CN108463183B - 在控制状态之间的分段力反馈过渡 - Google Patents

在控制状态之间的分段力反馈过渡 Download PDF

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Publication number
CN108463183B
CN108463183B CN201780006338.XA CN201780006338A CN108463183B CN 108463183 B CN108463183 B CN 108463183B CN 201780006338 A CN201780006338 A CN 201780006338A CN 108463183 B CN108463183 B CN 108463183B
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input device
surgical system
force feedback
control state
force
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Chinese (zh)
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CN108463183A (zh
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L·N·维尔纳
H-H·廖
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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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Surgical Instruments (AREA)
CN201780006338.XA 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡 Active CN108463183B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210097011.0A CN114376732B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662277820P 2016-01-12 2016-01-12
US62/277,820 2016-01-12
PCT/US2017/013237 WO2017123796A1 (en) 2016-01-12 2017-01-12 Staged force feedback transitioning between control states

Related Child Applications (1)

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CN202210097011.0A Division CN114376732B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

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CN108463183A CN108463183A (zh) 2018-08-28
CN108463183B true CN108463183B (zh) 2022-02-18

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CN202210097011.0A Active CN114376732B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

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US (3) US11357587B2 (enExample)
EP (3) EP3402433B1 (enExample)
JP (2) JP7590072B2 (enExample)
KR (2) KR20250005419A (enExample)
CN (2) CN108463183B (enExample)
WO (1) WO2017123796A1 (enExample)

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JP7182464B2 (ja) * 2016-01-12 2022-12-02 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 触覚アクチュエータの均一なスケーリング
EP3360502A3 (en) * 2017-01-18 2018-10-31 KB Medical SA Robotic navigation of robotic surgical systems
CN112996453A (zh) * 2018-10-30 2021-06-18 提坦医疗公司 机器人手术系统中的手动控制器设备
DE102019134014A1 (de) * 2019-12-11 2021-06-17 Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg Fernsteuereinheit für eine Bewegtbildkamera
CN111759464B (zh) * 2020-06-22 2022-10-21 广东省精格医疗技术有限公司 基于双向反馈的血管机器人的控制系统及方法
US12472023B2 (en) 2021-01-14 2025-11-18 Siemens Healthineers Endovascular Robotics Inc. Systems and methods for a control station for robotic interventional procedures using a plurality of elongated medical devices
DE112022002158B4 (de) * 2021-04-12 2025-07-10 Intuitive Surgical Operations, Inc. Kontrollierter widerstand in rückfahrbaren gelenken
DE102021204494A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters
US20230047289A1 (en) * 2021-08-16 2023-02-16 Covidien Lp End effector drive mechanisms for surgical instruments such as for use in robotic surgical systems
JP2024048213A (ja) * 2022-09-27 2024-04-08 川崎重工業株式会社 操作装置、手術支援システムおよび操作装置の制御方法
WO2025049464A1 (en) * 2023-08-29 2025-03-06 Intuitive Surgical Operations, Inc. Systems and methods for control of a surgical system
KR20250071337A (ko) * 2023-11-14 2025-05-22 재단법인 아산사회복지재단 주사 제어 장치 및 그 동작 방법

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CN108463183A (zh) 2018-08-28
EP3402433B1 (en) 2021-03-10
JP2019503218A (ja) 2019-02-07
EP4410230A3 (en) 2024-09-04
US20230320802A1 (en) 2023-10-12
EP3402433A4 (en) 2019-09-11
JP2023033536A (ja) 2023-03-10
US11357587B2 (en) 2022-06-14
KR20180094003A (ko) 2018-08-22
US20190015168A1 (en) 2019-01-17
CN114376732B (zh) 2024-12-20
EP4410230A2 (en) 2024-08-07
JP7590072B2 (ja) 2024-11-26
EP3834765A1 (en) 2021-06-16
KR102737289B1 (ko) 2024-12-04
EP3402433A1 (en) 2018-11-21
CN114376732A (zh) 2022-04-22
KR20250005419A (ko) 2025-01-09
EP3834765B1 (en) 2024-07-17
US11701194B2 (en) 2023-07-18
WO2017123796A1 (en) 2017-07-20
JP7648104B2 (ja) 2025-03-18
US20220331039A1 (en) 2022-10-20

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