CN112932676B - 用于管理多个零空间目标和饱和sli行为的系统和方法 - Google Patents

用于管理多个零空间目标和饱和sli行为的系统和方法 Download PDF

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Publication number
CN112932676B
CN112932676B CN202110307020.3A CN202110307020A CN112932676B CN 112932676 B CN112932676 B CN 112932676B CN 202110307020 A CN202110307020 A CN 202110307020A CN 112932676 B CN112932676 B CN 112932676B
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moves
joints
joint
move
targets
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CN112932676A (zh
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A·乌尔塔斯
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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
    • 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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • B25J9/1679—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • G05B2219/39079—Solve inverse differential kinematics in closed, feedback loop, iterate
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41405—Inverse kinematic, dynamic

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (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)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN202110307020.3A 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法 Active CN112932676B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361800810P 2013-03-15 2013-03-15
US61/800,810 2013-03-15
CN201480014809.8A CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
PCT/US2014/031055 WO2014146095A1 (en) 2013-03-15 2014-03-18 System and methods for managing multiple null-space objectives and sli behaviors

Related Parent Applications (1)

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CN201480014809.8A Division CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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CN112932676A CN112932676A (zh) 2021-06-11
CN112932676B true CN112932676B (zh) 2025-01-21

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CN202110307020.3A Active CN112932676B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN201480014809.8A Active CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN201811194748.4A Active CN109171975B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN202411935041.XA Pending CN119745519A (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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CN201480014809.8A Active CN105120788B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN201811194748.4A Active CN109171975B (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法
CN202411935041.XA Pending CN119745519A (zh) 2013-03-15 2014-03-18 用于管理多个零空间目标和饱和sli行为的系统和方法

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US (3) US10513031B2 (https=)
EP (2) EP2969407B1 (https=)
JP (3) JP6423853B2 (https=)
KR (3) KR102285954B1 (https=)
CN (4) CN112932676B (https=)
WO (1) WO2014146095A1 (https=)

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US20200061813A1 (en) 2020-02-27
KR20210098549A (ko) 2021-08-10
CN109171975A (zh) 2019-01-11
CN105120788A (zh) 2015-12-02
KR20150132326A (ko) 2015-11-25
KR102164195B1 (ko) 2020-10-12
US20220032453A1 (en) 2022-02-03
JP2019048084A (ja) 2019-03-28
KR20200116544A (ko) 2020-10-12
KR102285954B1 (ko) 2021-08-05
KR102391773B1 (ko) 2022-04-28
US20180243906A1 (en) 2018-08-30
US11173598B2 (en) 2021-11-16
US11602840B2 (en) 2023-03-14
CN119745519A (zh) 2025-04-04
WO2014146095A1 (en) 2014-09-18
EP4115839A1 (en) 2023-01-11
EP2969407B1 (en) 2022-11-02
CN109171975B (zh) 2021-04-09
EP2969407A1 (en) 2016-01-20
JP6585265B2 (ja) 2019-10-02
JP2016514492A (ja) 2016-05-23
CN105120788B (zh) 2018-10-16
US10513031B2 (en) 2019-12-24
JP2020000904A (ja) 2020-01-09
CN112932676A (zh) 2021-06-11
JP6423853B2 (ja) 2018-11-14
JP6793797B2 (ja) 2020-12-02

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