CN114376732B - 在控制状态之间的分段力反馈过渡 - Google Patents

在控制状态之间的分段力反馈过渡 Download PDF

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Publication number
CN114376732B
CN114376732B CN202210097011.0A CN202210097011A CN114376732B CN 114376732 B CN114376732 B CN 114376732B CN 202210097011 A CN202210097011 A CN 202210097011A CN 114376732 B CN114376732 B CN 114376732B
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Prior art keywords
haptic feedback
surgical system
control state
teleoperated surgical
feedback profile
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Chinese (zh)
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CN114376732A (zh
Inventor
L·N·维尔纳
H-H·廖
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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
    • A61B34/35—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
    • 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
    • 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
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/045—Control thereof
    • 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
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Surgical Instruments (AREA)
CN202210097011.0A 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡 Active CN114376732B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201662277820P 2016-01-12 2016-01-12
US62/277,820 2016-01-12
PCT/US2017/013237 WO2017123796A1 (en) 2016-01-12 2017-01-12 Staged force feedback transitioning between control states
CN201780006338.XA CN108463183B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

Related Parent Applications (1)

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CN201780006338.XA Division CN108463183B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

Publications (2)

Publication Number Publication Date
CN114376732A CN114376732A (zh) 2022-04-22
CN114376732B true CN114376732B (zh) 2024-12-20

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CN202210097011.0A Active CN114376732B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡
CN201780006338.XA Active CN108463183B (zh) 2016-01-12 2017-01-12 在控制状态之间的分段力反馈过渡

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US (3) US11357587B2 (enExample)
EP (3) EP3834765B1 (enExample)
JP (2) JP7590072B2 (enExample)
KR (2) KR102737289B1 (enExample)
CN (2) CN114376732B (enExample)
WO (1) WO2017123796A1 (enExample)

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CN111759464B (zh) * 2020-06-22 2022-10-21 广东省精格医疗技术有限公司 基于双向反馈的血管机器人的控制系统及方法
JP7690590B2 (ja) 2021-01-14 2025-06-10 シーメンス ヘルシニアーズ エンドバスキュラー ロボティクス インコーポレイテッド 複数の細長い医療デバイスを用いたロボットインターベンション処置の制御ステーションのためのシステム及び方法
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US20230047289A1 (en) * 2021-08-16 2023-02-16 Covidien Lp End effector drive mechanisms for surgical instruments such as for use in robotic surgical systems
JP7811536B2 (ja) * 2022-09-27 2026-02-05 川崎重工業株式会社 操作装置、手術支援システムおよび操作装置の制御方法
WO2025049464A1 (en) * 2023-08-29 2025-03-06 Intuitive Surgical Operations, Inc. Systems and methods for control of a surgical system
KR20250071337A (ko) * 2023-11-14 2025-05-22 재단법인 아산사회복지재단 주사 제어 장치 및 그 동작 방법
JP2026039613A (ja) * 2024-08-23 2026-03-09 川崎重工業株式会社 手術支援システム、操作装置、手術支援システムの制御方法およびプログラム

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KR102737289B1 (ko) 2024-12-04
JP2019503218A (ja) 2019-02-07
KR20250005419A (ko) 2025-01-09
US20230320802A1 (en) 2023-10-12
KR20180094003A (ko) 2018-08-22
US20190015168A1 (en) 2019-01-17
EP3834765A1 (en) 2021-06-16
EP4410230A2 (en) 2024-08-07
US20220331039A1 (en) 2022-10-20
CN108463183B (zh) 2022-02-18
EP3402433A1 (en) 2018-11-21
EP3834765B1 (en) 2024-07-17
JP2023033536A (ja) 2023-03-10
CN108463183A (zh) 2018-08-28
JP7590072B2 (ja) 2024-11-26
CN114376732A (zh) 2022-04-22
US12558181B2 (en) 2026-02-24
EP3402433B1 (en) 2021-03-10
US11701194B2 (en) 2023-07-18
EP4410230A3 (en) 2024-09-04
JP7648104B2 (ja) 2025-03-18
EP3402433A4 (en) 2019-09-11
WO2017123796A1 (en) 2017-07-20
US11357587B2 (en) 2022-06-14

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