CN101422901B - 机械手装置和医疗设备系统 - Google Patents

机械手装置和医疗设备系统 Download PDF

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Publication number
CN101422901B
CN101422901B CN2008101749426A CN200810174942A CN101422901B CN 101422901 B CN101422901 B CN 101422901B CN 2008101749426 A CN2008101749426 A CN 2008101749426A CN 200810174942 A CN200810174942 A CN 200810174942A CN 101422901 B CN101422901 B CN 101422901B
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joint
track
manipulator
load
robot device
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CN2008101749426A
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Chinese (zh)
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CN101422901A (zh
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梅本义孝
高桥和彦
野波徹绪
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Olympus Corp
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Olympus Medical Systems Corp
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    • 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
    • A61B34/37—Leader-follower 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
    • A61B34/30—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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
CN2008101749426A 2007-10-30 2008-10-24 机械手装置和医疗设备系统 Active CN101422901B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2007-282144 2007-10-30
JP2007282144 2007-10-30
JP2007282144A JP5028219B2 (ja) 2007-10-30 2007-10-30 マニピュレータ装置および医療機器システム

Publications (2)

Publication Number Publication Date
CN101422901A CN101422901A (zh) 2009-05-06
CN101422901B true CN101422901B (zh) 2011-12-14

Family

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Family Applications (1)

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CN2008101749426A Active CN101422901B (zh) 2007-10-30 2008-10-24 机械手装置和医疗设备系统

Country Status (4)

Country Link
US (1) US8388605B2 (enExample)
EP (1) EP2058090B1 (enExample)
JP (1) JP5028219B2 (enExample)
CN (1) CN101422901B (enExample)

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CN102469927A (zh) * 2009-10-09 2012-05-23 奥林巴斯医疗株式会社 内窥镜装置
CN102236336B (zh) * 2010-04-26 2013-08-28 鸿富锦精密工业（深圳）有限公司 运动控制系统及方法
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US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
WO2013014621A2 (en) 2011-07-27 2013-01-31 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
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US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
CN102528802B (zh) * 2010-12-31 2014-12-03 北京中科广视科技有限公司 九自由度机器人的运动驱动方法
JP5796982B2 (ja) * 2011-03-31 2015-10-21 オリンパス株式会社 手術用システムの制御装置及び制御方法
KR102067458B1 (ko) * 2011-10-21 2020-01-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 수술 기구 엔드 이펙터용 파지력 제어 방법
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JP6270537B2 (ja) 2014-02-27 2018-01-31 オリンパス株式会社 医療用システム
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JP6169049B2 (ja) * 2014-06-19 2017-07-26 オリンパス株式会社 マニピュレータの制御方法、マニピュレータ、およびマニピュレータシステム
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JPH0312709A (ja) 1989-06-12 1991-01-21 Hitachi Ltd マニピュレータの制御方法及び制御装置並びにマニピュレータ装置
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Also Published As

Publication number Publication date
JP5028219B2 (ja) 2012-09-19
JP2009107074A (ja) 2009-05-21
EP2058090A2 (en) 2009-05-13
US8388605B2 (en) 2013-03-05
EP2058090A3 (en) 2017-09-06
CN101422901A (zh) 2009-05-06
US20090112316A1 (en) 2009-04-30
EP2058090B1 (en) 2019-01-02

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Effective date of registration: 20151204

Address after: Tokyo, Japan, Japan

Patentee after: Olympus Corporation

Address before: Tokyo, Japan

Patentee before: Olympus Medical Systems Corp.