Title:
AUGMENTED-REALITY-BASED INTERVENTIONAL ROBOT NON-CONTACT TELEOPERATION SYSTEM, AND CALIBRATION METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2022/188352
Kind Code:
A1
Abstract:
The present invention provides an augmented-reality-based interventional robot non-contact teleoperation system, and a calibration method therefor. The system is mainly composed of a head-mounted AR device, a shape sensing system, an electromagnetic tracking system, a continuum robot, etc., and the calibration of the system mainly comprises five steps. In the present invention, augmented reality technology is applied to a flexible surgical robot, such that the defect of augmented reality technology merely being aimed at the display of rigid instruments formerly is overcome, an immersive surgical experience is provided for a doctor, and the safety of surgery is further improved. With the assistance of augmented reality technology, 3D perspective is performed on an endoluminal anatomical structure and an interventional robot, the robot is controlled by using a non-contact gesture recognition method, and different gestures are mapped to different motions of the robot, such that the problem of it being difficult to obtain absolute shape information due to a base coordinate system of a shape sensor being a floating base is solved, and the calibration of an AR device and an electromagnetic tracking system is subtly converted into the problem of solving AX ＝ XB, thereby solving a transformation relationship between the two more efficiently.
Inventors:
GAO ANZHU (CN)
LIN ZECAI (CN)
YANG GUANGZHONG (CN)
CHEN WEIDONG (CN)
AI XIAOJIE (CN)
LIN ZECAI (CN)
YANG GUANGZHONG (CN)
CHEN WEIDONG (CN)
AI XIAOJIE (CN)
Application Number:
PCT/CN2021/111946
Publication Date:
September 15, 2022
Filing Date:
August 11, 2021
Export Citation:
Assignee:
UNIV SHANGHAI JIAOTONG (CN)
International Classes:
A61B34/35
Domestic Patent References:
| WO2020231157A1 | 2020-11-19 |
Foreign References:
| CN112914731A | 2021-06-08 | |||
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| CN105050525A | 2015-11-11 | |||
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| US20180116732A1 | 2018-05-03 | |||
| US20200188028A1 | 2020-06-18 | |||
| CN109758230A | 2019-05-17 |
Attorney, Agent or Firm:
DUAN&DUAN LAW FIRM (CN)
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