CN105050529B - 用于使用零空间来各向异性地增强操纵器接头运动的系统和方法 - Google Patents

用于使用零空间来各向异性地增强操纵器接头运动的系统和方法 Download PDF

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CN105050529B
CN105050529B CN201480015678.5A CN201480015678A CN105050529B CN 105050529 B CN105050529 B CN 105050529B CN 201480015678 A CN201480015678 A CN 201480015678A CN 105050529 B CN105050529 B CN 105050529B
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connector
movement
end effector
joint
weighting
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CN105050529A (zh
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A·乌尔塔斯
N·斯瓦鲁普
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Intuitive Surgical Operations Inc
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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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • 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
    • A61B34/25—User interfaces for surgical 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
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Manipulator (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
CN201480015678.5A 2013-03-15 2014-03-18 用于使用零空间来各向异性地增强操纵器接头运动的系统和方法 Active CN105050529B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361800924P 2013-03-15 2013-03-15
US61/800,924 2013-03-15
PCT/US2014/031105 WO2014146120A1 (en) 2013-03-15 2014-03-18 Systems and methods for using the null space to emphasize anipulator joint motion anisotropically

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CN105050529A CN105050529A (zh) 2015-11-11
CN105050529B true CN105050529B (zh) 2018-08-28

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US (2) US9468501B2 (enExample)
EP (1) EP2969404B1 (enExample)
JP (2) JP2016512733A (enExample)
KR (1) KR102214811B1 (enExample)
CN (1) CN105050529B (enExample)
WO (1) WO2014146120A1 (enExample)

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KR102214811B1 (ko) 2021-02-10
EP2969404A1 (en) 2016-01-20
US9931172B2 (en) 2018-04-03
KR20150126951A (ko) 2015-11-13
JP2019111352A (ja) 2019-07-11
WO2014146120A1 (en) 2014-09-18
CN105050529A (zh) 2015-11-11
US9468501B2 (en) 2016-10-18
EP2969404B1 (en) 2021-08-11
US20170095303A1 (en) 2017-04-06
JP2016512733A (ja) 2016-05-09
US20140316431A1 (en) 2014-10-23

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