CN110251233B - 用于与基准靶对准的系统和方法 - Google Patents

用于与基准靶对准的系统和方法 Download PDF

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CN110251233B
CN110251233B CN201910500430.2A CN201910500430A CN110251233B CN 110251233 B CN110251233 B CN 110251233B CN 201910500430 A CN201910500430 A CN 201910500430A CN 110251233 B CN110251233 B CN 110251233B
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joint
link
joints
instrument
computer
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CN110251233A (zh
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N·斯瓦鲁普
P·G·格里菲思
B·D·伊特科维兹
M·哈努斯史克
T·R·尼克松
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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    • 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
    • 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
    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
CN201910500430.2A 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法 Active CN110251233B (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
CN201580014405.3A CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
PCT/US2015/021097 WO2015142947A1 (en) 2014-03-17 2015-03-17 System and method for aligning with a reference target

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CN201580014405.3A Division CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法

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CN110251233A CN110251233A (zh) 2019-09-20
CN110251233B true CN110251233B (zh) 2023-02-03

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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
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
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
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

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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
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
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

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US (9) US10070931B2 (enExample)
EP (4) EP3119333B1 (enExample)
JP (5) JP6660302B2 (enExample)
KR (6) KR102334980B1 (enExample)
CN (4) CN110251233B (enExample)
WO (2) WO2015142947A1 (enExample)

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