CN108748153A - 医疗机器人及其控制方法 - Google Patents
医疗机器人及其控制方法 Download PDFInfo
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- CN108748153A CN108748153A CN201810587897.0A CN201810587897A CN108748153A CN 108748153 A CN108748153 A CN 108748153A CN 201810587897 A CN201810587897 A CN 201810587897A CN 108748153 A CN108748153 A CN 108748153A
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Classifications
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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—Master-slave 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39339—Admittance control, admittance is tip speed-force
-
- 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)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (18)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710432983X | 2017-06-09 | ||
CN201710432983.XA CN107009363A (zh) | 2017-06-09 | 2017-06-09 | 医疗机器人及其控制方法 |
Publications (2)
Publication Number | Publication Date |
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CN108748153A true CN108748153A (zh) | 2018-11-06 |
CN108748153B CN108748153B (zh) | 2020-12-18 |
Family
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CN201710432983.XA Pending CN107009363A (zh) | 2017-06-09 | 2017-06-09 | 医疗机器人及其控制方法 |
CN201810587897.0A Active CN108748153B (zh) | 2017-06-09 | 2018-06-08 | 医疗机器人及其控制方法 |
Family Applications Before (1)
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CN201710432983.XA Pending CN107009363A (zh) | 2017-06-09 | 2017-06-09 | 医疗机器人及其控制方法 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3636393B1 (zh) |
CN (2) | CN107009363A (zh) |
BR (1) | BR112019025712B1 (zh) |
WO (1) | WO2018224038A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110653821A (zh) * | 2019-10-10 | 2020-01-07 | 上海电气集团股份有限公司 | 用于机械臂的控制方法、系统、介质及设备 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107009363A (zh) * | 2017-06-09 | 2017-08-04 | 微创(上海)医疗机器人有限公司 | 医疗机器人及其控制方法 |
CN107717994B (zh) * | 2017-11-08 | 2020-04-28 | 西安交通大学 | 基于主从空间映射的主从异构机器人通用控制方法及系统 |
CN108344420A (zh) * | 2018-02-22 | 2018-07-31 | 王昕� | 一种经颅磁刺激智能导航定位装置 |
CN108433814B (zh) * | 2018-03-16 | 2019-12-24 | 微创(上海)医疗机器人有限公司 | 手术机器人系统及其手术器械 |
CN110026984A (zh) * | 2019-05-08 | 2019-07-19 | 苏州东控自动化科技有限公司 | 一种基于大功率输出机器人的智能协作控制方法 |
CN110115636B (zh) * | 2019-06-28 | 2022-08-26 | 盐城诺诚祈瑞智能科技有限公司 | 一种增稳防抖式外科手术仪 |
CN111515951A (zh) * | 2020-04-29 | 2020-08-11 | 江苏集萃华科智能装备科技有限公司 | 机器人的遥操作系统及遥操作控制方法 |
CN111700681B (zh) * | 2020-05-27 | 2021-05-14 | 元化智能科技(深圳)有限公司 | 安全截骨提示信息的生成方法、装置和终端设备 |
CN113040915B (zh) * | 2021-03-12 | 2024-06-04 | 杭州柳叶刀机器人有限公司 | 机器人安全边界控制装置及方法、电子设备和存储介质 |
CN112998863B (zh) * | 2021-03-12 | 2022-05-06 | 杭州柳叶刀机器人有限公司 | 机器人安全边界交互装置、电子设备和存储介质 |
CN112959327B (zh) * | 2021-03-31 | 2022-07-29 | 上海电气集团股份有限公司 | 机器人运动控制方法、系统、电子设备及存储介质 |
CN113876429B (zh) * | 2021-06-23 | 2023-01-20 | 上海极睿医疗科技有限公司 | 脊柱手术机器人的路径规划系统及机器人系统 |
CN114145848B (zh) * | 2021-12-09 | 2023-08-25 | 佗道医疗科技有限公司 | 一种受约束的机械臂零力控制系统及其控制方法 |
CN114770459B (zh) * | 2022-05-18 | 2023-12-08 | 佗道医疗科技有限公司 | 一种主控制臂运动控制方法 |
CN115363768B (zh) * | 2022-10-27 | 2023-04-14 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人系统及其控制方法和介质 |
CN116687320B (zh) * | 2023-08-07 | 2023-10-24 | 深圳英美达医疗技术有限公司 | 一种医疗器械控制装置 |
CN116852397B (zh) * | 2023-09-01 | 2023-11-21 | 北京凌波澄机器人科技有限公司 | 负压理疗机器人理疗力度及理疗路径的自适应调节方法 |
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US5971976A (en) * | 1996-02-20 | 1999-10-26 | Computer Motion, Inc. | Motion minimization and compensation system for use in surgical procedures |
CN101369132A (zh) * | 2008-07-11 | 2009-02-18 | 天津大学 | 基于神经网络辨识器的永磁球形电动机力学解耦控制方法 |
CN103213129A (zh) * | 2013-04-17 | 2013-07-24 | 北京空间飞行器总体设计部 | 一种空间机械臂位置力混合控制方法 |
CN104334110A (zh) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | 使用零空间回避操纵器臂与患者碰撞 |
CN104470456A (zh) * | 2012-07-10 | 2015-03-25 | 现代重工业株式会社 | 手术机器人系统以及手术机器人控制方法 |
CN105643621A (zh) * | 2014-11-26 | 2016-06-08 | 库卡罗伯特有限公司 | 用于使机器人设备运行的方法和机器人设备 |
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EP1355765B1 (en) * | 2001-01-29 | 2008-05-07 | The Acrobot Company Limited | Active-constraint robots |
CN101448467B (zh) * | 2006-05-19 | 2014-07-09 | 马科外科公司 | 用于控制触觉设备的方法和装置 |
KR101039108B1 (ko) * | 2009-09-01 | 2011-06-07 | 한양대학교 산학협력단 | 의료용 로봇 시스템 및 그 제어 방법 |
JP2011254975A (ja) * | 2010-06-09 | 2011-12-22 | Nakashima Medical Co Ltd | 手術支援システム |
CN107009363A (zh) * | 2017-06-09 | 2017-08-04 | 微创(上海)医疗机器人有限公司 | 医疗机器人及其控制方法 |
-
2017
- 2017-06-09 CN CN201710432983.XA patent/CN107009363A/zh active Pending
-
2018
- 2018-06-08 CN CN201810587897.0A patent/CN108748153B/zh active Active
- 2018-06-08 WO PCT/CN2018/090441 patent/WO2018224038A1/zh active Application Filing
- 2018-06-08 EP EP18814316.8A patent/EP3636393B1/en active Active
- 2018-06-08 BR BR112019025712-8A patent/BR112019025712B1/pt active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US5971976A (en) * | 1996-02-20 | 1999-10-26 | Computer Motion, Inc. | Motion minimization and compensation system for use in surgical procedures |
CN101369132A (zh) * | 2008-07-11 | 2009-02-18 | 天津大学 | 基于神经网络辨识器的永磁球形电动机力学解耦控制方法 |
CN104334110A (zh) * | 2012-06-01 | 2015-02-04 | 直观外科手术操作公司 | 使用零空间回避操纵器臂与患者碰撞 |
CN104470456A (zh) * | 2012-07-10 | 2015-03-25 | 现代重工业株式会社 | 手术机器人系统以及手术机器人控制方法 |
CN103213129A (zh) * | 2013-04-17 | 2013-07-24 | 北京空间飞行器总体设计部 | 一种空间机械臂位置力混合控制方法 |
CN105643621A (zh) * | 2014-11-26 | 2016-06-08 | 库卡罗伯特有限公司 | 用于使机器人设备运行的方法和机器人设备 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110653821A (zh) * | 2019-10-10 | 2020-01-07 | 上海电气集团股份有限公司 | 用于机械臂的控制方法、系统、介质及设备 |
Also Published As
Publication number | Publication date |
---|---|
EP3636393B1 (en) | 2023-05-31 |
EP3636393A4 (en) | 2020-06-17 |
WO2018224038A1 (zh) | 2018-12-13 |
EP3636393A1 (en) | 2020-04-15 |
CN108748153B (zh) | 2020-12-18 |
BR112019025712B1 (pt) | 2024-02-20 |
BR112019025712A2 (pt) | 2020-09-01 |
CN107009363A (zh) | 2017-08-04 |
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Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Denomination of invention: Medical robots and their control methods Granted publication date: 20201218 Pledgee: Bank of Shanghai Limited by Share Ltd. Pudong branch Pledgor: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Registration number: Y2024310000201 |