Abstract: A target tracking method and system for use with a surgical robot is disclosed. The method includes: acquiring a visible light image and a depth image of a marker attached on a patient's body surface, where the marker is provided with a black and white checkerboard pattern, and a two-dimensional code is arranged inside squares of the checkerboard; performing two-dimensional code detection on the visible light image to obtain the checkerboard corners' 2D coordinates and the IDs of the two-dimensional codes on the marker; and obtaining 3D coordinates of checkerboard corners in the marker by using the depth image, 2D code corners' coordinates and 2D code ID. According to the 3D coordinates of the checkerboard corner, the position information of the tracked target in the 3D space is obtained.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: The present invention relates to dental implants. It provides an improved dental implant wherein the largest horizontal cross-section of the implanted body portion is larger than the largest horizontal cross-section of the neck portion and a method to design a dental implant using finite element analysis.

Abstract: The present invention relates to a vibration attenuation/isolation device. An implementation of the invention provides an improved whole-spacecraft vibration attenuation/isolation by separating the vibration load on the spacecraft that arise from the launch vehicle and fairing into longitudinal and lateral components, and effectively attenuates and/or isolates those components. The invention also provides a general method for reducing vibrations in an assembly by using a vibration control device that separates the vibrational forces into perpendicular components that can be separately damped or attenuated.