CN114340546A - 医疗臂系统、臂装置和主从系统操作方法 - Google Patents

医疗臂系统、臂装置和主从系统操作方法 Download PDF

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Publication number
CN114340546A
CN114340546A CN202080061672.7A CN202080061672A CN114340546A CN 114340546 A CN114340546 A CN 114340546A CN 202080061672 A CN202080061672 A CN 202080061672A CN 114340546 A CN114340546 A CN 114340546A
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CN
China
Prior art keywords
unit
axis
end effector
arm system
slave device
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.)
Withdrawn
Application number
CN202080061672.7A
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English (en)
Chinese (zh)
Inventor
若菜和仁
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.)
Sony Group Corp
Original Assignee
Sony Group Corp
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 Sony Group Corp filed Critical Sony Group Corp
Publication of CN114340546A publication Critical patent/CN114340546A/zh
Withdrawn legal-status Critical Current

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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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • 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
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/045—Polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN202080061672.7A 2019-09-13 2020-07-28 医疗臂系统、臂装置和主从系统操作方法 Withdrawn CN114340546A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019167725 2019-09-13
JP2019-167725 2019-09-13
PCT/JP2020/028802 WO2021049189A1 (ja) 2019-09-13 2020-07-28 医療用アームシステム、アーム装置、及びマスタースレーブシステムの作動方法

Publications (1)

Publication Number Publication Date
CN114340546A true CN114340546A (zh) 2022-04-12

Family

ID=74866123

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080061672.7A Withdrawn CN114340546A (zh) 2019-09-13 2020-07-28 医疗臂系统、臂装置和主从系统操作方法

Country Status (5)

Country Link
US (1) US20220287784A1 (https=)
EP (1) EP4011565A4 (https=)
JP (1) JPWO2021049189A1 (https=)
CN (1) CN114340546A (https=)
WO (1) WO2021049189A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7818486B2 (ja) * 2022-08-05 2026-02-20 川崎重工業株式会社 手術支援ロボット
CN119074239B (zh) * 2024-11-06 2025-07-15 哈尔滨思哲睿智能医疗设备股份有限公司 腔镜手术机器人的主从控制方法、装置、控制台及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0647428A3 (en) * 1989-11-08 1995-07-12 George S Allen Interactive image-guided surgery system.
US8182469B2 (en) * 1997-11-21 2012-05-22 Intuitive Surgical Operations, Inc. Surgical accessory clamp and method
US8784404B2 (en) * 2009-06-29 2014-07-22 Carefusion 2200, Inc. Flexible wrist-type element and methods of manufacture and use thereof
JP2011172787A (ja) * 2010-02-25 2011-09-08 Olympus Corp 外套管
US9795282B2 (en) * 2011-09-20 2017-10-24 M.S.T. Medical Surgery Technologies Ltd Device and method for maneuvering endoscope
WO2013042107A1 (en) * 2011-09-20 2013-03-28 M.S.T. Medical Surgery Technologies Ltd. A device and method for maneuvering endoscope
JP5769209B2 (ja) * 2013-09-07 2015-08-26 国立大学法人東京工業大学 力覚提示機能を有する操縦システム
WO2017083125A1 (en) * 2015-11-13 2017-05-18 Intuitive Surgical Operations, Inc. Stapler with composite cardan and screw drive
JP6751943B2 (ja) * 2017-04-20 2020-09-09 リバーフィールド株式会社 アーム装置
JP7159579B2 (ja) 2017-11-01 2022-10-25 ソニーグループ株式会社 医療用保持装置、及び医療用アームシステム

Also Published As

Publication number Publication date
WO2021049189A1 (ja) 2021-03-18
US20220287784A1 (en) 2022-09-15
JPWO2021049189A1 (https=) 2021-03-18
EP4011565A1 (en) 2022-06-15
EP4011565A4 (en) 2022-09-28

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Application publication date: 20220412