CN110072483B - 对依赖性外科手术机器人臂的自动运动控制 - Google Patents

对依赖性外科手术机器人臂的自动运动控制 Download PDF

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Publication number
CN110072483B
CN110072483B CN201780075806.9A CN201780075806A CN110072483B CN 110072483 B CN110072483 B CN 110072483B CN 201780075806 A CN201780075806 A CN 201780075806A CN 110072483 B CN110072483 B CN 110072483B
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dependent
robotic arm
motion
independent
coordinate space
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CN201780075806.9A
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Chinese (zh)
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CN110072483A (zh
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A·波波维奇
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Koninklijke Philips NV
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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
    • A61B34/30—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
    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • G05B2219/39212—Select between autonomous or teleoperation control
    • 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
    • G05B2219/39389—Laparoscopic surgery, camera on center of operated part, view around, scale

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN201780075806.9A 2016-12-07 2017-12-06 对依赖性外科手术机器人臂的自动运动控制 Active CN110072483B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430997P 2016-12-07 2016-12-07
US62/430,997 2016-12-07
PCT/EP2017/081652 WO2018104376A1 (en) 2016-12-07 2017-12-06 Automatic motion control of a dependent surgical robotic arm

Publications (2)

Publication Number Publication Date
CN110072483A CN110072483A (zh) 2019-07-30
CN110072483B true CN110072483B (zh) 2022-11-22

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CN201780075806.9A Active CN110072483B (zh) 2016-12-07 2017-12-06 对依赖性外科手术机器人臂的自动运动控制

Country Status (5)

Country Link
US (2) US11344379B2 (https=)
EP (1) EP3551116A1 (https=)
JP (3) JP7550513B2 (https=)
CN (1) CN110072483B (https=)
WO (1) WO2018104376A1 (https=)

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CN112368116B (zh) * 2018-06-15 2025-03-21 优傲机器人公司 附接到机器人臂的有效载荷的估计
CN112839608B (zh) 2018-10-15 2025-07-04 马佐尔机器人有限公司 多功能多臂机器人手术系统
EP4031052A1 (en) * 2019-09-19 2022-07-27 Auris Health, Inc. Coordinated movements of robotic tools
CN114073585B (zh) * 2020-08-19 2025-09-16 北京术锐机器人股份有限公司 机器人系统以及控制方法
JP2023533919A (ja) 2020-08-19 2023-08-07 北京術鋭機器人股▲ふん▼有限公司 ロボットシステムおよび制御方法
EP4201606A4 (en) * 2020-08-19 2024-08-28 Beijing Surgerii Robotics Company Limited ROBOT SYSTEM AND ASSOCIATED CONTROL METHOD
CN114073586B (zh) * 2020-08-19 2025-09-16 北京术锐机器人股份有限公司 机器人系统以及控制方法
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
US12508085B2 (en) 2021-02-04 2025-12-30 Mazor Robotics Ltd. Systems, methods, and devices for verifying mechanical coupling between anatomical elements
CN114378819B (zh) * 2022-01-18 2022-07-26 上海健康医学院 一种消化内镜微创手术机器人主从手控制方法和装置
JP2024136832A (ja) * 2023-03-24 2024-10-04 本田技研工業株式会社 操作制御装置、操作制御システム、操作制御方法、およびプログラム

Citations (1)

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CN106132335A (zh) * 2014-03-17 2016-11-16 直观外科手术操作公司 控制手术装配结构中的欠驱动关节的运动的方法

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US9345544B2 (en) 1999-09-17 2016-05-24 Intuitive Surgical Operations, Inc. Systems and methods for avoiding collisions between manipulator arms using a null-space
US8551114B2 (en) 2006-11-06 2013-10-08 Human Robotics S.A. De C.V. Robotic surgical device
EP2244784A2 (en) 2008-01-30 2010-11-03 The Trustees of Columbia University in the City of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
US8340820B2 (en) * 2010-02-26 2012-12-25 Agilent Technologies, Inc. Robot arm and method of controlling robot arm to avoid collisions
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
US9439556B2 (en) 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
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DE102013100605A1 (de) * 2013-01-22 2014-07-24 Rg Mechatronics Gmbh Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie
CN105992568B (zh) 2014-02-12 2018-06-08 皇家飞利浦有限公司 手术仪器可见性的机器人控制
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Also Published As

Publication number Publication date
JP7550513B2 (ja) 2024-09-13
JP7815293B2 (ja) 2026-02-17
JP2024156769A (ja) 2024-11-06
US12396811B2 (en) 2025-08-26
EP3551116A1 (en) 2019-10-16
JP2020510455A (ja) 2020-04-09
WO2018104376A1 (en) 2018-06-14
CN110072483A (zh) 2019-07-30
US20220280252A1 (en) 2022-09-08
US20190307519A1 (en) 2019-10-10
JP2024045226A (ja) 2024-04-02
US11344379B2 (en) 2022-05-31

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