CN109171975B - 用于管理多个零空间目标和饱和sli行为的系统和方法 - Google Patents

用于管理多个零空间目标和饱和sli行为的系统和方法 Download PDF

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CN109171975B
CN109171975B CN201811194748.4A CN201811194748A CN109171975B CN 109171975 B CN109171975 B CN 109171975B CN 201811194748 A CN201811194748 A CN 201811194748A CN 109171975 B CN109171975 B CN 109171975B
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movement
joints
movements
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space
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CN109171975A (zh
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A·乌尔塔斯
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • B25J9/1679—Program 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • G05B2219/39079—Solve inverse differential kinematics in closed, feedback loop, iterate
    • 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
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41405—Inverse kinematic, dynamic

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (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)
CN201811194748.4A 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法 Active CN109171975B (zh)

Applications Claiming Priority (3)

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US201361800810P 2013-03-15 2013-03-15
US61/800,810 2013-03-15
CN201480014809.8A CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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CN201480014809.8A Division CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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CN109171975A CN109171975A (zh) 2019-01-11
CN109171975B true CN109171975B (zh) 2021-04-09

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CN201811194748.4A Active CN109171975B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN202411935041.XA Pending CN119745519A (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN201480014809.8A Active CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN202110307020.3A Active CN112932676B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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CN201480014809.8A Active CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN202110307020.3A Active CN112932676B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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US (3) US10513031B2 (enExample)
EP (3) EP4115839B1 (enExample)
JP (3) JP6423853B2 (enExample)
KR (3) KR102164195B1 (enExample)
CN (4) CN109171975B (enExample)
WO (1) WO2014146095A1 (enExample)

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CN108524001B (zh) 2012-08-15 2021-06-29 直观外科手术操作公司 利用零空间取消关节运动的系统
KR102164195B1 (ko) 2013-03-15 2020-10-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
JP6537523B2 (ja) 2014-03-17 2019-07-03 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 ツールの姿勢を維持するシステム及び方法
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IT202100003488A1 (it) 2021-02-16 2022-08-16 Medical Microinstruments Inc “metodo per una verifica di integrità di un dispositivo master di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica”
IT202100003476A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare, sulla base di misura o rilevazione di velocità, anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
IT202100003479A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per avviare una teleoperazione svolta mediante un sistema robotico per teleoperazione medica o chirurgica, avente un dispositivo master meccanicamente non vincolato e movimentabile da un operatore, con controllo di sistemi di coordinate di riferimento locali
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CN114052917A (zh) * 2021-11-16 2022-02-18 深圳市精锋医疗科技股份有限公司 操作臂、从操作设备和手术机器人
CN114083519B (zh) * 2021-12-31 2023-05-09 北京敏锐达致机器人科技有限责任公司 机器人零空间拖动示教方法及示教装置
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CN114951475B (zh) * 2022-05-23 2023-09-05 无锡维凯科技有限公司 一种满足前后冲床节拍的移载分料机构
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EP4741960A3 (en) 2026-07-29
EP2969407B1 (en) 2022-11-02
JP2019048084A (ja) 2019-03-28
CN109171975A (zh) 2019-01-11
CN119745519A (zh) 2025-04-04
JP6423853B2 (ja) 2018-11-14
KR102391773B1 (ko) 2022-04-28
WO2014146095A1 (en) 2014-09-18
EP4741960A2 (en) 2026-05-13
KR102285954B1 (ko) 2021-08-05
US20220032453A1 (en) 2022-02-03
JP2016514492A (ja) 2016-05-23
CN112932676A (zh) 2021-06-11
KR102164195B1 (ko) 2020-10-12
EP4115839B1 (en) 2026-06-24
US20180243906A1 (en) 2018-08-30
US11602840B2 (en) 2023-03-14
US11173598B2 (en) 2021-11-16
EP4115839A1 (en) 2023-01-11
CN112932676B (zh) 2025-01-21
JP2020000904A (ja) 2020-01-09
KR20150132326A (ko) 2015-11-25
KR20200116544A (ko) 2020-10-12
JP6793797B2 (ja) 2020-12-02
KR20210098549A (ko) 2021-08-10
CN105120788B (zh) 2018-10-16
US10513031B2 (en) 2019-12-24
JP6585265B2 (ja) 2019-10-02
CN105120788A (zh) 2015-12-02
EP2969407A1 (en) 2016-01-20
US20200061813A1 (en) 2020-02-27
EP4115839C0 (en) 2026-06-24

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