CN112789006A - 在操纵机器人系统的用户输入控制装置期间监测执行 - Google Patents

在操纵机器人系统的用户输入控制装置期间监测执行 Download PDF

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Publication number
CN112789006A
CN112789006A CN201980065319.3A CN201980065319A CN112789006A CN 112789006 A CN112789006 A CN 112789006A CN 201980065319 A CN201980065319 A CN 201980065319A CN 112789006 A CN112789006 A CN 112789006A
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CN
China
Prior art keywords
user
input device
data
robotic system
processor unit
Prior art date
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Pending
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CN201980065319.3A
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English (en)
Chinese (zh)
Inventor
卢克·戴维·罗纳德·黑尔斯
保罗·克里斯多夫·罗伯茨
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CMR Surgical Ltd
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CMR Surgical Ltd
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Publication of CN112789006A publication Critical patent/CN112789006A/zh
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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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • 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
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0531—Measuring skin impedance
    • A61B5/0533—Measuring galvanic skin response
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue
    • A61B5/14542—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue for measuring blood gases
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (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)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN201980065319.3A 2018-10-03 2019-10-03 在操纵机器人系统的用户输入控制装置期间监测执行 Pending CN112789006A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1816167.9 2018-10-03
GB1816167.9A GB2577717B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system
PCT/GB2019/052792 WO2020070501A1 (en) 2018-10-03 2019-10-03 Monitoring performance during manipulation of user input control device of robotic system

Publications (1)

Publication Number Publication Date
CN112789006A true CN112789006A (zh) 2021-05-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980065319.3A Pending CN112789006A (zh) 2018-10-03 2019-10-03 在操纵机器人系统的用户输入控制装置期间监测执行

Country Status (6)

Country Link
US (1) US20210346109A1 (https=)
EP (1) EP3860498A1 (https=)
JP (2) JP2022514450A (https=)
CN (1) CN112789006A (https=)
GB (1) GB2577717B (https=)
WO (1) WO2020070501A1 (https=)

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CN113779533A (zh) * 2021-08-27 2021-12-10 上海微创医疗机器人（集团）股份有限公司 用于医用机器人的操作者身份识别方法、装置和系统
CN114081631A (zh) * 2021-11-18 2022-02-25 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
CN115444565A (zh) * 2022-08-22 2022-12-09 北京长木谷医疗科技有限公司 手术机器人系统及其执行末端的反馈控制系统和方法

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JP7835164B2 (ja) * 2020-06-12 2026-03-25 コーニンクレッカ フィリップス エヌ ヴェ ツール及びユーザの相互作用力に基づく協働ロボット制御パラメータの自動選択
EP4360581A3 (en) * 2020-07-28 2024-07-31 Forsight Robotics Ltd. Robotic system for microsurgical procedures
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
CN116113892A (zh) * 2020-08-24 2023-05-12 发那科株式会社 电动机的控制装置、机械系统以及控制方法
DE102020134626A1 (de) * 2020-12-22 2022-06-23 avateramedical GmBH Robotisches Operationssystem und Verfahren zu seiner Steuerung
FR3117997A1 (fr) * 2020-12-22 2022-06-24 Safran Electronics & Defense Interface homme-machine, notamment pour un véhicule ou pour un dispositif.
CN117323018A (zh) * 2021-04-27 2024-01-02 深圳市精锋医疗科技股份有限公司 输入装置及手术机器人
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US12358136B2 (en) * 2021-06-30 2025-07-15 Cilag Gmbh International Grasping work determination and indications thereof
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KR102705819B1 (ko) * 2022-03-02 2024-09-11 광운대학교 산학협력단 인간-로봇 협업 상태 관측 방법, 이를 수행하는 장치 및 컴퓨터 프로그램
JP2025509980A (ja) * 2022-03-24 2025-04-11 オーリス ヘルス インコーポレイテッド モータを動的に停止させる方法
DE102022118330A1 (de) 2022-07-21 2024-02-01 Karl Storz Se & Co. Kg System mit einem medizinischen Operationsinstrument, einer Datenerfassungsvorrichtung und einer Datenverarbeitungseinrichtung
TWI825969B (zh) * 2022-09-01 2023-12-11 遊戲橘子數位科技股份有限公司 手術機器人之結構
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Publication number Priority date Publication date Assignee Title
CN113779533A (zh) * 2021-08-27 2021-12-10 上海微创医疗机器人（集团）股份有限公司 用于医用机器人的操作者身份识别方法、装置和系统
CN113779533B (zh) * 2021-08-27 2024-05-14 上海微创医疗机器人（集团）股份有限公司 用于医用机器人的操作者身份识别方法、装置和系统
CN114081631A (zh) * 2021-11-18 2022-02-25 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
CN114081631B (zh) * 2021-11-18 2024-05-03 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
CN115444565A (zh) * 2022-08-22 2022-12-09 北京长木谷医疗科技有限公司 手术机器人系统及其执行末端的反馈控制系统和方法
CN115444565B (zh) * 2022-08-22 2024-01-30 北京长木谷医疗科技股份有限公司 手术机器人系统及其执行末端的反馈控制系统和方法

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WO2020070501A1 (en) 2020-04-09
GB2577717B (en) 2023-06-21
US20210346109A1 (en) 2021-11-11
EP3860498A1 (en) 2021-08-11
GB2577717A (en) 2020-04-08
JP2022186798A (ja) 2022-12-15
JP2022514450A (ja) 2022-02-14

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