CN105530887B - 机器人系统 - Google Patents

机器人系统 Download PDF

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Publication number
CN105530887B
CN105530887B CN201480048810.2A CN201480048810A CN105530887B CN 105530887 B CN105530887 B CN 105530887B CN 201480048810 A CN201480048810 A CN 201480048810A CN 105530887 B CN105530887 B CN 105530887B
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CN
China
Prior art keywords
shape
instrument
target position
internal structure
target
Prior art date
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Active
Application number
CN201480048810.2A
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English (en)
Chinese (zh)
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CN105530887A (zh
Inventor
S·H·德尼森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
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Koninklijke Philips NV
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Publication of CN105530887A publication Critical patent/CN105530887A/zh
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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
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40074—Move tip of arm or carried object on surface, wall, constraint
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
    • 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
    • G05B2219/45118—Endoscopic, laparoscopic manipulator
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (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)
CN201480048810.2A 2013-09-04 2014-08-21 机器人系统 Active CN105530887B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP13182929 2013-09-04
EP13182929.3 2013-09-04
PCT/EP2014/067788 WO2015032625A1 (en) 2013-09-04 2014-08-21 Robotic system

Publications (2)

Publication Number Publication Date
CN105530887A CN105530887A (zh) 2016-04-27
CN105530887B true CN105530887B (zh) 2019-03-08

Family

ID=49118345

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480048810.2A Active CN105530887B (zh) 2013-09-04 2014-08-21 机器人系统

Country Status (5)

Country Link
US (1) US9925012B2 (enExample)
EP (1) EP3041429B1 (enExample)
JP (1) JP6482561B2 (enExample)
CN (1) CN105530887B (enExample)
WO (1) WO2015032625A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11642182B2 (en) * 2016-09-27 2023-05-09 Brainlab Ag Efficient positioning of a mechatronic arm
CN107392872B (zh) * 2017-07-27 2020-04-28 强联智创（北京）科技有限公司 一种微导管塑形器的生成方法及生成系统
US11648071B2 (en) * 2017-11-13 2023-05-16 Koninklijke Philips N.V. Autonomous X-ray control for robotic navigation
EP3709926B1 (en) * 2017-11-13 2024-08-21 Koninklijke Philips N.V. Robotic tool control
EP3510914A1 (en) 2018-01-15 2019-07-17 Koninklijke Philips N.V. Device with bendable distal portion and system actuating the distal portion of the device
CN115957008A (zh) * 2022-11-29 2023-04-14 上海微创微航机器人有限公司 一种导管控制方法、系统及存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103037798A (zh) * 2010-08-02 2013-04-10 约翰霍普金斯大学 用于纤弱组织的手术操纵的微力引导协调控制
WO2013101273A1 (en) * 2011-12-30 2013-07-04 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for detection and avoidance of collisions of robotically-controlled medical devices

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
JP4455417B2 (ja) * 2005-06-13 2010-04-21 株式会社東芝 移動ロボット、プログラム及びロボット制御方法
WO2008097540A2 (en) * 2007-02-02 2008-08-14 Hansen Medical, Inc. Robotic surgical instrument and methods using bragg fiber sensors
EP2626027B1 (en) * 2007-08-14 2020-04-29 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US10004387B2 (en) 2009-03-26 2018-06-26 Intuitive Surgical Operations, Inc. Method and system for assisting an operator in endoscopic navigation
US9285246B2 (en) * 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US9693707B2 (en) 2011-01-28 2017-07-04 Koninklijke Philips N.V. Optical shape sensing fiber for tip and shape characterization of medical instruments

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103037798A (zh) * 2010-08-02 2013-04-10 约翰霍普金斯大学 用于纤弱组织的手术操纵的微力引导协调控制
WO2013101273A1 (en) * 2011-12-30 2013-07-04 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for detection and avoidance of collisions of robotically-controlled medical devices

Also Published As

Publication number Publication date
EP3041429A1 (en) 2016-07-13
US20160184038A1 (en) 2016-06-30
US9925012B2 (en) 2018-03-27
WO2015032625A1 (en) 2015-03-12
JP6482561B2 (ja) 2019-03-13
JP2016533837A (ja) 2016-11-04
EP3041429B1 (en) 2023-03-08
CN105530887A (zh) 2016-04-27

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