{"number":"US12702505B2","kindCode":"B2","documentType":"grant","title":{"original":"Robot-assisted automatic introduction method and device for trocar","english":"Robot-assisted automatic introduction method and device for trocar"},"abstract":{"original":"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…","english":"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…"},"applicants":["GUANGZHOU OCULOTRONICS MEDICAL INSTRUMENT CO., LTD."],"inventors":["Shengzhi LIN","Pisong YAN"],"filingDate":"2024-06-20","publicationDate":"2026-08-11","grantDate":"2026-08-11","verifiedWithOffice":true,"pdfUrl":"https://downloadpatent.com/pdf/US12702505B2.pdf","pages":{"en":"https://downloadpatent.com/patent/US12702505B2","zh-Hant":"https://downloadpatent.com/zh-Hant/patent/US12702505B2","ja":"https://downloadpatent.com/ja/patent/US12702505B2"}}