CN115151214A - 控制手术机器人臂的运动 - Google Patents

控制手术机器人臂的运动 Download PDF

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Publication number
CN115151214A
CN115151214A CN202180016703.1A CN202180016703A CN115151214A CN 115151214 A CN115151214 A CN 115151214A CN 202180016703 A CN202180016703 A CN 202180016703A CN 115151214 A CN115151214 A CN 115151214A
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CN
China
Prior art keywords
robotic arm
joints
arm
joint
surgical
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.)
Pending
Application number
CN202180016703.1A
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English (en)
Chinese (zh)
Inventor
卢克·戴维·罗纳德·黑尔斯
保罗·克里斯多夫·罗伯茨
戈登·托马斯·迪恩
格雷厄姆·约翰·维奇
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CMR Surgical Ltd
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CMR Surgical Ltd
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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN115151214A publication Critical patent/CN115151214A/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
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
CN202180016703.1A 2020-02-25 2021-02-16 控制手术机器人臂的运动 Pending CN115151214A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2002643.1 2020-02-25
GB2002643.1A GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm
PCT/GB2021/050369 WO2021170973A1 (en) 2020-02-25 2021-02-16 Controlling movement of a surgical robot arm

Publications (1)

Publication Number Publication Date
CN115151214A true CN115151214A (zh) 2022-10-04

Family

ID=70108369

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180016703.1A Pending CN115151214A (zh) 2020-02-25 2021-02-16 控制手术机器人臂的运动

Country Status (9)

Country Link
US (2) US11826116B2 (enExample)
EP (1) EP4110220B1 (enExample)
JP (2) JP2022524743A (enExample)
CN (1) CN115151214A (enExample)
AU (2) AU2021225384B2 (enExample)
BR (1) BR112022016806A2 (enExample)
CL (1) CL2022002318A1 (enExample)
GB (2) GB2592378B (enExample)
WO (1) WO2021170973A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114010318B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种内镜手术器械输送装置、控制方法及机器人系统
US20230092980A1 (en) * 2021-09-22 2023-03-23 Covidien Lp Surgical robotic system setup
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system

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US20100069920A1 (en) * 2008-09-12 2010-03-18 Naylor Michael P Seven or more degrees of freedom robotic manipulator having at least one redundant joint
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US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
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CN105616007A (zh) * 2010-05-14 2016-06-01 直观外科手术操作公司 具有联动式控制模式的医疗机器人系统
CN107921629A (zh) * 2015-07-22 2018-04-17 剑桥医疗机器人技术有限公司 机器人手臂的驱动机构
CN108472028A (zh) * 2016-09-16 2018-08-31 威博外科公司 机器人臂
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法
WO2019204013A1 (en) * 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement
US20190328479A1 (en) * 2016-04-28 2019-10-31 Sony Corporation Control device, control method, and surgical system
CN110418620A (zh) * 2017-03-10 2019-11-05 Cmr外科有限公司 控制手术器械

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WO2015142796A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Tele-operative surgical systems and methods of control at joint limits using inverse kinematics
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CN108524001B (zh) * 2012-08-15 2021-06-29 直观外科手术操作公司 利用零空间取消关节运动的系统
KR102217573B1 (ko) * 2013-03-15 2021-02-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
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EP4184483B1 (en) * 2013-12-20 2024-09-11 Intuitive Surgical Operations, Inc. Simulator system for medical procedure training
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
US20090326324A1 (en) * 2006-07-28 2009-12-31 Universidad De Malaga Robotic system for assisting in minimally-invasive surgery, which can position a surgical instrument in response to orders from a surgeon, is not attached to the operating table and does not require pre-calibration of the insertion point
US20100069920A1 (en) * 2008-09-12 2010-03-18 Naylor Michael P Seven or more degrees of freedom robotic manipulator having at least one redundant joint
CN105616007A (zh) * 2010-05-14 2016-06-01 直观外科手术操作公司 具有联动式控制模式的医疗机器人系统
CN103328160A (zh) * 2011-01-20 2013-09-25 奥林巴斯株式会社 主-从机械手以及医疗用主-从机械手
US20140276951A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Software Configurable Manipulator Degrees of Freedom
CN107921629A (zh) * 2015-07-22 2018-04-17 剑桥医疗机器人技术有限公司 机器人手臂的驱动机构
US20190328479A1 (en) * 2016-04-28 2019-10-31 Sony Corporation Control device, control method, and surgical system
CN108472028A (zh) * 2016-09-16 2018-08-31 威博外科公司 机器人臂
CN110418620A (zh) * 2017-03-10 2019-11-05 Cmr外科有限公司 控制手术器械
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法
WO2019204013A1 (en) * 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement

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Publication number Publication date
CL2022002318A1 (es) 2023-04-10
GB2624133A (en) 2024-05-08
EP4110220B1 (en) 2025-06-25
JP2022524743A (ja) 2022-05-10
US20240050176A1 (en) 2024-02-15
BR112022016806A2 (pt) 2022-10-11
GB2592378A (en) 2021-09-01
WO2021170973A1 (en) 2021-09-02
GB2592378B (en) 2024-04-03
US20210259792A1 (en) 2021-08-26
JP2023175889A (ja) 2023-12-12
GB202002643D0 (en) 2020-04-08
US11826116B2 (en) 2023-11-28
GB2624133B (en) 2024-12-25
AU2024201458A1 (en) 2024-03-21
AU2021225384A1 (en) 2022-09-29
US12295685B2 (en) 2025-05-13
EP4110220A1 (en) 2023-01-04
AU2021225384B2 (en) 2023-12-21

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