Tsinghua University

Peking University

Beijing Institute of Precision Mechatronics and Controls

Zhe Zhao

Shijie Zhu

Yongwei Pan

Gangtie Zheng

Yu Chen

Bin Cui

Jiuzheng Deng

Dawei He

Haiping Zhou

Bo Zeng

Qizhong Li

Zhiyuan Yu

Yecheng Yin

Zonglun Li

Xiaorong Zhu

Jianjin Zhu

Hongzhou Song

Bicong Zhang

Shoujun Zhao

Zheqing Zuo

Zixing Wang

A 2D image-guided surgical robot system for drilling operations includes surgical image acquisition equipment, robot positioning and drilling equipment, and a remote operation workstation. To perform a drilling operation, images of the surgery area are acquired with the image acquisition equipment and are registered to the robot, and a distortion correction is performed. A drilling path is assigned by a doctor through the GUI of the remote operation workstation, and the remote operation workstation calculates the robot motion quantity using a position-based method and moves the robot accordingly. Based on the relative position of the surgical tool and drilling path in the images, the remote operation workstation calculates a motion quantity using image feedback and controls the robot to make further fine adjustments to the drilling path. The robot then performs the drilling operation with an electric drill or holds a drill guide for doctors to perform the drilling manually.

2D image-guided surgical robot system

A 2D image-guided surgical robot system for distal locking operations includes surgical image acquisition equipment, a robot arm, a robot end effector attached to the robot arm, and a remote operation workstation. To perform a distal locking operation, the position of the image acquisition device is adjusted to obtain a round outline of a lockhole in the image. A distortion correction is performed. The position of the target lockhole is assigned by a user through the GUI of the remote operation workstation, and the remote operation workstation calculates a robot motion quantity using image feedback control law and moves the robot accordingly. The 'image-and-move' procedure is repeated several times until the drill guide is accurately aligned to the lockhole, then the distal locking operation is accomplished by first drilling a guide hole using a guide wire through the drill guide, and then screwing a locking screw through the guide hole.

2D-image guided robotic distal locking system

An electromechanical actuator for forced unlocking of a fuzzy jamming fault of a transmission mechanism comprises a bidirectional electromagnetic braking assembly, a circumferential rotating housing assembly, an axial spline bearing assembly, an LVDT linear displacement sensor assembly, a potentiometer linear displacement sensor assembly, and an electromechanical actuator assembly. The axial spline bearing assembly is mounted inside the circumferential rotating housing assembly for a reciprocating linear motion, and the axial spline bearing assembly is connected to an output rotating shaft of the electromechanical actuator assembly to form a spiral transmission pair; the bidirectional electromagnetic braking assembly is actively energized to generate radial and axial attraction forces, so that the circumferential rotating housing assembly is disengaged from a fixed connection with the electromechanical actuator assembly to rotate.

Electromechanical actuator and method for forced unlocking of fuzzy jamming fault of transmission mechanism

A surface tracking-based surgical robot system for drilling operations includes surface scanning equipment, a robot arm, and a workstation. To perform a drilling operation, surface information for the target surgery area and the surgical tool held by the robot arm is simultaneously collected with the same surface scanning equipment. A preoperative 3D image of a surgical area and a CAD model of the surgical tool are registered to the collected surface information, through which the relative position between a surgical path and the surgical tool is obtained. Using this relative position, the robot arm aligns to the predefined surgical path using a feedback control method running on a workstation. The drilling operation is then autonomously executed by the robot arm or manually performed under the guidance of the surgical tool held by the robot arm.

Surface tracking-based surgical robot system for drilling operation and control method

A remotely operated orthopedic surgical robot system for performing a fracture reduction operation using a visual-servo control method is provided. The system includes the surgical image acquisition equipment, the fracture reduction robot and the remote operation workstation. The fracture reduction robot has a plurality of types. The remote operation workstation includes a graphical user interface for doctors to examine the fracture reduction path planning result made by an artificial intelligence algorithm and to manually perform the path planning. The remote operation workstation calculates the robot control quantity using the visual servo control method according to the path planning result and sends it to the robot.

Remotely operated orthopedic surgical robot system for fracture reduction with visual-servo control method

Technologies are generally described herein for extracting a representative motion flow from a video. Technologies are also generally described herein for retrieving a video utilizing the representative motion flow. The representative motion flow may be extracted utilizing a sliding window approach to generate interesting motion flows. The representative motion flow may be generated based on the interesting motion flows.

Representative motion flow extraction for effective video classification and retrieval

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Beijing, China

Zhe Zhao