CN115363767B - Puncture surgery robot collision detection method, device, equipment and storage medium - Google Patents
Puncture surgery robot collision detection method, device, equipment and storage mediumInfo
- Publication number
- CN115363767B CN115363767B CN202211121950.0A CN202211121950A CN115363767B CN 115363767 B CN115363767 B CN 115363767B CN 202211121950 A CN202211121950 A CN 202211121950A CN 115363767 B CN115363767 B CN 115363767B
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- 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
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
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Abstract
The application relates to a collision detection method, a collision detection device, collision detection equipment and a storage medium of a puncture operation robot, wherein the method comprises the steps of obtaining an image according to a focus part scanned by a scanning mechanical arm, and obtaining a scanning area of the image under a first coordinate system; converting the scanning area to a second coordinate system, determining the edge and focus point of the scanning area, planning the path of the puncture mechanical arm according to the focus point, and judging the position relation between the path and the edge. According to the collision detection method, device and equipment for the puncture operation robot and the storage medium, the ultrasonic probe at the tail end of the scanning mechanical arm is utilized to acquire an image, the image is subjected to coordinate system conversion, so that the image is positioned in a coordinate system of a puncture needle, a scanning area is defined, focus points are marked, then the path planning is carried out on the puncture mechanical arm, whether the path exceeds the scanning area is judged, the collision risk is judged once the path exceeds the scanning area, the operation amount of the puncture operation robot is reduced, and the working efficiency is guaranteed.
Description
Technical Field
The invention relates to the technical field of puncture surgical robots, in particular to a puncture surgical robot collision detection method, device, equipment and storage medium.
Background
The puncture operation robot is an important application of robot-assisted minimally invasive surgery, and a small-scale operation is realized by connecting a puncture needle at the tail end of a mechanical arm and reaching a focus according to reasonable directions and depths.
In addition, factors such as obstacle avoidance and the like are often needed to be considered in the path planning process of the puncture operation robot, wherein the obstacle not only comprises physiological structures such as bones and large blood vessels, but also comprises other parts of the puncture operation robot body, so that the conventional path avoidance mode often carries out collective operation through medical images and the positions of the puncture operation robot, but the calculation amount of the operation mode is large, and the work efficiency of the puncture operation robot is not ensured.
Disclosure of Invention
The invention provides a collision detection method, device and equipment for a puncture operation robot and a storage medium, and aims to reduce collision risk of the puncture operation robot and ensure working efficiency of the puncture operation robot.
In a first aspect, an embodiment of the present invention provides a collision detection method for a puncture surgical robot, including:
obtaining an image according to the focus position scanned by the scanning mechanical arm, and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system of the scanning mechanical arm;
Converting the scanning area into a second coordinate system, wherein the second coordinate system is a coordinate system to which the puncture mechanical arm belongs;
determining the edge of a scanning area;
Planning a path of the puncture mechanical arm according to the focus point;
And judging the position relation between the path and the edge.
Optionally, determining an edge of the scan area specifically includes:
determining a point cloud set of the scanning area under a second coordinate system;
Selecting coordinate information of edge points corresponding to the point cloud set;
And connecting edge points, and determining the edge of the scanning area according to the corresponding coordinate information.
Optionally, determining the positional relationship between the path and the edge specifically includes:
Selecting a moving point position of a connecting part in the puncture mechanical arm under a path;
determining the position relationship between the moving point and the edge of the scanning area,
If the two images overlap, a collision is determined.
Optionally, if the two images overlap, after the collision is determined, the method further includes:
The path of the piercing robot is rescheduled.
Optionally, the connection site includes a flange for securing the puncture needle and a knuckle for connecting the flange.
Optionally, converting the scan area into a second coordinate system, where before the second coordinate system is the coordinate system to which the puncture mechanical arm belongs, the method further includes:
A homogeneous transformation matrix is obtained for the first coordinate system to the second coordinate system.
In a second aspect, an embodiment of the present invention provides a collision detection apparatus for a puncture surgical robot, where the collision detection method for a puncture surgical robot provided in the first aspect includes:
The scanning area determining module is used for obtaining an image according to the focus position scanned by the scanning mechanical arm and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system to which the scanning mechanical arm belongs;
The coordinate system conversion module is used for converting the scanning area into a second coordinate system, and the second coordinate system is a coordinate system to which the puncture mechanical arm belongs;
an edge and focus point determining module for determining the edge of the scanning area;
The path planning module is used for planning the path of the puncture mechanical arm according to the focus point;
And the position relation judging module is used for judging the position relation between the path and the edge.
Optionally, the coordinate system conversion module is configured to:
A homogeneous transformation matrix is obtained for the first coordinate system to the second coordinate system.
In a third aspect, an embodiment of the present invention provides an electronic device, including one or more processors;
a memory for storing one or more programs;
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the collision detection method of a penetration surgical robot as provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention provide a storage medium containing computer executable instructions that when executed by a computer processor are used to perform a method of collision detection for a penetration surgical robot as provided by any of the embodiments of the present invention.
The method, the device, the equipment and the storage medium for detecting collision of the puncture operation robot acquire images by utilizing the ultrasonic probe at the tail end of the scanning mechanical arm, convert the coordinate system of the images to ensure that the images are positioned in the coordinate system of the puncture needle, further define a scanning area and mark focus points, plan the path of the puncture mechanical arm, judge whether the path exceeds the scanning area, judge that collision risk exists once the path exceeds the scanning area, further facilitate reducing the operation amount of the puncture operation robot and ensure the working efficiency.
Drawings
FIG. 1 is a flow chart of a collision detection method for a puncture surgical robot according to an embodiment of the present invention;
FIG. 2 is a flowchart of determining an edge of a scan area in a collision detection method of a puncture surgical robot according to an embodiment of the present invention;
FIG. 3 is a flowchart of determining a positional relationship between the path and the edge in a collision detection method of a puncture surgical robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a collision detection device of a puncture surgery robot according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a collision detection apparatus for a puncture surgery robot according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a scanning mechanical arm and a puncturing mechanical arm in a collision detection method of a puncturing operation robot according to an embodiment of the present invention;
Fig. 7 is an enlarged view of a puncture mechanical arm in a collision detection method of a puncture surgical robot according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the prior art, factors such as obstacle avoidance and the like are often needed to be considered in the path planning process of the puncture operation robot, wherein the obstacle not only comprises physiological structures such as bones and large blood vessels, but also comprises other parts of the puncture operation robot body, so that the conventional path avoidance mode often carries out collective operation through medical images and the positions of the puncture operation robot, but the operation mode has large calculation amount and does not ensure the working efficiency of the puncture operation robot.
Example 1
In order to solve the above problems, the present invention provides a collision detection method for a puncture surgical robot, as shown in fig. 1, comprising:
S10, obtaining an image according to a focus part scanned by a scanning mechanical arm, and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system of the scanning mechanical arm, and as shown in FIG. 6, the puncture operation robot comprises the scanning mechanical arm and a puncture mechanical arm, wherein the tail end of the scanning mechanical arm is fixedly connected with an ultrasonic probe, and a certain section of the puncture mechanical arm is fixedly connected with a puncture needle. The first coordinate system is based on a flange coordinate system at the tail end of the scanning mechanical arm, and the image acquired by the ultrasonic probe is processed to obtain a scanning area under the first coordinate system.
And S20, converting the scanning area into a second coordinate system, wherein the second coordinate system is a coordinate system of the puncture mechanical arm, and the first coordinate system is a coordinate system based on a flange at the tail end of the puncture mechanical arm, so that the puncture needle can operate in the scanning area, and therefore the scanning area and the coordinate system corresponding to the movement track of the puncture needle are required to be unified.
In a preferred embodiment, before performing step S20, further comprising obtaining a homogeneous transformation matrix for the first coordinate system to the second coordinate system. Coordinate conversion between two coordinate systems is realized through homogeneous transformation matrix. The conversion formula is as follows:
wherein R P is the coordinate position vector of the ultrasonic probe, Is a homogeneous transformation matrix of the ultrasonic probe { T } relative to the first coordinate system,Is a homogeneous transformation matrix of the first coordinate system relative to the second coordinate system.
The edge of the scanning area is determined S30, and the determination modes of the edge and the focus point are different. First, the edge of the scanning area can be determined by determining the edge extremum of the scanning area under the second coordinate system and determining the edge of the scanning area by means of connecting lines. For example, assuming a second coordinate system XOZ, the coordinates of the edge extremum points selected in the second coordinate system { R } are X R and Z R, and a plurality of edge extremum points are connected to form the edge of the scan region.
The focus point is the coordinate information of the focus point under the second coordinate system.
S40, planning a path of the puncture mechanical arm according to the focus point, and obtaining the travel path of the puncture mechanical arm by calculating the coordinate information of the puncture needle and the focus point on the basis of obtaining the coordinate information of the focus point. In a more preferred embodiment, the scanning area is marked with position information of physiological structures such as bones and great vessels, and the penetration angle of the puncture needle and the travel path of the puncture mechanical arm are restrained.
S50, judging the position relation between the path and the edge. The movement of the penetration robot arm within the scanning area will be determined to be safe, whereas it will be determined that there is a risk of collision.
According to the collision detection method for the puncture operation robot, provided by the embodiment of the invention, the ultrasonic probe at the tail end of the scanning mechanical arm is utilized to acquire an image, the image is subjected to coordinate system conversion, so that the image is positioned in the coordinate system of the puncture needle, a scanning area is defined, focus points are marked, then the path planning is carried out on the puncture mechanical arm, whether the path exceeds the scanning area is judged, and the collision risk is judged once the path exceeds the scanning area, so that the operation amount of the puncture operation robot is reduced, and the working efficiency is ensured.
Example two
As further shown in fig. 2 and 3, the present embodiment is further refined based on the above technical solution, where step S30 specifically includes:
And S31, determining a point cloud set of a scanning area under a second coordinate system, wherein the point cloud set comprises image points acquired by an ultrasonic probe, and the image points can be focus positions or physiological structures such as bones, large blood vessels and the like.
And S32, selecting coordinate information of edge points corresponding to the point cloud set, wherein the coordinate information belongs to a second coordinate system of the puncture mechanical arm. The coordinate information of the edge points can be understood as having a coordinate extremum. For example, assuming that the second coordinate system is a rectangular coordinate system XOZ, the coordinate information of the edge point has a maximum value and/or a minimum value in the X-axis and Z-axis directions.
And S33, connecting edge points, and determining the edge of the scanning area according to the corresponding coordinate information. By connecting the edge points, the scan area is delineated.
Further, in the process of executing step S50, the method specifically includes:
and S51, selecting a moving point of a connecting part in the puncture mechanical arm under a path, wherein in an alternative embodiment, the connecting part comprises a flange plate for fixing the puncture needle and joints for connecting the flange plate (for example, fourth joint and fifth joint of the puncture mechanical arm). When the flange and the joint are arranged in the scanning area, there is no possibility of collision with other components. Therefore, it is assumed that the detection points and coordinate values of the flange and the joint in the second coordinate system are as shown in fig. 7:
M(XM,ZM)
N(XN,ZN)
F(XF,ZF)
E(XE,ZE)
S52, judging the position relation between the moving point and the edge of the scanning area, specifically, obtaining the judgment formula according to the comparison of the coordinate value of the detection point and the coordinate information of the edge point ：(XM>XR∩ZM<ZR)∪(XN>XR∩ZN<ZR)∪(XF>XR∩ZF<ZR)∪ZE<ZR
If the two images overlap, it is determined that a collision has occurred. When the collision is judged, the path of the puncture mechanical arm needs to be planned again.
If the overlapping does not occur, the patient moves to the focus point to perform the subsequent puncturing operation.
On the basis of the first embodiment, the embodiment of the invention is used for judging whether the puncture needle is in the scanning area or not by selecting a plurality of detection points close to the puncture needle, so that whether the puncture mechanical arm is collided or not is accurately judged, and compared with the whole calculation of the puncture mechanical arm, the operation amount of the puncture surgical robot is reduced, and the working efficiency is ensured.
Example III
The invention also provides a collision detection device of the puncture operation robot, as shown in fig. 4, comprising:
the scanning area determining module 01 is used for obtaining an image according to the focus scanned by the scanning mechanical arm and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system of the scanning mechanical arm;
the coordinate system conversion module 02 is used for converting the scanning area into a second coordinate system, wherein the second coordinate system is a coordinate system to which the puncture mechanical arm belongs, and the coordinate system conversion module 02 is configured to execute the following operations:
A homogeneous transformation matrix is obtained for the first coordinate system to the second coordinate system.
The edge and focus point determining module 03 is configured to determine an edge of the scan area, wherein the edge and focus point determining module 03 is specifically configured to:
determining a point cloud set of the scanning area under a second coordinate system;
Selecting coordinate information of edge points corresponding to the point cloud set;
And connecting edge points, and determining the edge of the scanning area according to the corresponding coordinate information.
The path planning module 04 is used for planning the path of the puncture mechanical arm according to the focus point;
The positional relationship determination module 05 is configured to determine a positional relationship between the path and the edge. The positional relationship determination module 05 is configured to perform the following operations:
the moving point of the connecting part in the puncture mechanical arm under the path is selected, and the connecting part comprises a flange plate for fixing the puncture needle and a joint for connecting the flange plate.
Determining the position relationship between the moving point and the edge of the scanning area,
If the two images overlap, a collision is determined.
The collision detection device for the puncture surgery robot provided by the embodiment of the invention adopts the same technical means as the collision detection method for the puncture surgery robot to achieve the same technical effects, and is not repeated here.
Example IV
Fig. 5 is a schematic structural diagram of a collision detection apparatus for a puncture robot according to an embodiment of the present invention, where, as shown in fig. 5, the collision detection apparatus for a puncture robot includes a processor 510, a memory 520, an input device 530 and an output device 540, where the number of processors 510 in the collision detection apparatus for a puncture robot may be one or more, and in fig. 5, one processor 510 is taken as an example, and the processor 510, the memory 520, the input device 530 and the output device 540 in the collision detection apparatus for a puncture robot may be connected by a bus or other manners, and in fig. 5, the connection by a bus is taken as an example.
The memory 520 is a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules (e.g., a scan area determination module, a coordinate system conversion module, an edge and focus determination module, a path planning module, and a positional relationship determination module) corresponding to the collision detection method of the puncture surgical robot in the embodiment of the present invention. The processor 510 performs various functional applications and data processing of the collision detection apparatus of the puncture surgical robot by executing software programs, instructions, and modules stored in the memory 520, i.e., implements the above-described collision detection method of the puncture surgical robot.
The memory 520 may mainly include a storage program area which may store an operating system, application programs required for at least one function, and a storage data area which may store data created according to the use of the terminal, etc. In addition, memory 520 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 520 may further include memory remotely located with respect to processor 510, which may be connected to the penetrating surgical robot collision detection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 530 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the collision detecting device of the penetrating surgical robot. The output 540 may include a display device such as a display screen.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a puncture surgical robot collision detection method, comprising:
obtaining an image according to the focus position scanned by the scanning mechanical arm, and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system of the scanning mechanical arm;
Converting the scanning area into a second coordinate system, wherein the second coordinate system is a coordinate system to which the puncture mechanical arm belongs;
determining the edge of a scanning area;
Planning a path of the puncture mechanical arm according to the focus point;
And judging the position relation between the path and the edge.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the collision detection method of the puncture surgical robot provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the collision detection apparatus for a puncture surgical robot, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented, and the specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
While the invention has been described in detail in the foregoing general description, embodiments and experiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. The collision detection method for the puncture operation robot is characterized by comprising the following steps:
The method comprises the steps of obtaining an image according to a focus position scanned by a scanning mechanical arm, and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system to which the scanning mechanical arm belongs, and the scanning area is used for avoiding collision with other parts when a flange plate and a joint of a puncture mechanical arm are arranged in the scanning area;
converting the scanning area to a second coordinate system, wherein the second coordinate system is a coordinate system to which the puncture mechanical arm belongs;
determining an edge of the scan area;
Planning a path of the puncture mechanical arm according to the focus point;
And judging the position relation between the path and the edge.
2. The method for collision detection of a puncture surgical robot according to claim 1, wherein the determining the edge of the scan region specifically comprises:
determining a point cloud set of the scanning area under the second coordinate system;
selecting coordinate information of edge points corresponding to the point cloud set;
and connecting the edge points, and determining the edge of the scanning area according to the corresponding coordinate information.
3. The method for detecting collision of a puncture surgical robot according to claim 1, wherein the determining the positional relationship between the path and the edge specifically comprises:
selecting a moving point position of a connecting part in the puncture mechanical arm under the path;
determining the position relation between the moving point and the edge of the scanning area,
If the two images overlap, a collision is determined.
4. The method for detecting collision of surgical puncture robots according to claim 3, wherein after the collision is determined if the collision is superimposed, further comprising:
And re-planning the path of the puncture mechanical arm.
5. The collision detection method of a puncture robot according to claim 3, wherein the connection part comprises a flange plate for fixing a puncture needle and a joint for connecting the flange plate.
6. The method of collision detection for a penetrating surgical robot of claim 1, wherein prior to said converting the scan region to the second coordinate system, further comprising:
a homogeneous transformation matrix is obtained for the first coordinate system to the second coordinate system.
7. A collision detection device for a puncture surgical robot, applying the method of any one of claims 1 to 6, comprising:
The scanning area determining module is used for obtaining an image according to a focus position scanned by the scanning mechanical arm and obtaining a scanning area of the image under a first coordinate system, wherein the first coordinate system belongs to the coordinate system to which the scanning mechanical arm belongs;
the coordinate system conversion module is used for converting the scanning area into a second coordinate system, wherein the second coordinate system is a coordinate system to which the puncture mechanical arm belongs;
an edge and focus point determining module for determining the edge of the scanning area;
the path planning module is used for planning the path of the puncture mechanical arm according to the focus point;
and the position relation judging module is used for judging the position relation between the path and the edge.
8. The penetration surgical robot collision detection apparatus of claim 7, the coordinate system conversion module configured to:
a homogeneous transformation matrix is obtained for the first coordinate system to the second coordinate system.
9. An electronic device, the electronic device comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the penetration surgical robot collision detection method of any one of claims 1-6.
10. A storage medium containing computer executable instructions, which when executed by a computer processor are for performing the penetration surgical robot collision detection method of any one of claims 1-6.
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| CN116077182B (en) * | 2022-12-23 | 2024-05-28 | 北京纳通医用机器人科技有限公司 | Medical surgical robot control method, device, equipment and medium |
| CN119214792A (en) * | 2023-06-30 | 2024-12-31 | 武汉联影智融医疗科技有限公司 | A surgical robot interventional surgery system and method |
| CN119732748B (en) * | 2024-11-22 | 2025-10-10 | 中欧智薇(上海)机器人有限公司 | Robot positioning method, electronic device and storage medium for orthopedic puncture |
| CN119867957A (en) * | 2024-12-11 | 2025-04-25 | 北京市神经外科研究所 | Intelligent surgical endoscope system with voice navigation function |
| CN119770172B (en) * | 2024-12-24 | 2025-10-10 | 上海导向医疗系统有限公司 | Collision detection method and device, navigation and positioning system, and computer program product |
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| CN104334110A (en) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | Manipulator arm collision avoidance with patient using null space |
| CN108839025A (en) * | 2018-07-12 | 2018-11-20 | 杭州电子科技大学 | A kind of motion planning method and device of mobile mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104334110A (en) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | Manipulator arm collision avoidance with patient using null space |
| CN108839025A (en) * | 2018-07-12 | 2018-11-20 | 杭州电子科技大学 | A kind of motion planning method and device of mobile mechanical arm |
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