CN112890954A - 机械臂运动控制方法、系统及外科手术系统 - Google Patents
机械臂运动控制方法、系统及外科手术系统 Download PDFInfo
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- CN112890954A CN112890954A CN202011631377.9A CN202011631377A CN112890954A CN 112890954 A CN112890954 A CN 112890954A CN 202011631377 A CN202011631377 A CN 202011631377A CN 112890954 A CN112890954 A CN 112890954A
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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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
- A61B17/158—Cutting patella
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1764—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the knee
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
-
- 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
- A61B34/70—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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
- A61B2034/2055—Optical tracking 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B2034/258—User interfaces for surgical systems providing specific settings for specific users
-
- 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
- A61B2034/742—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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/743—Keyboards
-
- 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
- A61B2034/744—Mouse
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Physical Education & Sports Medicine (AREA)
- Transplantation (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (12)
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011631377.9A CN112890954B (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210798062.6A CN115245385A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210800885.8A CN115245386A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
EP21913065.5A EP4101411A4 (en) | 2020-12-30 | 2021-07-29 | METHOD AND SYSTEM FOR CONTROLLING THE MOVEMENT OF A MECHANICAL ARM AND SURGICAL OPERATION SYSTEM |
PCT/CN2021/109410 WO2022142316A1 (zh) | 2020-12-30 | 2021-07-29 | 机械臂运动控制方法、系统及外科手术系统 |
JP2022548541A JP2023513287A (ja) | 2020-12-30 | 2021-07-29 | ロボットアーム運動制御方法、システム及び外科手術システム |
KR1020227027685A KR20220127287A (ko) | 2020-12-30 | 2021-07-29 | 로봇 암의 운동 제어 방법, 시스템 및 외과 수술 시스템 |
US17/931,874 US20230000576A1 (en) | 2020-12-30 | 2022-09-13 | Motion control method and system for mechanical arm and surgical system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011631377.9A CN112890954B (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210800885.8A Division CN115245386A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210798062.6A Division CN115245385A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112890954A true CN112890954A (zh) | 2021-06-04 |
CN112890954B CN112890954B (zh) | 2022-08-09 |
Family
ID=76111968
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011631377.9A Active CN112890954B (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210798062.6A Pending CN115245385A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210800885.8A Pending CN115245386A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210798062.6A Pending CN115245385A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
CN202210800885.8A Pending CN115245386A (zh) | 2020-12-30 | 2020-12-30 | 机械臂运动控制方法、系统及外科手术系统 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230000576A1 (zh) |
EP (1) | EP4101411A4 (zh) |
JP (1) | JP2023513287A (zh) |
KR (1) | KR20220127287A (zh) |
CN (3) | CN112890954B (zh) |
WO (1) | WO2022142316A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022142316A1 (zh) * | 2020-12-30 | 2022-07-07 | 北京和华瑞博医疗科技有限公司 | 机械臂运动控制方法、系统及外科手术系统 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103549994A (zh) * | 2013-10-23 | 2014-02-05 | 沈阳工业大学 | 微创血管介入手术导管机器人三维模糊控制装置及方法 |
CN106137400A (zh) * | 2016-05-31 | 2016-11-23 | 微创(上海)医疗机器人有限公司 | 用于机械臂的控制系统、控制方法及一种手术机器人 |
CN108697471A (zh) * | 2016-03-02 | 2018-10-23 | 思想外科有限公司 | 自动化的关节成形术规划 |
CN109974584A (zh) * | 2019-04-12 | 2019-07-05 | 山东大学 | 一种辅助激光截骨手术机器人的标定系统及标定方法 |
EP3628207A1 (en) * | 2018-09-25 | 2020-04-01 | Medicaroid Corporation | Surgical system and method of displaying information in the same |
CN111297479A (zh) * | 2019-10-30 | 2020-06-19 | 清华大学 | 一种打钉机器人系统及其打钉控制方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8498744B2 (en) * | 2011-06-30 | 2013-07-30 | Mako Surgical Corporation | Surgical robotic systems with manual and haptic and/or active control modes |
WO2016035086A2 (en) * | 2014-09-04 | 2016-03-10 | Memic Innovative Surgery Ltd. | Device and system including mechanical arms |
US20200261160A1 (en) * | 2017-09-05 | 2020-08-20 | Covidien Lp | Robotic surgical systems and methods and computer-readable media for controlling them |
US11241285B2 (en) * | 2017-11-07 | 2022-02-08 | Mako Surgical Corp. | Robotic system for shoulder arthroplasty using stemless implant components |
US11812924B2 (en) * | 2018-11-02 | 2023-11-14 | Verb Surgical Inc. | Surgical robotic system |
US11497564B2 (en) * | 2019-06-07 | 2022-11-15 | Verb Surgical Inc. | Supervised robot-human collaboration in surgical robotics |
CN111467036B (zh) * | 2020-04-15 | 2023-12-26 | 上海电气集团股份有限公司 | 手术导航系统、髋臼截骨的手术机器人系统及其控制方法 |
CN112890954B (zh) * | 2020-12-30 | 2022-08-09 | 北京和华瑞博医疗科技有限公司 | 机械臂运动控制方法、系统及外科手术系统 |
-
2020
- 2020-12-30 CN CN202011631377.9A patent/CN112890954B/zh active Active
- 2020-12-30 CN CN202210798062.6A patent/CN115245385A/zh active Pending
- 2020-12-30 CN CN202210800885.8A patent/CN115245386A/zh active Pending
-
2021
- 2021-07-29 WO PCT/CN2021/109410 patent/WO2022142316A1/zh unknown
- 2021-07-29 KR KR1020227027685A patent/KR20220127287A/ko unknown
- 2021-07-29 EP EP21913065.5A patent/EP4101411A4/en active Pending
- 2021-07-29 JP JP2022548541A patent/JP2023513287A/ja active Pending
-
2022
- 2022-09-13 US US17/931,874 patent/US20230000576A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103549994A (zh) * | 2013-10-23 | 2014-02-05 | 沈阳工业大学 | 微创血管介入手术导管机器人三维模糊控制装置及方法 |
CN108697471A (zh) * | 2016-03-02 | 2018-10-23 | 思想外科有限公司 | 自动化的关节成形术规划 |
CN106137400A (zh) * | 2016-05-31 | 2016-11-23 | 微创(上海)医疗机器人有限公司 | 用于机械臂的控制系统、控制方法及一种手术机器人 |
EP3628207A1 (en) * | 2018-09-25 | 2020-04-01 | Medicaroid Corporation | Surgical system and method of displaying information in the same |
CN109974584A (zh) * | 2019-04-12 | 2019-07-05 | 山东大学 | 一种辅助激光截骨手术机器人的标定系统及标定方法 |
CN111297479A (zh) * | 2019-10-30 | 2020-06-19 | 清华大学 | 一种打钉机器人系统及其打钉控制方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022142316A1 (zh) * | 2020-12-30 | 2022-07-07 | 北京和华瑞博医疗科技有限公司 | 机械臂运动控制方法、系统及外科手术系统 |
Also Published As
Publication number | Publication date |
---|---|
US20230000576A1 (en) | 2023-01-05 |
WO2022142316A1 (zh) | 2022-07-07 |
EP4101411A4 (en) | 2023-09-20 |
CN112890954B (zh) | 2022-08-09 |
CN115245385A (zh) | 2022-10-28 |
EP4101411A1 (en) | 2022-12-14 |
CN115245386A (zh) | 2022-10-28 |
JP2023513287A (ja) | 2023-03-30 |
KR20220127287A (ko) | 2022-09-19 |
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