BR112022008017A2 - Método e sistema para limitar a velocidade de junta de uma pluralidade de juntas de um sistema robótico cirúrgico - Google Patents
Método e sistema para limitar a velocidade de junta de uma pluralidade de juntas de um sistema robótico cirúrgicoInfo
- Publication number
- BR112022008017A2 BR112022008017A2 BR112022008017A BR112022008017A BR112022008017A2 BR 112022008017 A2 BR112022008017 A2 BR 112022008017A2 BR 112022008017 A BR112022008017 A BR 112022008017A BR 112022008017 A BR112022008017 A BR 112022008017A BR 112022008017 A2 BR112022008017 A2 BR 112022008017A2
- Authority
- BR
- Brazil
- Prior art keywords
- joints
- joint
- limit
- joint speed
- arm
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- 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
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40353—Split robot into two virtual robot, origin of second equals tip of first
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40381—Control trajectory in case of joint limit, clamping of joint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43201—Limit speed to allowable speed for all axis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
MÉTODO E SISTEMA PARA LIMITAR A VELOCIDADE DE JUNTA DE UMA PLURALIDADE DE JUNTAS DE UM SISTEMA ROBÓTICO CIRÚRGICO. Um método para limitar a velocidade de junta de uma pluralidade de juntas de um sistema robótico cirúrgico, em que o sistema robótico cirúrgico compreende um robô com uma base e um braço que se estende da base a um acessório de fixação para um instrumento, em que o braço compreende uma pluralidade de juntas, em que a configuração do braço pode ser alterada, sendo que o método compreende: obter os estados de junta para um primeiro grupo de k juntas do braço, em que k > 1; para cada uma das k juntas: determinar, a partir do estado de junta obtido, uma faixa de movimento permitida para essa junta; derivar, usando a faixa de movimento permitida, um limite de velocidade de junta para essa junta; selecionar o limite mínimo de velocidade de junta das k juntas como sendo um limite de velocidade de junta comum usado para limitar cada uma das k juntas individualmente; e calcular os sinais de acionamento para acionar as k juntas, em que a velocidade de cada uma das k juntas é limitada usando o limite de velocidade de junta comum.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1915687.6A GB2588629B (en) | 2019-10-29 | 2019-10-29 | Robotic joint control |
PCT/GB2020/052715 WO2021084239A1 (en) | 2019-10-29 | 2020-10-27 | Robotic joint control |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112022008017A2 true BR112022008017A2 (pt) | 2022-07-12 |
Family
ID=68768960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112022008017A BR112022008017A2 (pt) | 2019-10-29 | 2020-10-27 | Método e sistema para limitar a velocidade de junta de uma pluralidade de juntas de um sistema robótico cirúrgico |
Country Status (8)
Country | Link |
---|---|
US (1) | US11999062B2 (pt) |
EP (1) | EP4051465A1 (pt) |
JP (1) | JP7300508B2 (pt) |
CN (1) | CN114630737A (pt) |
AU (1) | AU2020375183B2 (pt) |
BR (1) | BR112022008017A2 (pt) |
GB (1) | GB2588629B (pt) |
WO (1) | WO2021084239A1 (pt) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11633853B2 (en) * | 2020-05-06 | 2023-04-25 | Eagle Technology, Llc | Dynamic manipulator strength augmentation |
CN113787518B (zh) * | 2021-09-06 | 2022-11-11 | 武汉库柏特科技有限公司 | 一种机器人末端姿态控制方法、装置、设备及存储介质 |
Family Cites Families (21)
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DE2711177C2 (de) * | 1977-03-15 | 1979-04-12 | Gelenkwellenbau Gmbh, 4300 Essen | Kreuzgelenk |
JPS6039204A (ja) | 1983-08-11 | 1985-03-01 | Fujitsu Ltd | 多関節ロボツトの速度制御方法 |
JPH05341834A (ja) | 1992-06-09 | 1993-12-24 | Matsushita Electric Ind Co Ltd | 多関節ロボットの直接教示装置 |
GB9403644D0 (en) * | 1994-02-25 | 1994-04-13 | Advanced Robotics Res | Manipulator controller |
IT1284548B1 (it) * | 1996-09-18 | 1998-05-21 | Salvagnini Italia Spa | Metodo per trasporto di fogli di lamiera in un'isola di lavoro comprendente una macchina utensile e un robot |
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US6424885B1 (en) * | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US10029367B2 (en) * | 1999-09-17 | 2018-07-24 | Intuitive Surgical Operations, Inc. | System and method for managing multiple null-space objectives and constraints |
JP2005044230A (ja) | 2003-07-24 | 2005-02-17 | Mitsubishi Electric Corp | ロボット制御装置 |
US7453227B2 (en) * | 2005-12-20 | 2008-11-18 | Intuitive Surgical, Inc. | Medical robotic system with sliding mode control |
US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
CN107595392B (zh) * | 2012-06-01 | 2020-11-27 | 直观外科手术操作公司 | 使用零空间回避操纵器臂与患者碰撞 |
SE536708C2 (sv) * | 2012-10-23 | 2014-06-10 | Cognibotics Ab | Metod och system för bestämning av minst en egenskap hos enmanipulator |
JP6217089B2 (ja) | 2013-02-21 | 2017-10-25 | セイコーエプソン株式会社 | ロボット制御システム、ロボット、ロボット制御方法及びプログラム |
KR102285954B1 (ko) * | 2013-03-15 | 2021-08-05 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법 |
US9242376B2 (en) * | 2013-03-28 | 2016-01-26 | Denso Wave Incorporated | Method of generating path of multiaxial robot and control apparatus for the multiaxial robot |
US9517561B2 (en) * | 2014-08-25 | 2016-12-13 | Google Inc. | Natural pitch and roll |
US10019566B1 (en) * | 2016-04-14 | 2018-07-10 | X Development Llc | Authorizing robot use and/or adapting physical control parameters for a robot |
DE102017129665B3 (de) | 2017-12-12 | 2019-01-24 | Pilz Gmbh & Co. Kg | Kollisionsfreie Bewegungsplanung bei geschlossener Kinematik |
CN209285723U (zh) * | 2018-04-11 | 2019-08-23 | 重庆金创谷医疗科技有限公司 | 医用辅助机械臂控制装置及系统 |
EP3829477A1 (en) * | 2018-07-30 | 2021-06-09 | Intuitive Surgical Operations, Inc. | Hard stop protection system and method |
-
2019
- 2019-10-29 GB GB1915687.6A patent/GB2588629B/en active Active
-
2020
- 2020-10-27 JP JP2021532491A patent/JP7300508B2/ja active Active
- 2020-10-27 AU AU2020375183A patent/AU2020375183B2/en active Active
- 2020-10-27 BR BR112022008017A patent/BR112022008017A2/pt unknown
- 2020-10-27 CN CN202080075754.7A patent/CN114630737A/zh active Pending
- 2020-10-27 EP EP20800283.2A patent/EP4051465A1/en active Pending
- 2020-10-27 US US17/081,120 patent/US11999062B2/en active Active
- 2020-10-27 WO PCT/GB2020/052715 patent/WO2021084239A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
AU2020375183A1 (en) | 2022-06-09 |
CN114630737A (zh) | 2022-06-14 |
JP2022510478A (ja) | 2022-01-26 |
EP4051465A1 (en) | 2022-09-07 |
WO2021084239A1 (en) | 2021-05-06 |
AU2020375183B2 (en) | 2024-02-29 |
US11999062B2 (en) | 2024-06-04 |
GB2588629A (en) | 2021-05-05 |
GB2588629B (en) | 2024-01-03 |
US20210122041A1 (en) | 2021-04-29 |
JP7300508B2 (ja) | 2023-06-29 |
GB201915687D0 (en) | 2019-12-11 |
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Legal Events
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B06W | Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette] |