US 12,702,505 B2

要約

A robot-assisted automatic introduction method and device for a trocar are provided. The robot-assisted automatic introduction method includes: acquiring a dataset of the trocar, and training through a preset U-Net to acquire a first model; detecting, by the first model, a position of the trocar in a target image, and outputting position information of the trocar that meets a preset condition; parameterizing, according to the position information of the trocar that meets the preset condition, a rotation angle of the trocar, and acquiring a rotation matrix of the trocar; and acquiring, accordin…

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