CN110049742B - 用于机器人控制的图像引导的运动缩放 - Google Patents

用于机器人控制的图像引导的运动缩放 Download PDF

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Publication number
CN110049742B
CN110049742B CN201780075882.XA CN201780075882A CN110049742B CN 110049742 B CN110049742 B CN 110049742B CN 201780075882 A CN201780075882 A CN 201780075882A CN 110049742 B CN110049742 B CN 110049742B
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motion
scaling
surgical robotic
surgical
image
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CN110049742A (zh
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A·波波维奇
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Koninklijke Philips NV
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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
    • A61B34/37—Leader-follower robots
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • 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)
  • Endoscopes (AREA)
CN201780075882.XA 2016-12-07 2017-12-05 用于机器人控制的图像引导的运动缩放 Active CN110049742B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430994P 2016-12-07 2016-12-07
US62/430,994 2016-12-07
PCT/EP2017/081423 WO2018104252A1 (en) 2016-12-07 2017-12-05 Image guided motion scaling for robot control

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CN110049742A CN110049742A (zh) 2019-07-23
CN110049742B true CN110049742B (zh) 2023-01-03

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US (2) US11213364B2 (enExample)
EP (1) EP3551117B1 (enExample)
JP (1) JP7132922B2 (enExample)
CN (1) CN110049742B (enExample)
WO (1) WO2018104252A1 (enExample)

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US11759283B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto
US12453592B2 (en) 2019-12-30 2025-10-28 Cilag Gmbh International Adaptive surgical system control according to surgical smoke cloud characteristics
US11776144B2 (en) 2019-12-30 2023-10-03 Cilag Gmbh International System and method for determining, adjusting, and managing resection margin about a subject tissue
US11744667B2 (en) 2019-12-30 2023-09-05 Cilag Gmbh International Adaptive visualization by a surgical system
US12207881B2 (en) 2019-12-30 2025-01-28 Cilag Gmbh International Surgical systems correlating visualization data and powered surgical instrument data
US11648060B2 (en) 2019-12-30 2023-05-16 Cilag Gmbh International Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ
US12053223B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Adaptive surgical system control according to surgical smoke particulate characteristics
US11832996B2 (en) 2019-12-30 2023-12-05 Cilag Gmbh International Analyzing surgical trends by a surgical system
US11219501B2 (en) 2019-12-30 2022-01-11 Cilag Gmbh International Visualization systems using structured light
US11896442B2 (en) 2019-12-30 2024-02-13 Cilag Gmbh International Surgical systems for proposing and corroborating organ portion removals
CN112155613B (zh) * 2020-09-14 2021-10-22 武汉联影智融医疗科技有限公司 一种微创医疗手术设备
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
US12070287B2 (en) 2020-12-30 2024-08-27 Cilag Gmbh International Robotic surgical tools having dual articulation drives
US12059170B2 (en) 2020-12-30 2024-08-13 Cilag Gmbh International Surgical tool with tool-based translation and lock for the same
US12239404B2 (en) 2020-12-30 2025-03-04 Cilag Gmbh International Torque-based transition between operating gears
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
IT202200006338A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare un dispositivo slave, comandato da un dispositivo master movimentabile da un operatore in un sistema robotico per teleoperazione medica o chirurgica, in prossimità di limiti di movimento del dispositivo slave, e relativo sistema robotico
IT202200006332A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare, tramite diminuzione di velocità o potenza impartita, un dispositivo slave comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, e relativo sistema robotico
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WO2018104252A1 (en) 2018-06-14
EP3551117A1 (en) 2019-10-16
CN110049742A (zh) 2019-07-23
US12171520B2 (en) 2024-12-24
EP3551117B1 (en) 2024-06-05
US11213364B2 (en) 2022-01-04
US20220096189A1 (en) 2022-03-31
JP2020500620A (ja) 2020-01-16
JP7132922B2 (ja) 2022-09-07
US20190307524A1 (en) 2019-10-10

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