CN110192919B - 用于保持工具姿态的系统和方法 - Google Patents

用于保持工具姿态的系统和方法 Download PDF

Info

Publication number
CN110192919B
CN110192919B CN201910479431.3A CN201910479431A CN110192919B CN 110192919 B CN110192919 B CN 110192919B CN 201910479431 A CN201910479431 A CN 201910479431A CN 110192919 B CN110192919 B CN 110192919B
Authority
CN
China
Prior art keywords
tool
joint
joints
coordinate frame
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910479431.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN110192919A (zh
Inventor
B·D·伊特科维兹
N·斯瓦鲁普
P·G·格里菲思
G·林奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN110192919A publication Critical patent/CN110192919A/zh
Application granted granted Critical
Publication of CN110192919B publication Critical patent/CN110192919B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • 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
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
CN201910479431.3A 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法 Active CN110192919B (zh)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201461954261P 2014-03-17 2014-03-17
US61/954,261 2014-03-17
US201462024887P 2014-07-15 2014-07-15
US62/024,887 2014-07-15
CN201580014636.4A CN106132345B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法
PCT/US2015/021089 WO2015142943A1 (en) 2014-03-17 2015-03-17 System and method for maintaining a tool pose

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201580014636.4A Division CN106132345B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法

Publications (2)

Publication Number Publication Date
CN110192919A CN110192919A (zh) 2019-09-03
CN110192919B true CN110192919B (zh) 2022-11-25

Family

ID=54145241

Family Applications (4)

Application Number Title Priority Date Filing Date
CN201910479431.3A Active CN110192919B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法
CN201580014636.4A Active CN106132345B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法
CN201580014405.3A Active CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201910500430.2A Active CN110251233B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法

Family Applications After (3)

Application Number Title Priority Date Filing Date
CN201580014636.4A Active CN106132345B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法
CN201580014405.3A Active CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201910500430.2A Active CN110251233B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法

Country Status (6)

Country Link
US (9) US10064689B2 (https=)
EP (4) EP3119333B1 (https=)
JP (5) JP6537523B2 (https=)
KR (6) KR102541266B1 (https=)
CN (4) CN110192919B (https=)
WO (2) WO2015142943A1 (https=)

Families Citing this family (74)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6512216B2 (ja) * 2014-03-14 2019-05-15 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
CN110192919B (zh) 2014-03-17 2022-11-25 直观外科手术操作公司 用于保持工具姿态的系统和方法
CN107072864B (zh) 2014-10-27 2019-06-14 直观外科手术操作公司 用于配准到手术台的系统及方法
KR102655083B1 (ko) * 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
WO2016069659A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for instrument disturbance compensation
EP3741345A1 (en) 2014-10-27 2020-11-25 Intuitive Surgical Operations, Inc. System for integrated surgical table motion
KR102479287B1 (ko) 2014-10-27 2022-12-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
EP4541305A3 (en) 2014-10-27 2025-07-30 Intuitive Surgical Operations, Inc. System and method for integrated surgical table
TR201511033A2 (tr) * 2015-09-04 2017-03-21 Melih Cakmakci Bir hareket sistemi.
JP2017104451A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
DE102015225183B4 (de) * 2015-12-15 2022-09-15 Carl Zeiss Meditec Ag Medizinische Vorrichtung mit einem medizinisch-optischen Gerät und einer Haltevorrichtung und Verfahren zum Betrieb der medizinischen Vorrichtung
JP6657933B2 (ja) * 2015-12-25 2020-03-04 ソニー株式会社 医療用撮像装置及び手術ナビゲーションシステム
WO2017127202A1 (en) 2016-01-20 2017-07-27 Intuitive Surgical Operations, Inc. System and method for rapid halt and recovery of motion deviations in medical device repositionable arms
EP4233759A3 (en) 2016-01-29 2023-10-04 Intuitive Surgical Operations, Inc. System for variable velocity surgical instrument
EP3419544A4 (en) 2016-02-26 2019-10-23 Think Surgical, Inc. METHOD AND SYSTEM FOR MANAGING THE USER POSITIONING OF A ROBOT
US11103990B2 (en) 2016-09-16 2021-08-31 Mobius Imaging Llc System and method for mounting a robotic arm in a surgical robotic system
CN109310473B (zh) 2016-09-19 2023-02-17 直观外科手术操作公司 用于可控臂的基部定位系统以及相关方法
JP7076447B2 (ja) 2016-11-24 2022-05-27 ユニヴァーシティ オブ ワシントン ヘッドマウントディスプレイのための光照射野キャプチャおよびレンダリング
EP3551098B1 (en) 2016-12-08 2024-03-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target cutting plane
WO2018104439A1 (en) 2016-12-08 2018-06-14 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
US11974761B2 (en) 2016-12-08 2024-05-07 Orthotaxy S.A.S. Surgical system for cutting an anatomical structure according to at least one target plane
EP3592276B1 (en) 2017-03-07 2024-05-01 Intuitive Surgical Operations, Inc. Systems for controlling tool with articulatable distal portion
CN107374727B (zh) * 2017-07-28 2019-10-22 重庆金山医疗器械有限公司 一种微创外科手术机器人简化运动学模型的建模方法
CN107389011A (zh) * 2017-09-01 2017-11-24 凯里市浪金科技有限责任公司 一种可多方位测量的坐标测量装置
EP3703604B1 (en) 2017-10-30 2025-08-06 Intuitive Surgical Operations, Inc. Systems for guided port placement selection
CN108210070B (zh) * 2017-12-29 2020-04-10 微创（上海）医疗机器人有限公司 机械臂及其工作方法与手术机器人
CN110269685B (zh) * 2018-03-14 2021-02-19 深圳市精锋医疗科技有限公司 微创手术的连接组件、操作臂、从操作设备及手术机器人
CN108338841B (zh) * 2018-04-17 2021-03-23 成都博恩思医学机器人有限公司 一种腹腔镜手术持镜机器人系统
WO2019218157A1 (zh) * 2018-05-15 2019-11-21 深圳市亚泰光电技术有限公司 内窥镜转向调节方法及内窥镜
CN109124773A (zh) * 2018-06-25 2019-01-04 深圳市精锋医疗科技有限公司 机械臂
CN109124772A (zh) * 2018-06-25 2019-01-04 深圳市精锋医疗科技有限公司 从操作设备
CN109223183A (zh) * 2018-09-30 2019-01-18 深圳市精锋医疗科技有限公司 手术机器人的启动方法、可读取存储器及手术机器人
CN109316235B (zh) * 2018-10-10 2021-04-30 江西欧德医疗器材有限公司 一种智能骨针操控系统及使用方法
WO2020150707A1 (en) 2019-01-18 2020-07-23 Norgren Automation Solutions, Llc Method and apparatus for automated transforming tooling systems
JP7153335B2 (ja) 2019-01-29 2022-10-14 リバーフィールド株式会社 手術支援装置
US12096998B2 (en) 2019-03-29 2024-09-24 Intuitive Surgical Operations, Inc. Reducing energy buildup in servo-controlled mechanisms
KR102150495B1 (ko) * 2019-04-26 2020-09-01 주식회사 골프존 스윙머신 및 그 제어방법
WO2020223569A1 (en) 2019-05-01 2020-11-05 Intuitive Surgical Operations, Inc. System and method for integrated motion with an imaging device
CN112272806A (zh) * 2019-08-13 2021-01-26 深圳市大疆创新科技有限公司 云台控制方法、装置、云台和存储介质
CN110559083B (zh) * 2019-09-10 2020-08-25 深圳市精锋医疗科技有限公司 手术机器人及其末端器械的控制方法、控制装置
WO2021112228A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 手術ロボット、手術システム及び制御方法
JP7402894B2 (ja) * 2019-12-05 2023-12-21 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法
CN111035452B (zh) * 2019-12-27 2021-07-02 苏州微创畅行机器人有限公司 定位工具、机械臂系统、手术系统以及注册配准方法
JP6892707B1 (ja) * 2020-02-20 2021-06-23 リバーフィールド株式会社 手術支援装置
GB2624133B (en) 2020-02-25 2024-12-25 Cmr Surgical Ltd Controlling movement of a surgical robot arm
CN111256633B (zh) * 2020-03-17 2021-11-09 上海奥朋医疗科技有限公司 手术病床的跟踪测量机械臂装置
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
US10949986B1 (en) 2020-05-12 2021-03-16 Proprio, Inc. Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
CN115697241A (zh) 2020-06-16 2023-02-03 直观外科手术操作公司 用于在计算机辅助系统中选择性的关节浮动的技术
WO2022009528A1 (ja) * 2020-07-09 2022-01-13 ソニーグループ株式会社 医療用アーム装置
WO2022046787A1 (en) * 2020-08-28 2022-03-03 Intuitive Surgical Operations, Inc. Method and system for coordinated multiple-tool movement using a drivable assembly
CN112171640B (zh) * 2020-09-29 2022-05-27 广州优尼冲压有限公司 生产器件配件用的机械手抓取结构
WO2022070001A1 (en) * 2020-09-30 2022-04-07 Auris Health, Inc. Guided coordinated bed motion for intra-operative patient positioning in robotic surgery
AU2021356662A1 (en) 2020-10-07 2023-06-15 Canary Medical Switzerland Ag Providing medical devices with sensing functionality
AU2021371301A1 (en) 2020-10-30 2023-06-15 Mako Surgical Corp. Robotic surgical system with cut selection logic
CN112539700B (zh) * 2020-11-26 2022-05-13 上海卓昕医疗科技有限公司 一种基于光学定位的工具标定系统及方法
US20220183767A1 (en) 2020-12-15 2022-06-16 Mako Surgical Corp. Dynamic gap capture and flexion widget
CN112754616B (zh) * 2020-12-30 2022-05-10 诺创智能医疗科技(杭州)有限公司 超声定位穿刺系统和存储介质
CN112957218B (zh) * 2021-01-20 2024-03-22 诺创智能医疗科技(杭州)有限公司 手术床控制方法、手术床控制系统、电子装置和存储介质
TW202235231A (zh) * 2021-03-09 2022-09-16 香港商香港科能有限公司 機器人協同系統及其應用和加工精度評價方法
JP6951812B1 (ja) * 2021-03-31 2021-10-20 国立大学法人 岡山大学 穿刺ロボットの制御装置
CN115429440B (zh) * 2021-06-02 2026-01-02 上海微创医疗机器人（集团）股份有限公司 术中不动点的调整方法、可读存储介质及手术机器人系统
USD1044829S1 (en) 2021-07-29 2024-10-01 Mako Surgical Corp. Display screen or portion thereof with graphical user interface
US12261988B2 (en) 2021-11-08 2025-03-25 Proprio, Inc. Methods for generating stereoscopic views in multicamera systems, and associated devices and systems
CN114098954B (zh) * 2021-11-11 2023-06-16 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人
CN114129266B (zh) * 2021-11-11 2024-05-14 深圳市精锋医疗科技股份有限公司 保持rc点不变的方法、机械臂、设备、机器人和介质
CN114469355A (zh) * 2021-12-29 2022-05-13 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人及保持rc点不变的方法
WO2023177785A1 (en) 2022-03-17 2023-09-21 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
CN115139299B (zh) * 2022-06-06 2025-07-11 佗道医疗科技有限公司 一种保持末端工具位姿的方法
CN114888810B (zh) * 2022-06-06 2024-02-06 佗道医疗科技有限公司 一种末端仪器的防碰撞方法
GB2621578B (en) * 2022-08-15 2024-09-25 Cmr Surgical Ltd Controlling a surgical robot arm whilst entering a sleep mode
CN118141524B (zh) * 2024-03-28 2024-09-27 北京纳通医用机器人科技有限公司 目标工具的安装状态确定方法、装置、设备及介质
CN121199594B (zh) * 2025-09-30 2026-03-03 安徽鲲鹏装备模具制造有限公司 一种自动快速安全插管装置及方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004010332B3 (de) * 2004-02-25 2005-10-20 Aesculap Ag & Co Kg Chirurgische Haltevorrichtung
CN101106952A (zh) * 2005-01-24 2008-01-16 直观外科手术公司 机器人手术的模块化机械手支架
CN101227870A (zh) * 2005-05-19 2008-07-23 直观外科手术公司 用于外科手术及其它应用的软件中心和高度可配置的机器人系统
CN101421080A (zh) * 2006-02-03 2009-04-29 欧洲原子能共同体由欧洲委员会代表 具有柱面坐标类型的操作器臂的医疗机器人系统
CN103533909A (zh) * 2011-05-13 2014-01-22 直观外科手术操作公司 用于控制工具运动的标架的位置和定向的估计

Family Cites Families (86)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1006468A (en) 1911-01-09 1911-10-24 Leonard H Des Isles Fastener for railway-rails.
US1007093A (en) 1911-01-25 1911-10-31 Firm Of Sprague Warner & Company Machine for treating coffee-beans.
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
JP2568769B2 (ja) 1991-09-12 1997-01-08 株式会社日立製作所 吸収冷凍機
JPH0699372A (ja) * 1992-09-21 1994-04-12 Toyoda Mach Works Ltd ロボット制御装置
GB9300403D0 (en) * 1993-01-11 1993-03-03 Huissoon Jan P Dynamic seam tracking with redundant axes control
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6246200B1 (en) * 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US9492235B2 (en) * 1999-09-17 2016-11-15 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US8271130B2 (en) 2009-03-09 2012-09-18 Intuitive Surgical Operations, Inc. Master controller having redundant degrees of freedom and added forces to create internal motion
US9510911B2 (en) 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
JP4353668B2 (ja) * 1999-12-23 2009-10-28 ヒル−ロム サービシズ，インコーポレイテッド 手術シアターシステム
US7747312B2 (en) * 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US7206627B2 (en) * 2002-03-06 2007-04-17 Z-Kat, Inc. System and method for intra-operative haptic planning of a medical procedure
US8160205B2 (en) * 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US9072535B2 (en) * 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US20060025668A1 (en) 2004-08-02 2006-02-02 Peterson Thomas H Operating table with embedded tracking technology
JP2006099474A (ja) * 2004-09-29 2006-04-13 Fanuc Ltd ロボットの軌跡制御方法
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
JP2008541797A (ja) * 2005-05-03 2008-11-27 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
US9789608B2 (en) * 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US7962192B2 (en) 2005-09-30 2011-06-14 Restoration Robotics, Inc. Systems and methods for aligning a tool with a desired location or object
US7819859B2 (en) * 2005-12-20 2010-10-26 Intuitive Surgical Operations, Inc. Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
KR101296220B1 (ko) * 2005-12-30 2013-08-13 인튜어티브 서지컬 인코포레이티드 모듈식 힘센서
WO2007087351A2 (en) * 2006-01-24 2007-08-02 Carnegie Mellon University Method, apparatus, and system for computer-aided tracking, navigation, and motion teaching
CN101680743B (zh) * 2007-03-05 2012-05-02 绝对机器人技术有限公司 确定位置
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
CA2690808C (en) * 2007-07-12 2016-09-27 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
WO2009034957A1 (ja) * 2007-09-14 2009-03-19 Kabushiki Kaisha Yaskawa Denki ロボットの力制御方法、制御装置およびロボットシステム
US8400094B2 (en) 2007-12-21 2013-03-19 Intuitive Surgical Operations, Inc. Robotic surgical system with patient support
FR2930472B1 (fr) * 2008-04-24 2010-08-13 Univ Havre Robot manipulateur et commande associee pour un positionnement fin de l'extremite terminale
DE102008041602B4 (de) * 2008-08-27 2015-07-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter und Verfahren zum Steuern eines Roboters
JP5475262B2 (ja) * 2008-10-01 2014-04-16 テルモ株式会社 医療用マニピュレータ
US8483800B2 (en) 2008-11-29 2013-07-09 General Electric Company Surgical navigation enabled imaging table environment
EP2376175B1 (en) * 2008-12-12 2019-01-30 Corindus, Inc. Remote catheter procedure system
DE102009023307A1 (de) * 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
US8423186B2 (en) 2009-06-30 2013-04-16 Intuitive Surgical Operations, Inc. Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9285246B2 (en) * 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
CN102770060B (zh) * 2010-03-17 2015-03-25 奥林巴斯医疗株式会社 内窥镜系统
US20140330288A1 (en) * 2010-03-25 2014-11-06 Precision Automation And Robotics India Ltd. Articulating Arm for a Robotic Surgical Instrument System
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
US20130190726A1 (en) * 2010-04-30 2013-07-25 Children's Medical Center Corporation Motion compensating catheter device
US8746252B2 (en) 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
EP2688717B1 (en) * 2011-03-23 2023-10-18 SRI International Dexterous telemanipulator system
WO2012166807A1 (en) * 2011-05-31 2012-12-06 Intuitive Surgical Operations, Inc. Surgical instrument with motor
MX343142B (es) * 2011-09-28 2016-10-26 Universal Robots As Calibracion y programacion de robots.
US20130085510A1 (en) 2011-09-30 2013-04-04 Ethicon Endo-Surgery, Inc. Robot-mounted surgical tables
JP5856817B2 (ja) * 2011-11-16 2016-02-10 オリンパス株式会社 医療用処置具およびこれを備えるマニピュレータ
WO2013175553A1 (ja) * 2012-05-21 2013-11-28 株式会社安川電機 ロボット
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
EP2854690B1 (en) 2012-06-01 2020-04-01 Intuitive Surgical Operations, Inc. Systems for commanded reconfiguration of a surgical manipulator using the null-space
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
JP6310455B2 (ja) * 2012-08-02 2018-04-11 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット遠隔運動中心のコントローラ定義
US9770305B2 (en) * 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
EP2882331A4 (en) * 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
EP2884933B1 (en) * 2012-08-15 2020-10-07 Intuitive Surgical Operations, Inc. User initiated break-away clutching of a surgical mounting platform
CN104717935B (zh) 2012-08-15 2018-04-06 直观外科手术操作公司 利用零空间取消关节运动的系统
JP6250673B2 (ja) * 2012-08-15 2017-12-20 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 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
CN105073055B (zh) * 2013-02-15 2018-02-06 直观外科手术操作公司 用于手术器械的近端控制的系统和方法
CN104994804B (zh) 2013-02-25 2017-07-04 奥林巴斯株式会社 手术工具保持装置、内窥镜和医疗系统
US9057600B2 (en) * 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
CN105338920B (zh) 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法
JP6423853B2 (ja) 2013-03-15 2018-11-14 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 ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
CN105050526B (zh) 2013-03-15 2018-06-01 直观外科手术操作公司 利用零空间以便利进入笛卡尔坐标空间的边缘的系统和方法
CA2905968A1 (en) * 2013-03-15 2014-09-25 Sri International Hyperdexterous surgical system
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
EP2969403B1 (en) 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
JP2016512733A (ja) 2013-03-15 2016-05-09 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 マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
KR101413406B1 (ko) 2013-04-01 2014-06-27 한국과학기술원 접촉 토크 측정 장치, 수술 로봇 및 이를 구비하는 수술 로봇 시스템
JP6157258B2 (ja) * 2013-07-26 2017-07-05 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
WO2015052629A1 (en) * 2013-10-07 2015-04-16 Srivastava Sudhir Prem Modular interface for a robotic system
JP5980764B2 (ja) * 2013-11-29 2016-08-31 オリンパス株式会社 術具
WO2015116282A1 (en) * 2014-01-31 2015-08-06 Covidien Lp Interfaces for surgical systems
KR102360482B1 (ko) 2014-03-17 2022-02-10 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격 수술용 수술대 합치를 위한 방법 및 장치
CN110192919B (zh) 2014-03-17 2022-11-25 直观外科手术操作公司 用于保持工具姿态的系统和方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004010332B3 (de) * 2004-02-25 2005-10-20 Aesculap Ag & Co Kg Chirurgische Haltevorrichtung
CN101106952A (zh) * 2005-01-24 2008-01-16 直观外科手术公司 机器人手术的模块化机械手支架
CN101227870A (zh) * 2005-05-19 2008-07-23 直观外科手术公司 用于外科手术及其它应用的软件中心和高度可配置的机器人系统
CN101421080A (zh) * 2006-02-03 2009-04-29 欧洲原子能共同体由欧洲委员会代表 具有柱面坐标类型的操作器臂的医疗机器人系统
CN103533909A (zh) * 2011-05-13 2014-01-22 直观外科手术操作公司 用于控制工具运动的标架的位置和定向的估计

Also Published As

Publication number Publication date
EP3868326A1 (en) 2021-08-25
EP3119333B1 (en) 2021-05-05
US11707337B2 (en) 2023-07-25
KR102869641B1 (ko) 2025-10-15
JP2023107953A (ja) 2023-08-03
US20180344417A1 (en) 2018-12-06
JP7297841B2 (ja) 2023-06-26
JP7758280B2 (ja) 2025-10-22
EP3868326B1 (en) 2025-12-31
US20250143823A1 (en) 2025-05-08
EP4678130A3 (en) 2026-04-08
KR20210151244A (ko) 2021-12-13
EP4678130A2 (en) 2026-01-14
KR102703297B1 (ko) 2024-09-06
US20180338808A1 (en) 2018-11-29
EP3119342A4 (en) 2017-11-15
WO2015142947A1 (en) 2015-09-24
US11129684B2 (en) 2021-09-28
EP3119342B1 (en) 2021-05-12
US20210353378A1 (en) 2021-11-18
US10575910B2 (en) 2020-03-03
JP6660302B2 (ja) 2020-03-11
JP2017514542A (ja) 2017-06-08
KR20160133478A (ko) 2016-11-22
KR102397402B1 (ko) 2022-05-13
KR102334980B1 (ko) 2021-12-06
CN110192919A (zh) 2019-09-03
CN106132345A (zh) 2016-11-16
KR102470468B1 (ko) 2022-11-25
US12226179B2 (en) 2025-02-18
JP6961646B2 (ja) 2021-11-05
US10064689B2 (en) 2018-09-04
JP2019141721A (ja) 2019-08-29
KR20220065092A (ko) 2022-05-19
CN106102645B (zh) 2019-06-21
CN106102645A (zh) 2016-11-09
US20230310105A1 (en) 2023-10-05
CN110251233B (zh) 2023-02-03
KR20160132849A (ko) 2016-11-21
EP3119333A4 (en) 2017-12-13
KR102541266B1 (ko) 2023-06-13
US12004833B2 (en) 2024-06-11
US10070931B2 (en) 2018-09-11
JP6537523B2 (ja) 2019-07-03
EP3119333A1 (en) 2017-01-25
WO2015142943A1 (en) 2015-09-24
EP3119342A1 (en) 2017-01-25
US20240277434A1 (en) 2024-08-22
KR20240135068A (ko) 2024-09-10
CN106132345B (zh) 2019-05-31
US20200146764A1 (en) 2020-05-14
US10610316B2 (en) 2020-04-07
CN110251233A (zh) 2019-09-20
US20170172670A1 (en) 2017-06-22
JP2017514543A (ja) 2017-06-08
US20170181806A1 (en) 2017-06-29
JP2022001313A (ja) 2022-01-06
KR20230084610A (ko) 2023-06-13

Similar Documents

Publication Publication Date Title
US12226179B2 (en) System and method for maintaining a tool position and orientation
US12426966B2 (en) System and method for integrated surgical table motion
KR102707904B1 (ko) 기기 교란 보상을 위한 시스템 및 방법
KR102837583B1 (ko) 브레이크 해제가 능동적으로 제어되는 의료 장치

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant