be accurately controlled to be docked with the trocar, the pose of the trocar is automatically determined, and the method and the apparatus can adapt to in vivo surgical projects with poor visibility.

LIN SHENGZHI (CN)
YAN PISONG (CN)

PCT/CN2022/134016

June 29, 2023

November 24, 2022

Click for automatic bibliography generation  

GUANGZHOU OCULOTRONICS MEDICAL INSTR CO LTD (CN)

A61B17/34; A61B34/30; A61B34/10; A61B34/20; G06N3/04

WO2012034886A1

2012-03-22

CN114159166A	2022-03-11
US20210290311A1	2021-09-23
CN102905642A	2013-01-30
CN113538522A	2021-10-22
US20210059857A1	2021-03-04
US20210128260A1	2021-05-06

GUANGZHOU WISON I.P. LAW FIRM (CN)

View/Download PDF      PDF Help

Previous Patent: POSITIONING METHOD AND APPARATUS

Next Patent: POLYESTER COMPOSITE MATERIAL, PREPARATION METHOD THEREFOR AND APPLICATION THEREOF