CN114599302A - 调节外科机器人臂的关节空间速度 - Google Patents

调节外科机器人臂的关节空间速度 Download PDF

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Publication number
CN114599302A
CN114599302A CN201980101604.6A CN201980101604A CN114599302A CN 114599302 A CN114599302 A CN 114599302A CN 201980101604 A CN201980101604 A CN 201980101604A CN 114599302 A CN114599302 A CN 114599302A
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CN
China
Prior art keywords
joint
space velocity
velocity
new
joint space
Prior art date
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Pending
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CN201980101604.6A
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English (en)
Chinese (zh)
Inventor
于浩然
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.)
Auris Health Inc
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Verb Surgical Inc
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Filing date
Publication date
Application filed by Verb Surgical Inc filed Critical Verb Surgical Inc
Publication of CN114599302A publication Critical patent/CN114599302A/zh
Pending 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
    • A61B34/25—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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Urology & Nephrology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201980101604.6A 2019-10-24 2019-11-18 调节外科机器人臂的关节空间速度 Pending CN114599302A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/663,277 US11229494B2 (en) 2019-10-24 2019-10-24 Regulating joint space velocity of a surgical robotic arm
US16/663277 2019-10-24
PCT/US2019/062059 WO2021080626A1 (en) 2019-10-24 2019-11-18 Regulating joint space velocity of a surgical robotic arm

Publications (1)

Publication Number Publication Date
CN114599302A true CN114599302A (zh) 2022-06-07

Family

ID=75585325

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980101604.6A Pending CN114599302A (zh) 2019-10-24 2019-11-18 调节外科机器人臂的关节空间速度

Country Status (6)

Country Link
US (3) US11229494B2 (https=)
EP (1) EP4048182A4 (https=)
JP (1) JP7625593B2 (https=)
KR (1) KR102871586B1 (https=)
CN (1) CN114599302A (https=)
WO (1) WO2021080626A1 (https=)

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CN119326513A (zh) * 2024-12-03 2025-01-21 敏捷医疗科技(苏州)有限公司 手术臂运动控制方法、程序产品、电子设备及存储介质

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US11406457B2 (en) 2018-08-20 2022-08-09 Verb Surgical Inc. Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
US11229494B2 (en) * 2019-10-24 2022-01-25 Verb Surgical Inc. Regulating joint space velocity of a surgical robotic arm
US12046363B2 (en) 2021-07-02 2024-07-23 Verb Surgical Inc. Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system
US12023117B2 (en) 2021-07-06 2024-07-02 Verb Surgical Inc. Projection of user interface pose command to reduced degree of freedom space for a surgical robot
US12076099B2 (en) 2021-07-06 2024-09-03 Verb Surgical Inc. Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
US12440289B2 (en) 2022-08-01 2025-10-14 Imperative Care, Inc. Method of priming an interventional device assembly
US12419703B2 (en) 2022-08-01 2025-09-23 Imperative Care, Inc. Robotic drive system for achieving supra-aortic access
US20230048388A1 (en) 2021-08-12 2023-02-16 Imperative Care, Inc. Robotically driven interventional device
US12447317B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of priming concentrically stacked interventional devices
US12446979B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of performing a multi catheter robotic neurovascular procedure
US12564458B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of robotically driving a multi catheter assembly above the aortic arch
US12564414B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of supra-aortic access for a neurovascular procedure
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
US20240041480A1 (en) 2022-08-02 2024-02-08 Imperative Care, Inc. Multi catheter system with integrated fluidics management
CN120529878A (zh) 2022-12-01 2025-08-22 因普瑞缇夫护理公司 伸缩驱动台及使用方法
JP2026500623A (ja) 2022-12-01 2026-01-08 インペラティブ ケア インコーポレイテッド ロボットカテーテル駆動システムのための座屈防止デバイス
CN120916725A (zh) 2022-12-01 2025-11-07 因普瑞缇夫护理公司 用于机器人化导管驱动系统的控制器
US20240366291A1 (en) 2023-01-20 2024-11-07 Panacea Spine, LLC Pain treatment using wanding of percutaneous surgical probe over sensory nerve
DE112024000615T5 (de) * 2023-01-23 2025-11-20 Massachusetts Institute Of Technology Steuerungsverfahren und schnittstellen zum steuern von maschinen
US12377206B2 (en) 2023-05-17 2025-08-05 Imperative Care, Inc. Fluidics control system for multi catheter stack
WO2024249670A2 (en) 2023-05-31 2024-12-05 Imperative Care, Inc. Magnetic coupling through a sterile field barrier
USD1119865S1 (en) 2023-11-30 2026-03-24 Imperative Care, Inc. Controller

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CN109419555A (zh) * 2017-08-28 2019-03-05 圣纳普医疗(巴巴多斯)公司 用于外科手术导航系统的定位臂
CN110325093A (zh) * 2017-02-28 2019-10-11 索尼公司 医疗用臂系统、控制装置与控制方法

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CN105050529A (zh) * 2013-03-15 2015-11-11 直观外科手术操作公司 用于使用零空间来各向异性地增强操纵器接头运动的系统和方法
CN110325093A (zh) * 2017-02-28 2019-10-11 索尼公司 医疗用臂系统、控制装置与控制方法
CN109419555A (zh) * 2017-08-28 2019-03-05 圣纳普医疗(巴巴多斯)公司 用于外科手术导航系统的定位臂

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119326513A (zh) * 2024-12-03 2025-01-21 敏捷医疗科技(苏州)有限公司 手术臂运动控制方法、程序产品、电子设备及存储介质

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US20240245477A1 (en) 2024-07-25
KR102871586B1 (ko) 2025-10-17
US11229494B2 (en) 2022-01-25
US11918312B2 (en) 2024-03-05
KR20220082903A (ko) 2022-06-17
EP4048182A4 (en) 2023-10-25
US20210121257A1 (en) 2021-04-29
EP4048182A1 (en) 2022-08-31
WO2021080626A1 (en) 2021-04-29
JP2023510997A (ja) 2023-03-16
JP7625593B2 (ja) 2025-02-03
US12324644B2 (en) 2025-06-10
US20220142724A1 (en) 2022-05-12

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Effective date of registration: 20260409

Address after: California, USA

Applicant after: AURIS SURGICAL ROBOTICS, Inc.

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Address before: California, USA

Applicant before: VERB SURGICAL Inc.

Country or region before: U.S.A.