CN105188590B - 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 - Google Patents
图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 Download PDFInfo
- Publication number
- CN105188590B CN105188590B CN201380064534.4A CN201380064534A CN105188590B CN 105188590 B CN105188590 B CN 105188590B CN 201380064534 A CN201380064534 A CN 201380064534A CN 105188590 B CN105188590 B CN 105188590B
- Authority
- CN
- China
- Prior art keywords
- lever arm
- arm
- coordinate system
- working end
- image
- 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.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 claims abstract description 151
- 238000001356 surgical procedure Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 30
- 239000000523 sample Substances 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 15
- 238000012545 processing Methods 0.000 description 12
- 210000000707 wrist Anatomy 0.000 description 11
- 238000010276 construction Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 8
- 230000006399 behavior Effects 0.000 description 7
- 238000005094 computer simulation Methods 0.000 description 7
- 210000003484 anatomy Anatomy 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000002591 computed tomography Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000006880 cross-coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000007408 cone-beam computed tomography Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 210000003709 heart valve Anatomy 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012014 optical coherence tomography Methods 0.000 description 1
- 230000004224 protection Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/10—Application or adaptation of safety means
- A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00087—Tools
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking 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
- A61B34/20—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
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
- A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (19)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311823402.7A CN117770979A (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
CN201910317935.5A CN110279427B (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261735170P | 2012-12-10 | 2012-12-10 | |
US61/735,170 | 2012-12-10 | ||
PCT/US2013/074163 WO2014093367A1 (en) | 2012-12-10 | 2013-12-10 | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
US14/101,769 US9259282B2 (en) | 2012-12-10 | 2013-12-10 | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
US14/101,769 | 2013-12-10 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910317935.5A Division CN110279427B (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
CN202311823402.7A Division CN117770979A (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105188590A CN105188590A (zh) | 2015-12-23 |
CN105188590B true CN105188590B (zh) | 2019-04-26 |
Family
ID=50881820
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910317935.5A Active CN110279427B (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
CN201380064534.4A Active CN105188590B (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
CN202311823402.7A Pending CN117770979A (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910317935.5A Active CN110279427B (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202311823402.7A Pending CN117770979A (zh) | 2012-12-10 | 2013-12-10 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
Country Status (6)
Country | Link |
---|---|
US (3) | US9259282B2 (zh) |
EP (2) | EP3932628A1 (zh) |
JP (2) | JP6293777B2 (zh) |
KR (1) | KR102218244B1 (zh) |
CN (3) | CN110279427B (zh) |
WO (1) | WO2014093367A1 (zh) |
Families Citing this family (202)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9468501B2 (en) | 1999-09-17 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Systems and methods for using the null space to emphasize manipulator joint motion anisotropically |
US9948885B2 (en) * | 2003-12-12 | 2018-04-17 | Kurzweil Technologies, Inc. | Virtual encounters |
WO2010026889A1 (ja) * | 2008-09-03 | 2010-03-11 | 本田技研工業株式会社 | ワーク取付システム、ワーク取付方法、サンルーフユニット把持装置、およびサンルーフユニット把持方法 |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
CN110279427B (zh) | 2012-12-10 | 2024-01-16 | 直观外科手术操作公司 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
US9649765B2 (en) | 2013-03-11 | 2017-05-16 | Siemens Aktiengesellschaft | Reducing energy consumption of industrial robots by using new methods for motion path programming |
WO2014151952A1 (en) | 2013-03-14 | 2014-09-25 | Sri International | Compact robotic wrist |
WO2014146090A1 (en) * | 2013-03-15 | 2014-09-18 | Intuitive Surgical Operations, Inc. | Inter-operative switching of tools in a robotic surgical system |
JP6396987B2 (ja) | 2013-03-15 | 2018-09-26 | エスアールアイ インターナショナルSRI International | 超精巧外科システム |
JP5713047B2 (ja) * | 2013-04-18 | 2015-05-07 | 株式会社安川電機 | 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法 |
US9782896B2 (en) * | 2013-11-28 | 2017-10-10 | Mitsubishi Electric Corporation | Robot system and control method for robot system |
PL3076906T3 (pl) * | 2013-12-05 | 2018-12-31 | NowTechnologies Zrt. | Pojazd osobisty i urządzenie sterujące oraz odpowiedni sposób sterowania |
EP3578119B1 (en) | 2013-12-11 | 2021-03-17 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
JP5850958B2 (ja) * | 2014-01-24 | 2016-02-03 | ファナック株式会社 | ワークを撮像するためのロボットプログラムを作成するロボットプログラミング装置 |
EP3119340B1 (en) | 2014-03-17 | 2019-11-13 | Intuitive Surgical Operations, Inc. | Methods and devices for table pose tracking using fiducial markers |
US10432922B2 (en) | 2014-03-19 | 2019-10-01 | Intuitive Surgical Operations, Inc. | Medical devices, systems, and methods using eye gaze tracking for stereo viewer |
KR102585602B1 (ko) * | 2014-03-19 | 2023-10-10 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 눈 시선 추적을 사용하는 의료 디바이스, 시스템, 및 방법 |
US9922144B2 (en) | 2014-03-26 | 2018-03-20 | Siemens Industry Software Ltd. | Energy and cycle time efficiency based method for robot positioning |
US20150277398A1 (en) * | 2014-03-26 | 2015-10-01 | Siemens Industry Software Ltd. | Object manipulation driven robot offline programming for multiple robot system |
EP2930462B1 (en) * | 2014-04-08 | 2017-09-13 | Hexagon Technology Center GmbH | Method for generating information about a sensor chain of a coordinate measuring machine (CMM) |
US9701011B2 (en) * | 2014-05-08 | 2017-07-11 | Siemens Industry Software Ltd. | Method for robotic energy saving tool search |
US9469029B2 (en) | 2014-07-31 | 2016-10-18 | Siemens Industry Software Ltd. | Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path |
US9815201B2 (en) | 2014-07-31 | 2017-11-14 | Siemens Industry Software Limited | Method and apparatus for industrial robotic energy saving optimization using fly-by |
CN106659538B (zh) | 2014-08-13 | 2019-05-10 | 柯惠Lp公司 | 机器人控制的具有机械优势的夹持 |
US9457469B2 (en) | 2014-08-14 | 2016-10-04 | Siemens Industry Software Ltd. | Method and apparatus for automatic and efficient location generation for cooperative motion |
WO2016064993A1 (en) * | 2014-10-22 | 2016-04-28 | Carestream Health, Inc. | Mobile radiographic imaging apparatus |
EP3212105A4 (en) | 2014-10-27 | 2018-07-11 | Intuitive Surgical Operations, Inc. | System and method for monitoring control points during reactive motion |
JP6644061B2 (ja) | 2014-10-27 | 2020-02-12 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 能動的ブレーキ解放制御装置を備える医療デバイス |
WO2016069648A1 (en) | 2014-10-27 | 2016-05-06 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table |
WO2016069659A1 (en) | 2014-10-27 | 2016-05-06 | Intuitive Surgical Operations, Inc. | System and method for instrument disturbance compensation |
EP3912610B1 (en) * | 2014-10-27 | 2023-03-15 | Intuitive Surgical Operations, Inc. | System for registering to a surgical table |
KR102479015B1 (ko) | 2014-10-27 | 2022-12-20 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블 운동을 위한 시스템 및 방법 |
US11389268B2 (en) * | 2015-02-05 | 2022-07-19 | Intuitive Surgical Operations, Inc. | System and method for anatomical markers |
CA2975907C (en) | 2015-02-19 | 2023-10-10 | Covidien Lp | Repositioning method of input device for robotic surgical system |
AU2016229897B2 (en) | 2015-03-10 | 2020-07-16 | Covidien Lp | Measuring health of a connector member of a robotic surgical system |
DE102015104821A1 (de) * | 2015-03-27 | 2016-09-29 | Medineering Gmbh | Chirurgisches Instrument, System, Haltearm sowie Verfahren |
CN113081009A (zh) * | 2015-04-15 | 2021-07-09 | 莫比乌斯成像公司 | 集成式医学成像与外科手术机器人系统 |
CN107666866A (zh) | 2015-06-03 | 2018-02-06 | 柯惠Lp公司 | 偏置器械驱动单元 |
GB201509887D0 (en) * | 2015-06-08 | 2015-07-22 | Univ Strathclyde | Remote operations system |
DE102016104970A1 (de) | 2015-06-15 | 2016-12-15 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Scheibenbremse für ein Nutzfahrzeug und Bremsbelagsatz |
CN112294439A (zh) | 2015-06-16 | 2021-02-02 | 柯惠Lp公司 | 机器人外科手术系统扭矩传感感测 |
CN107820412B (zh) | 2015-06-23 | 2021-01-15 | 柯惠Lp公司 | 机器人手术组合件 |
WO2017015599A1 (en) | 2015-07-23 | 2017-01-26 | Sri International | Robotic arm and robotic surgical system |
US10034716B2 (en) | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
WO2017053363A1 (en) | 2015-09-25 | 2017-03-30 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
US10299740B2 (en) * | 2015-09-29 | 2019-05-28 | General Electric Company | Methods and systems for cone-beam computed tomography |
CN108135670B (zh) | 2015-10-23 | 2021-02-26 | 柯惠Lp公司 | 用于检测灌注中逐步变化的手术系统 |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
CA3004167C (en) | 2015-11-03 | 2019-02-05 | Synaptive Medical (Barbados) Inc. | Dual zoom and dual field-of-view microscope |
EP3376988B1 (en) | 2015-11-19 | 2023-08-23 | Covidien LP | Optical force sensor for robotic surgical system |
US10130429B1 (en) | 2016-01-06 | 2018-11-20 | Ethicon Llc | Methods, systems, and devices for controlling movement of a robotic surgical system |
US10154886B2 (en) | 2016-01-06 | 2018-12-18 | Ethicon Llc | Methods, systems, and devices for controlling movement of a robotic surgical system |
US10219868B2 (en) | 2016-01-06 | 2019-03-05 | Ethicon Llc | Methods, systems, and devices for controlling movement of a robotic surgical system |
US11246669B2 (en) * | 2016-01-20 | 2022-02-15 | Intuitive Surgical Operations, Inc. | System and method for rapid halt and recovery of motion deviations in medical device repositionable arms |
CN108883296A (zh) * | 2016-01-20 | 2018-11-23 | 富士设计科技有限公司 | 硼中子俘获治疗法用系统 |
WO2017126101A1 (ja) * | 2016-01-22 | 2017-07-27 | オリンパス株式会社 | 医療用マニピュレータシステム |
EP3410941B1 (en) * | 2016-02-01 | 2021-12-29 | Imaginalis S.r.l. | Radiological imaging device |
CN108348134B (zh) * | 2016-02-10 | 2020-05-19 | 奥林巴斯株式会社 | 内窥镜系统 |
CN108472086B (zh) | 2016-02-26 | 2021-07-09 | 直观外科手术操作公司 | 使用虚拟边界避免碰撞的系统和方法 |
JP2019508134A (ja) | 2016-02-26 | 2019-03-28 | シンク サージカル, インコーポレイテッド | ロボットの配置をユーザーにガイドするための方法およびシステム |
US11576562B2 (en) | 2016-04-07 | 2023-02-14 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
JP6857649B2 (ja) * | 2016-04-15 | 2021-04-14 | 川崎重工業株式会社 | 外科手術システムの制御方法および外科手術システム |
CA3025300A1 (en) * | 2016-05-23 | 2017-11-30 | Mako Surgical Corp. | Systems and methods for identifying and tracking physical objects during a robotic surgical procedure |
CN109152614B (zh) | 2016-05-26 | 2021-09-10 | 柯惠Lp公司 | 器械驱动单元 |
WO2017205310A1 (en) | 2016-05-26 | 2017-11-30 | Covidien Lp | Robotic surgical assemblies |
CN109152612A (zh) | 2016-06-03 | 2019-01-04 | 柯惠Lp公司 | 具有嵌入式成像仪的机器人手术系统 |
EP3463150B1 (en) | 2016-06-03 | 2023-09-27 | Covidien LP | Control arm for robotic surgical systems |
CN109195543A (zh) | 2016-06-03 | 2019-01-11 | 柯惠Lp公司 | 用于机器人手术系统的被动轴系统 |
WO2017210497A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator |
US10427305B2 (en) * | 2016-07-21 | 2019-10-01 | Autodesk, Inc. | Robotic camera control via motion capture |
US10131053B1 (en) * | 2016-09-14 | 2018-11-20 | X Development Llc | Real time robot collision avoidance |
CN109862845B (zh) | 2016-09-16 | 2022-12-30 | 莫比乌斯成像公司 | 用于在手术机器人系统中安装机器人臂的系统和方法 |
CN106406312B (zh) * | 2016-10-14 | 2017-12-26 | 平安科技(深圳)有限公司 | 导览机器人及其移动区域标定方法 |
WO2018075784A1 (en) | 2016-10-21 | 2018-04-26 | Syverson Benjamin | Methods and systems for setting trajectories and target locations for image guided surgery |
US11751948B2 (en) | 2016-10-25 | 2023-09-12 | Mobius Imaging, Llc | Methods and systems for robot-assisted surgery |
DE102016221222A1 (de) * | 2016-10-27 | 2018-05-03 | Siemens Healthcare Gmbh | Verfahren zum Betrieb eines Kollisionsschutzsystems für eine medizinische Operationseinrichtung, medizinische Operationseinrichtung, Computerprogramm und Datenträger |
EP3518854A4 (en) | 2016-11-28 | 2020-09-02 | Verb Surgical Inc. | ROBOT-ASSISTED SURGICAL SYSTEM FOR REDUCING UNWANTED VIBRATIONS |
US20200015910A1 (en) * | 2016-12-16 | 2020-01-16 | Intuitive Surgical Operations, Inc. | Systems and methods for teleoperated control of an imaging instrument |
EP3554774A1 (en) | 2016-12-16 | 2019-10-23 | Mako Surgical Corp. | Techniques for detecting errors or loss of accuracy in a surgical robotic system |
US11690691B2 (en) | 2017-02-15 | 2023-07-04 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
JP6603890B2 (ja) * | 2017-02-20 | 2019-11-13 | パナソニックIpマネジメント株式会社 | 作業装置および電子機器組立方法 |
JP6445604B2 (ja) * | 2017-03-07 | 2018-12-26 | 上銀科技股▲フン▼有限公司 | ロボットアーム |
US10223821B2 (en) | 2017-04-25 | 2019-03-05 | Beyond Imagination Inc. | Multi-user and multi-surrogate virtual encounters |
US10792119B2 (en) | 2017-05-22 | 2020-10-06 | Ethicon Llc | Robotic arm cart and uses therefor |
EP3629979A4 (en) | 2017-05-24 | 2021-02-17 | Covidien LP | PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIC SYSTEM |
US11510747B2 (en) | 2017-05-25 | 2022-11-29 | Covidien Lp | Robotic surgical systems and drapes for covering components of robotic surgical systems |
CN110662507A (zh) | 2017-05-25 | 2020-01-07 | 柯惠Lp公司 | 具有自动引导的机器人手术系统 |
WO2018217444A2 (en) | 2017-05-25 | 2018-11-29 | Covidien Lp | Systems and methods for detection of objects within a field of view of an image capture device |
US10919152B1 (en) * | 2017-05-30 | 2021-02-16 | Nimble Robotics, Inc. | Teleoperating of robots with tasks by mapping to human operator pose |
US10856948B2 (en) | 2017-05-31 | 2020-12-08 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for registering cart to surgical table |
US10485623B2 (en) | 2017-06-01 | 2019-11-26 | Verb Surgical Inc. | Robotic arm cart with fine position adjustment features and uses therefor |
US10913145B2 (en) | 2017-06-20 | 2021-02-09 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms |
CN117503384A (zh) | 2017-06-28 | 2024-02-06 | 直观外科手术操作公司 | 用于将内窥镜图像数据集映射到三维体积上的系统 |
CN107361849B (zh) * | 2017-07-31 | 2023-11-21 | 成都博恩思医学机器人有限公司 | 用于操纵执行机构的控制台 |
WO2019032582A1 (en) * | 2017-08-10 | 2019-02-14 | Intuitive Surgical Operations, Inc. | SYSTEMS AND METHODS FOR DISPLAYING INTERACTION POINTS IN A TELEOPERATIONAL SYSTEM |
AU2018316251A1 (en) | 2017-08-11 | 2020-03-05 | Mobius Imaging, Llc | Method and apparatus for attaching a reference marker to a patient |
US10834332B2 (en) | 2017-08-16 | 2020-11-10 | Covidien Lp | Synthesizing spatially-aware transitions between multiple camera viewpoints during minimally invasive surgery |
JP7349992B2 (ja) | 2017-09-05 | 2023-09-25 | コヴィディエン リミテッド パートナーシップ | ロボット手術システムのための衝突処理アルゴリズム |
US11612450B2 (en) * | 2017-09-05 | 2023-03-28 | Covidien Lp | Camera control for surgical robotic systems |
US11583358B2 (en) | 2017-09-06 | 2023-02-21 | Covidien Lp | Boundary scaling of surgical robots |
EP3461415A1 (en) * | 2017-09-27 | 2019-04-03 | Koninklijke Philips N.V. | System and method for positioning a mobile medical imaging system |
US10610307B2 (en) * | 2017-09-28 | 2020-04-07 | General Electric Company | Workflow assistant for image guided procedures |
EP3461410A1 (en) * | 2017-09-29 | 2019-04-03 | Koninklijke Philips N.V. | Kinematical joints for x-ray systems |
WO2019070997A1 (en) | 2017-10-04 | 2019-04-11 | GYS Tech, LLC d/b/a Cardan Robotics | SYSTEMS AND METHODS FOR REALIZING SPINAL SURGERY WITH SIDE ACCESS |
US11678939B2 (en) | 2017-10-05 | 2023-06-20 | Mobius Imaging Llc | Methods and systems for performing computer assisted surgery |
US11026712B2 (en) | 2017-10-30 | 2021-06-08 | Cilag Gmbh International | Surgical instruments comprising a shifting mechanism |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
JP6654180B2 (ja) * | 2017-12-14 | 2020-02-26 | 株式会社メディカロイド | 遠隔操作装置及び遠隔手術システム |
US20190201142A1 (en) * | 2017-12-28 | 2019-07-04 | Ethicon Llc | Automatic tool adjustments for robot-assisted surgical platforms |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US11771487B2 (en) | 2017-12-28 | 2023-10-03 | Cilag Gmbh International | Mechanisms for controlling different electromechanical systems of an electrosurgical instrument |
US10595887B2 (en) | 2017-12-28 | 2020-03-24 | Ethicon Llc | Systems for adjusting end effector parameters based on perioperative information |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US11013563B2 (en) | 2017-12-28 | 2021-05-25 | Ethicon Llc | Drive arrangements for robot-assisted surgical platforms |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US11672605B2 (en) | 2017-12-28 | 2023-06-13 | Cilag Gmbh International | Sterile field interactive control displays |
WO2019134743A1 (en) | 2018-01-03 | 2019-07-11 | Siemens Healthcare Gmbh | Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device |
AU2019205201B2 (en) | 2018-01-04 | 2020-11-05 | Covidien Lp | Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough |
US20210059775A1 (en) * | 2018-01-10 | 2021-03-04 | Covidien Lp | Determining positions and conditions of tools of a robotic surgical system utilizing computer vision |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11464532B2 (en) | 2018-03-08 | 2022-10-11 | Cilag Gmbh International | Methods for estimating and controlling state of ultrasonic end effector |
US11628024B2 (en) | 2018-03-08 | 2023-04-18 | Covidien Lp | Surgical robotic systems |
WO2019183141A1 (en) | 2018-03-21 | 2019-09-26 | Realtime Robotics, Inc. | Motion planning of a robot for various environments and tasks and improved operation of same |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11357583B2 (en) | 2018-04-17 | 2022-06-14 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
WO2019204012A1 (en) | 2018-04-20 | 2019-10-24 | Covidien Lp | Compensation for observer movement in robotic surgical systems having stereoscopic displays |
EP3787513A4 (en) * | 2018-05-02 | 2022-01-12 | Epica International, Inc. | SYSTEM FOR PERFORMING ROBOTIC SURGERY |
CN108527374A (zh) * | 2018-06-29 | 2018-09-14 | 德淮半导体有限公司 | 应用于机械臂的防撞系统和方法 |
WO2020009830A1 (en) | 2018-07-03 | 2020-01-09 | Covidien Lp | Systems, methods, and computer-readable media for detecting image degradation during surgical procedures |
JP7163115B2 (ja) * | 2018-09-12 | 2022-10-31 | キヤノン株式会社 | ロボットシステム、ロボットシステムの制御方法、物品の製造方法、制御装置、操作装置、撮像装置、制御プログラム及び記録媒体 |
WO2020056301A1 (en) | 2018-09-13 | 2020-03-19 | The Charles Stark Draper Laboratory, Inc. | Robot interaction with human co-workers |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
US11117759B2 (en) * | 2018-11-29 | 2021-09-14 | Invia Robotics, Inc. | Depalletizing robots for an autonomous warehouse |
CN109620410B (zh) * | 2018-12-04 | 2021-01-26 | 微创(上海)医疗机器人有限公司 | 机械臂防碰撞的方法及系统、医疗机器人 |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
DE102019200803A1 (de) * | 2019-01-23 | 2020-07-23 | Siemens Healthcare Gmbh | Medizintechnischer Roboter, medizinisches System, Verfahren zu deren Betrieb, Computerprogramm und Speichermedium |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
US11291445B2 (en) | 2019-02-19 | 2022-04-05 | Cilag Gmbh International | Surgical staple cartridges with integral authentication keys |
CN113613852A (zh) * | 2019-03-20 | 2021-11-05 | 柯惠Lp公司 | 机器人手术碰撞检测系统 |
WO2020263629A1 (en) | 2019-06-27 | 2020-12-30 | Auris Health, Inc. | Systems and methods for a medical clip applier |
WO2020263949A1 (en) | 2019-06-28 | 2020-12-30 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
CN110448378B (zh) * | 2019-08-13 | 2021-03-02 | 北京唯迈医疗设备有限公司 | 一种沉浸式介入手术一体化控制台 |
CN110464465B (zh) * | 2019-08-14 | 2020-07-10 | 重庆文理学院 | 一种全膝关节置换手术辅助机器人 |
US11548140B2 (en) * | 2019-08-15 | 2023-01-10 | Covidien Lp | System and method for radio based location of modular arm carts in a surgical robotic system |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
EP4034349A1 (en) * | 2019-09-26 | 2022-08-03 | Auris Health, Inc. | Systems and methods for collision detection and avoidance |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
US11691292B2 (en) * | 2019-10-14 | 2023-07-04 | Boston Dynamics, Inc. | Robot choreographer |
CN110613511B (zh) * | 2019-10-16 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | 手术机器人避障方法 |
JP7276071B2 (ja) * | 2019-10-21 | 2023-05-18 | 株式会社島津製作所 | X線透視撮影装置 |
US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
WO2021102587A1 (en) * | 2019-11-29 | 2021-06-03 | Innovere Medical Inc. | Systems and methods for passive collision control during medical imaging or therapeutic procedures |
CN113001536B (zh) * | 2019-12-20 | 2022-08-23 | 中国科学院沈阳计算技术研究所有限公司 | 一种面向协作多机器人的防碰撞检测方法及装置 |
US20230024942A1 (en) * | 2019-12-23 | 2023-01-26 | Sony Group Corporation | Computer assisted surgery system, surgical control apparatus and surgical control method |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
US11919175B2 (en) | 2020-04-15 | 2024-03-05 | Mujin, Inc. | Robotic system with collision avoidance mechanism and method of operation thereof |
EP3906882A1 (en) * | 2020-05-05 | 2021-11-10 | Ecential Robotics | Surgical robotic system |
US11839969B2 (en) | 2020-06-29 | 2023-12-12 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
US11357586B2 (en) | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
CN114073587A (zh) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | 机器人系统以及控制方法 |
CN114074328A (zh) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | 机器人系统及其控制方法 |
WO2022037356A1 (zh) * | 2020-08-19 | 2022-02-24 | 北京术锐技术有限公司 | 机器人系统以及控制方法 |
CN112043397B (zh) * | 2020-10-08 | 2021-09-24 | 深圳市精锋医疗科技有限公司 | 手术机器人及其运动错误检测方法、检测装置 |
CN112043396B (zh) * | 2020-10-08 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | 手术机器人及其图形化控制装置、图形化显示方法 |
CN113967071B (zh) | 2020-10-23 | 2023-09-29 | 成都博恩思医学机器人有限公司 | 手术机器人机械臂跟随手术床运动的控制方法及装置 |
CN112426225B (zh) * | 2020-11-06 | 2021-09-03 | 哈尔滨工业大学 | 一种基于运动捕捉的放疗手术系统 |
JP2022101850A (ja) * | 2020-12-25 | 2022-07-07 | 川崎重工業株式会社 | 手術支援ロボット、手術支援システムおよび手術支援ロボットの制御方法 |
CN112618024A (zh) * | 2021-01-05 | 2021-04-09 | 上海交通大学医学院附属第九人民医院 | 多臂协同式手术机器人 |
CN112932671A (zh) * | 2021-01-28 | 2021-06-11 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种腹腔镜手术机器人的语音提示控制方法及系统 |
US20220280238A1 (en) * | 2021-03-05 | 2022-09-08 | Verb Surgical Inc. | Robot-assisted setup for a surgical robotic system |
WO2022205207A1 (zh) * | 2021-03-31 | 2022-10-06 | 深圳市大疆创新科技有限公司 | 云台及其构型识别方法、装置 |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
US20220395342A1 (en) * | 2021-06-10 | 2022-12-15 | Mazor Robotics Ltd. | Multi-arm robotic systems and methods for monitoring a target or performing a surgical procedure |
CN114504427A (zh) * | 2021-10-03 | 2022-05-17 | 崔迪 | 一种眼科手术机器人及眼科手术设备 |
TW202348377A (zh) * | 2022-03-11 | 2023-12-16 | 美商即時機器人股份有限公司 | 用於在共享工作空間中之機器人之使用階段姿態之動作規劃及控制 |
WO2023237922A1 (en) * | 2022-06-06 | 2023-12-14 | Lem Surgical Ag | Robotic active and dynamic collision avoidance system |
WO2024049444A1 (en) * | 2022-09-02 | 2024-03-07 | Intel Corporation | Post-attack real-time trajectory recovery of collaborative robotic arms |
CN117681214B (zh) * | 2024-02-04 | 2024-04-12 | 泓浒(苏州)半导体科技有限公司 | 基于晶圆传送的多机械臂碰撞预警方法及系统 |
Family Cites Families (58)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE456048B (sv) | 1982-02-24 | 1988-08-29 | Philips Norden Ab | Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar |
US4644237A (en) | 1985-10-17 | 1987-02-17 | International Business Machines Corp. | Collision avoidance system |
US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US6788018B1 (en) * | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US8004229B2 (en) * | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US8010180B2 (en) * | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
US6678582B2 (en) | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
US6927395B2 (en) * | 2002-06-14 | 2005-08-09 | Koninklijke Philips Electronics N.V. | Gamma camera collision avoidance |
US7046765B2 (en) | 2004-03-31 | 2006-05-16 | Accuray, Inc. | Radiosurgery x-ray system with collision avoidance subsystem |
US7979157B2 (en) | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
EP1855607B1 (en) * | 2005-01-13 | 2017-10-25 | Mazor Robotics Ltd. | Image-guided robotic system for keyhole neurosurgery |
US8971597B2 (en) * | 2005-05-16 | 2015-03-03 | Intuitive Surgical Operations, Inc. | Efficient vision and kinematic data fusion for robotic surgical instruments and other applications |
US8108072B2 (en) | 2007-09-30 | 2012-01-31 | Intuitive Surgical Operations, Inc. | Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US9867669B2 (en) | 2008-12-31 | 2018-01-16 | Intuitive Surgical Operations, Inc. | Configuration marker design and detection for instrument tracking |
DE102005023165A1 (de) | 2005-05-19 | 2006-11-23 | Siemens Ag | Medizinisches Bildgebungssystem mit einem um einen Patienten verfahrbaren Teil und Kollisionsschutzverfahren |
EP1887961B1 (en) | 2005-06-06 | 2012-01-11 | Intuitive Surgical Operations, Inc. | Laparoscopic ultrasound robotic surgical system |
US20070167702A1 (en) | 2005-12-30 | 2007-07-19 | Intuitive Surgical Inc. | Medical robotic system providing three-dimensional telestration |
US7379533B2 (en) | 2006-03-10 | 2008-05-27 | Siemens Medical Solutions Usa, Inc. | Collision resolution in x-ray imaging systems |
CA2542932C (en) | 2006-03-28 | 2011-09-13 | Imris | Detection of collisions in medical procedures |
KR101477121B1 (ko) | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | 미소절개 수술 시스템 |
US8849679B2 (en) * | 2006-06-15 | 2014-09-30 | Intouch Technologies, Inc. | Remote controlled robot system that provides medical images |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
DE102006037564C5 (de) | 2006-08-10 | 2010-09-23 | Siemens Ag | Verfahren zur Röntgenbildaufzeichnung mit einem robotergeführten C-Bogen-System sowie Aufzeichnungsvorrichtung zur Röntgenbildaufzeichnung |
DE102007021769B4 (de) | 2007-05-09 | 2015-06-25 | Siemens Aktiengesellschaft | Angiographiegerät und zugehöriges Aufnahmeverfahren mit einem Mechansimus zur Kollisionsvermeidung |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US8655429B2 (en) * | 2007-06-29 | 2014-02-18 | Accuray Incorporated | Robotic arm for a radiation treatment system |
US8792964B2 (en) | 2008-03-12 | 2014-07-29 | Siemens Aktiengesellschaft | Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device |
US8169468B2 (en) | 2008-04-26 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Augmented stereoscopic visualization for a surgical robot |
US8315738B2 (en) * | 2008-05-21 | 2012-11-20 | Fanuc Robotics America, Inc. | Multi-arm robot system interference check via three dimensional automatic zones |
US8126114B2 (en) * | 2008-09-12 | 2012-02-28 | Accuray Incorporated | Seven or more degrees of freedom robotic manipulator having at least one redundant joint |
US8781630B2 (en) | 2008-10-14 | 2014-07-15 | University Of Florida Research Foundation, Inc. | Imaging platform to provide integrated navigation capabilities for surgical guidance |
US8830224B2 (en) * | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
CA2755036A1 (en) | 2009-03-10 | 2010-09-16 | Mcmaster University | Mobile robotic surgical system |
KR100974464B1 (ko) * | 2009-04-21 | 2010-08-10 | 주식회사 래보 | 수술용 인스트루먼트의 커플링 구조 |
US8423186B2 (en) * | 2009-06-30 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument |
US8386080B2 (en) * | 2009-09-15 | 2013-02-26 | Harris Corporation | Robotic apparatus implementing collision avoidance scheme and associated methods |
US8623028B2 (en) * | 2009-09-23 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Surgical port feature |
WO2011040769A2 (ko) * | 2009-10-01 | 2011-04-07 | 주식회사 이턴 | 수술용 영상 처리 장치, 영상 처리 방법, 복강경 조작 방법, 수술 로봇 시스템 및 그 동작 제한 방법 |
JP5571432B2 (ja) * | 2010-03-30 | 2014-08-13 | カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | 医療用ロボットシステム |
IT1401669B1 (it) * | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
US9400503B2 (en) * | 2010-05-20 | 2016-07-26 | Irobot Corporation | Mobile human interface robot |
US8460236B2 (en) * | 2010-06-24 | 2013-06-11 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US8855812B2 (en) | 2010-07-23 | 2014-10-07 | Chetan Kapoor | System and method for robot safety and collision avoidance |
JP2012051043A (ja) * | 2010-08-31 | 2012-03-15 | Yaskawa Electric Corp | ロボットシステムまたはロボット制御装置 |
US8848874B2 (en) * | 2010-09-20 | 2014-09-30 | Siemens Medical Solutions Usa, Inc. | System for recovering from collision of components of an X-ray imaging unit |
EP2468207A1 (en) * | 2010-12-21 | 2012-06-27 | Renishaw (Ireland) Limited | Method and apparatus for analysing images |
US9259289B2 (en) * | 2011-05-13 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Estimation of a position and orientation of a frame used in controlling movement of a tool |
GB201115586D0 (en) * | 2011-09-09 | 2011-10-26 | Univ Bristol | A system for anatomical reduction of bone fractures |
CN103797512B (zh) * | 2011-09-13 | 2018-10-16 | 皇家飞利浦有限公司 | 机器人与图像之间的自动联机配准 |
WO2013038324A1 (en) * | 2011-09-13 | 2013-03-21 | Koninklijke Philips Electronics N.V. | Ablation planning with lesion coverage feedback |
US10925564B2 (en) * | 2012-04-20 | 2021-02-23 | Siemens Medical Solutions Usa, Inc. | Medical imaging system with range imaging-based control |
CN102646148B (zh) * | 2012-04-25 | 2014-09-24 | 浙江大学 | 仿人机器人机械臂避碰运动轨迹规划方法 |
CN110279427B (zh) | 2012-12-10 | 2024-01-16 | 直观外科手术操作公司 | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 |
US11014240B2 (en) * | 2017-09-05 | 2021-05-25 | Abb Schweiz Ag | Robot having dynamic safety zones |
US10058396B1 (en) * | 2018-04-24 | 2018-08-28 | Titan Medical Inc. | System and apparatus for insertion of an instrument into a body cavity for performing a surgical procedure |
-
2013
- 2013-12-10 CN CN201910317935.5A patent/CN110279427B/zh active Active
- 2013-12-10 CN CN201380064534.4A patent/CN105188590B/zh active Active
- 2013-12-10 WO PCT/US2013/074163 patent/WO2014093367A1/en active Application Filing
- 2013-12-10 JP JP2015545931A patent/JP6293777B2/ja active Active
- 2013-12-10 KR KR1020157018123A patent/KR102218244B1/ko active IP Right Grant
- 2013-12-10 CN CN202311823402.7A patent/CN117770979A/zh active Pending
- 2013-12-10 EP EP21190869.4A patent/EP3932628A1/en active Pending
- 2013-12-10 US US14/101,769 patent/US9259282B2/en active Active
- 2013-12-10 EP EP13862685.8A patent/EP2928407B1/en active Active
-
2015
- 2015-09-23 US US14/862,692 patent/US10064682B2/en active Active
-
2018
- 2018-02-14 JP JP2018024100A patent/JP6543742B2/ja active Active
- 2018-08-02 US US16/053,049 patent/US11007023B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN110279427B (zh) | 2024-01-16 |
US20160008078A1 (en) | 2016-01-14 |
JP6293777B2 (ja) | 2018-03-14 |
JP6543742B2 (ja) | 2019-07-10 |
JP2016504077A (ja) | 2016-02-12 |
CN110279427A (zh) | 2019-09-27 |
EP3932628A1 (en) | 2022-01-05 |
US11007023B2 (en) | 2021-05-18 |
EP2928407B1 (en) | 2021-09-29 |
EP2928407A4 (en) | 2016-10-19 |
WO2014093367A1 (en) | 2014-06-19 |
US10064682B2 (en) | 2018-09-04 |
EP2928407A1 (en) | 2015-10-14 |
CN117770979A (zh) | 2024-03-29 |
CN105188590A (zh) | 2015-12-23 |
KR20150120944A (ko) | 2015-10-28 |
KR102218244B1 (ko) | 2021-02-22 |
US20140163736A1 (en) | 2014-06-12 |
US20180338804A1 (en) | 2018-11-29 |
US9259282B2 (en) | 2016-02-16 |
JP2018110873A (ja) | 2018-07-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105188590B (zh) | 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 | |
US11911011B2 (en) | Endolumenal object sizing | |
KR102500422B1 (ko) | 기구의 추정된 위치를 디스플레이하기 위한 시스템 및 방법 | |
KR102455671B1 (ko) | 이미지-기반 기도 분석 및 매핑 | |
US10835153B2 (en) | System and method for medical instrument navigation and targeting | |
CN110831536B (zh) | 用于针对非命令器械滚转进行校正的系统和方法 | |
US10987174B2 (en) | Patient introducer alignment | |
CN108472095B (zh) | 用于机器人外科手术的使用虚拟现实设备的系统、控制器和方法 | |
CN106456251B (zh) | 用于对成像装置和输入控制装置重定中心的系统和方法 | |
CN109069217B (zh) | 图像引导外科手术中的姿势估计以及透视成像系统的校准的系统和方法 | |
CN105050525B (zh) | 用于跟踪介入器械的形状传感器系统以及使用方法 | |
JP2023171877A (ja) | 生検装置およびシステム | |
KR20170047288A (ko) | 순응형 입력 맵핑을 위한 시스템 및 방법 | |
CN105050527A (zh) | 智能定位系统和用于其的方法 | |
CN112218595A (zh) | 用于机器人使能的远程操作的系统的控制器 | |
KR20220058569A (ko) | 위치 센서의 가중치-기반 정합을 위한 시스템 및 방법 | |
KR20220024055A (ko) | 추적 시스템 시야 위치설정 시스템 및 방법 | |
JP2023544314A (ja) | 接触情報の検出に基づく外科用ロボットにおける衝突回避 | |
US20210298857A1 (en) | Hand-manipulated input device with hall effect sensor for robotic system | |
CN115397355A (zh) | 用于在负荷传感器上安装机器人部件的系统和方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180328 Address after: California, USA Applicant after: INTUITIVE SURGICAL OPERATIONS, Inc. Applicant after: SIEMENS HEALTHCARE Ltd. Address before: California, USA Applicant before: INTUITIVE SURGICAL OPERATIONS, Inc. Applicant before: L. Bloom Applicant before: C. Nebral Applicant before: H. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240227 Address after: California, USA Patentee after: INTUITIVE SURGICAL OPERATIONS, Inc. Country or region after: U.S.A. Patentee after: Siemens Healthcare, Inc. Country or region after: Germany Address before: California, USA Patentee before: INTUITIVE SURGICAL OPERATIONS, Inc. Country or region before: U.S.A. Patentee before: SIEMENS HEALTHCARE Ltd. Country or region before: Germany |