CA2924820A1 - System and method for interacting with an object - Google Patents
System and method for interacting with an object Download PDFInfo
- Publication number
- CA2924820A1 CA2924820A1 CA2924820A CA2924820A CA2924820A1 CA 2924820 A1 CA2924820 A1 CA 2924820A1 CA 2924820 A CA2924820 A CA 2924820A CA 2924820 A CA2924820 A CA 2924820A CA 2924820 A1 CA2924820 A1 CA 2924820A1
- Authority
- CA
- Canada
- Prior art keywords
- position control
- tool
- control mode
- frequency
- frequencies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000009466 transformation Effects 0.000 claims description 37
- 230000004044 response Effects 0.000 description 17
- 230000003287 optical effect Effects 0.000 description 15
- 239000011159 matrix material Substances 0.000 description 14
- 210000003484 anatomy Anatomy 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 230000004807 localization Effects 0.000 description 4
- 210000002303 tibia Anatomy 0.000 description 4
- 210000001519 tissue Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000001444 catalytic combustion detection Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000002679 ablation Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
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- 230000035484 reaction time Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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Classifications
-
- 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
-
- 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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
-
- 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
- G05B2219/45117—Medical, radio surgery manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361886838P | 2013-10-04 | 2013-10-04 | |
| US61/886,838 | 2013-10-04 | ||
| PCT/US2014/059005 WO2015051233A1 (en) | 2013-10-04 | 2014-10-03 | System and method for interacting with an object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2924820A1 true CA2924820A1 (en) | 2015-04-09 |
Family
ID=51830621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2924820A Abandoned CA2924820A1 (en) | 2013-10-04 | 2014-10-03 | System and method for interacting with an object |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US9339346B2 (enExample) |
| EP (1) | EP3052042B1 (enExample) |
| JP (1) | JP6393319B2 (enExample) |
| KR (1) | KR102303657B1 (enExample) |
| CN (1) | CN105592818B (enExample) |
| AU (1) | AU2014329381B2 (enExample) |
| CA (1) | CA2924820A1 (enExample) |
| WO (1) | WO2015051233A1 (enExample) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113040920B (zh) | 2015-05-19 | 2024-07-12 | 马科外科公司 | 操纵解剖体的系统和方法 |
| US9687982B1 (en) * | 2015-05-27 | 2017-06-27 | X Development Llc | Adapting programming of a robot and/or control of the robot based on one or more parameters of an end effector of the robot |
| US10583557B2 (en) * | 2017-02-10 | 2020-03-10 | GM Global Technology Operations LLC | Redundant underactuated robot with multi-mode control framework |
| CN107536643A (zh) * | 2017-08-18 | 2018-01-05 | 北京航空航天大学 | 一种前交叉韧带重建的增强现实手术导航系统 |
| JP7334499B2 (ja) * | 2019-06-27 | 2023-08-29 | ソニーグループ株式会社 | 手術支援システム、制御装置及び制御方法 |
| CN112767560A (zh) * | 2020-12-30 | 2021-05-07 | 华南理工大学 | 一种机器人生产系统三维仿真模型的位姿调整方法 |
| US12167900B2 (en) | 2021-03-31 | 2024-12-17 | Moon Surgical Sas | Co-manipulation surgical system having automated preset robot arm configurations |
| US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
| US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
| CA3212211A1 (en) | 2021-03-31 | 2022-10-06 | David Paul Noonan | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery |
| US11844583B2 (en) | 2021-03-31 | 2023-12-19 | Moon Surgical Sas | Co-manipulation surgical system having an instrument centering mode for automatic scope movements |
| US12042241B2 (en) | 2021-03-31 | 2024-07-23 | Moon Surgical Sas | Co-manipulation surgical system having automated preset robot arm configurations |
| US12178418B2 (en) | 2021-03-31 | 2024-12-31 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
| US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
| US11986165B1 (en) | 2023-01-09 | 2024-05-21 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
| US11832910B1 (en) | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
| US12370001B2 (en) | 2023-01-09 | 2025-07-29 | Moon Surgical Sas | Co-manipulation surgical system having automated user override detection |
| WO2025174937A1 (en) * | 2024-02-13 | 2025-08-21 | Mako Surgical Corp. | System and method for performing robot registration using free-form path |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010034530A1 (en) | 2000-01-27 | 2001-10-25 | Malackowski Donald W. | Surgery system |
| US9526587B2 (en) * | 2008-12-31 | 2016-12-27 | Intuitive Surgical Operations, Inc. | Fiducial marker design and detection for locating surgical instrument in images |
| US9867669B2 (en) * | 2008-12-31 | 2018-01-16 | Intuitive Surgical Operations, Inc. | Configuration marker design and detection for instrument tracking |
| US9492237B2 (en) * | 2006-05-19 | 2016-11-15 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
| KR101520113B1 (ko) * | 2007-04-13 | 2015-05-13 | 나이키 이노베이트 씨.브이. | 단일형 시각 및 신경 처리 시험 센터 |
| US8521331B2 (en) * | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| CA2840397A1 (en) * | 2011-06-27 | 2013-04-11 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
| WO2013016251A2 (en) | 2011-07-28 | 2013-01-31 | Alouani Ali T | Image guided surgery trackers using multiple asynchronous sensors |
-
2014
- 2014-10-03 AU AU2014329381A patent/AU2014329381B2/en active Active
- 2014-10-03 JP JP2016519742A patent/JP6393319B2/ja active Active
- 2014-10-03 CA CA2924820A patent/CA2924820A1/en not_active Abandoned
- 2014-10-03 WO PCT/US2014/059005 patent/WO2015051233A1/en not_active Ceased
- 2014-10-03 US US14/505,801 patent/US9339346B2/en active Active
- 2014-10-03 KR KR1020167008754A patent/KR102303657B1/ko active Active
- 2014-10-03 CN CN201480054447.5A patent/CN105592818B/zh active Active
- 2014-10-03 EP EP14790423.9A patent/EP3052042B1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105592818B (zh) | 2017-11-03 |
| CN105592818A (zh) | 2016-05-18 |
| EP3052042A1 (en) | 2016-08-10 |
| US20150100161A1 (en) | 2015-04-09 |
| WO2015051233A1 (en) | 2015-04-09 |
| AU2014329381B2 (en) | 2019-05-23 |
| KR20160067110A (ko) | 2016-06-13 |
| EP3052042B1 (en) | 2019-11-27 |
| JP6393319B2 (ja) | 2018-09-19 |
| KR102303657B1 (ko) | 2021-09-23 |
| AU2014329381A1 (en) | 2016-04-14 |
| US9339346B2 (en) | 2016-05-17 |
| JP2016538893A (ja) | 2016-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9339346B2 (en) | System and method for interacting with an object | |
| US12144565B2 (en) | Optical and non-optical sensor tracking of a robotically controlled instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20190920 |
|
| FZDE | Discontinued |
Effective date: 20220406 |
|
| FZDE | Discontinued |
Effective date: 20220406 |