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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program 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 (https=)
EP (1) EP3041429B1 (https=)
JP (1) JP6482561B2 (https=)
CN (1) CN105530887B (https=)
WO (1) WO2015032625A1 (https=)

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
US11602403B2 (en) * 2017-11-13 2023-03-14 Koninklijke Philips N.V Robotic tool control
CN111479507B (zh) * 2017-11-13 2024-07-16 皇家飞利浦有限公司 用于机器人导航的自主x射线控制
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
US20090036900A1 (en) 2007-02-02 2009-02-05 Hansen Medical, Inc. Surgery methods using a robotic instrument system
EP2628460B1 (en) * 2007-08-14 2021-08-11 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
JP6482561B2 (ja) 2019-03-13
US9925012B2 (en) 2018-03-27
US20160184038A1 (en) 2016-06-30
JP2016533837A (ja) 2016-11-04
CN105530887A (zh) 2016-04-27
WO2015032625A1 (en) 2015-03-12
EP3041429B1 (en) 2023-03-08

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