CN105431103B - 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统 - Google Patents

具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统 Download PDF

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Publication number
CN105431103B
CN105431103B CN201480043359.5A CN201480043359A CN105431103B CN 105431103 B CN105431103 B CN 105431103B CN 201480043359 A CN201480043359 A CN 201480043359A CN 105431103 B CN105431103 B CN 105431103B
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Prior art keywords
motors
robotic
housing
controller
control system
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Chinese (zh)
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CN105431103A (zh
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G·J·来伯恩威尔
A·S·布兰得利
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Intuitive Surgical Operations Inc
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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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201480043359.5A 2013-08-09 2014-08-08 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统 Active CN105431103B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810810837.0A CN108836486B (zh) 2013-08-09 2014-08-08 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361864061P 2013-08-09 2013-08-09
US61/864,061 2013-08-09
PCT/US2014/050347 WO2015021384A1 (en) 2013-08-09 2014-08-08 Medical robotic system with remote current controller for controlling a plurality of distally housed motors

Related Child Applications (1)

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CN201810810837.0A Division CN108836486B (zh) 2013-08-09 2014-08-08 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统

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CN105431103A CN105431103A (zh) 2016-03-23
CN105431103B true CN105431103B (zh) 2018-08-17

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CN201810810837.0A Active CN108836486B (zh) 2013-08-09 2014-08-08 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人系统

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US (2) US9855107B2 (https=)
EP (1) EP3030190B1 (https=)
JP (3) JP6382310B2 (https=)
KR (2) KR102463600B1 (https=)
CN (2) CN105431103B (https=)
WO (1) WO2015021384A1 (https=)

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