CN115334995A - 外科机器人的控制系统 - Google Patents

外科机器人的控制系统 Download PDF

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Publication number
CN115334995A
CN115334995A CN202180025531.4A CN202180025531A CN115334995A CN 115334995 A CN115334995 A CN 115334995A CN 202180025531 A CN202180025531 A CN 202180025531A CN 115334995 A CN115334995 A CN 115334995A
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CN
China
Prior art keywords
torque
force
robotic arm
control system
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
CN202180025531.4A
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English (en)
Chinese (zh)
Inventor
爱德华·约翰·莫特拉姆
爱德华·詹姆斯·艾尔丁·塔克
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.)
CMR Surgical Ltd
Original Assignee
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 CN115334995A publication Critical patent/CN115334995A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • G05B2219/40174—Robot teleoperation through internet
    • 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
    • G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (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)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN202180025531.4A 2020-03-31 2021-03-29 外科机器人的控制系统 Pending CN115334995A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2004752.8 2020-03-31
GB2004752.8A GB2593739B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
PCT/GB2021/050768 WO2021198664A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Publications (1)

Publication Number Publication Date
CN115334995A true CN115334995A (zh) 2022-11-11

Family

ID=70553238

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180025531.4A Pending CN115334995A (zh) 2020-03-31 2021-03-29 外科机器人的控制系统

Country Status (6)

Country Link
US (1) US20230150128A1 (enExample)
EP (1) EP4125679A1 (enExample)
JP (1) JP2023519734A (enExample)
CN (1) CN115334995A (enExample)
GB (1) GB2593739B (enExample)
WO (1) WO2021198664A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120245007A (zh) * 2025-06-04 2025-07-04 首都医科大学附属北京积水潭医院 一种手术机器人术中患者侧力估计方法

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* Cited by examiner, † Cited by third party
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CN113084828B (zh) * 2021-04-02 2022-11-11 上海电气集团股份有限公司 一种运动控制方法、装置、设备和存储介质
CN115957006B (zh) * 2021-10-09 2026-03-31 术锐(上海)科技有限公司 基于姿态确定可形变机械臂的外部受力的方法及机器人系统
DE102022200943B3 (de) * 2022-01-28 2023-05-11 Kuka Deutschland Gmbh Steuern eines Teleroboters
CN118900753A (zh) * 2022-02-03 2024-11-05 株式会社安川电机 机器人系统以及传感方法
CN114469354B (zh) * 2022-04-13 2022-06-24 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端初始化方法和可读存储介质
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system
CN117653343B (zh) * 2023-11-13 2024-12-17 北京长木谷医疗科技股份有限公司 一种手术机器人智能动力控制方法及装置
CN121403417B (zh) * 2025-12-30 2026-04-21 知行机器人科技（苏州）有限公司 一种基于深度学习的机器人精密力控方法及系统

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US20180161115A1 (en) * 2013-03-14 2018-06-14 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices Relating to Force Control Surgical Systems
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL
US20190202066A1 (en) * 2017-12-31 2019-07-04 Transenterix Surgical, Inc. Force based gesture control of a robotic surgical manipulator

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JP4054984B2 (ja) * 2001-12-20 2008-03-05 株式会社安川電機 ロボットの制御装置および制御方法
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DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
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KR102374441B1 (ko) * 2014-03-17 2022-03-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법
JP6540810B2 (ja) * 2015-08-10 2019-07-10 富士通株式会社 ハンド力覚計測装置、ハンド力覚計測方法、及びハンド力覚計測プログラム
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US20180161115A1 (en) * 2013-03-14 2018-06-14 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices Relating to Force Control Surgical Systems
US20180008359A1 (en) * 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL
US20190202066A1 (en) * 2017-12-31 2019-07-04 Transenterix Surgical, Inc. Force based gesture control of a robotic surgical manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120245007A (zh) * 2025-06-04 2025-07-04 首都医科大学附属北京积水潭医院 一种手术机器人术中患者侧力估计方法
CN120245007B (zh) * 2025-06-04 2025-08-26 首都医科大学附属北京积水潭医院 一种手术机器人术中患者侧力估计方法

Also Published As

Publication number Publication date
GB202004752D0 (en) 2020-05-13
EP4125679A1 (en) 2023-02-08
US20230150128A1 (en) 2023-05-18
JP2023519734A (ja) 2023-05-12
GB2593739A (en) 2021-10-06
GB2593739B (en) 2024-09-18
WO2021198664A1 (en) 2021-10-07

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