CN115334996A - 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
CN115334996A
CN115334996A CN202180025532.9A CN202180025532A CN115334996A CN 115334996 A CN115334996 A CN 115334996A CN 202180025532 A CN202180025532 A CN 202180025532A CN 115334996 A CN115334996 A CN 115334996A
Authority
CN
China
Prior art keywords
torque
robotic arm
control system
surgical
force
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
CN202180025532.9A
Other languages
English (en)
Chinese (zh)
Inventor
爱德华·约翰·莫特拉姆
格雷厄姆·约翰·威奇
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 CN115334996A publication Critical patent/CN115334996A/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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • B25J9/1628—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180025532.9A 2020-03-31 2021-03-29 外科机器人的控制系统 Pending CN115334996A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2004753.6A GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
GB2004753.6 2020-03-31
PCT/GB2021/050766 WO2021198662A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Publications (1)

Publication Number Publication Date
CN115334996A true CN115334996A (zh) 2022-11-11

Family

ID=70553222

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180025532.9A Pending CN115334996A (zh) 2020-03-31 2021-03-29 外科机器人的控制系统

Country Status (6)

Country Link
US (1) US20230172676A1 (enExample)
EP (1) EP4125678A1 (enExample)
JP (1) JP7340619B2 (enExample)
CN (1) CN115334996A (enExample)
GB (1) GB2593740B (enExample)
WO (1) WO2021198662A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11992285B2 (en) 2018-06-29 2024-05-28 Cmr Surgical Limited Detecting collisions of robot arms

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
TWI883313B (zh) * 2021-03-31 2025-05-11 日商發那科股份有限公司 算出作用在機器人裝置或工件上之外力的容許值的計算裝置及機器人的控制裝置
CN119328754B (zh) * 2024-11-04 2025-04-15 浙江大学 基于可操作度自适应优化的移动机械臂协调运动控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111889A (ja) * 1991-10-23 1993-05-07 Fanuc Ltd 制御方式可変型ロボツト制御方式
US20130116706A1 (en) * 2011-12-23 2013-05-09 Samsung Electronics Co., Ltd. Surgical robot and control method thereof
US20170128136A1 (en) * 2015-11-11 2017-05-11 Mako Surgical Corp. Robotic system and method for backdriving the same
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6304954B1 (en) * 1998-04-20 2001-10-16 Rise Technology Company Executing multiple instructions in multi-pipelined processor by dynamically switching memory ports of fewer number than the pipeline
US9084623B2 (en) * 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
EP3232975B1 (en) 2014-12-16 2020-07-15 Intuitive Surgical Operations, Inc. Ureter detection using waveband-selective imaging
GB2534558B (en) 2015-01-21 2020-12-30 Cmr Surgical Ltd Robot tool retraction
WO2016152046A1 (en) * 2015-03-23 2016-09-29 Sony Corporation Medical support arm device and method of controlling medical support arm device
JP2016179168A (ja) 2015-03-23 2016-10-13 ソニー株式会社 医療用支持アーム装置、医療用支持アーム装置の制御方法及び医療用観察装置
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
WO2020001742A1 (en) * 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator
GB2575113B (en) * 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111889A (ja) * 1991-10-23 1993-05-07 Fanuc Ltd 制御方式可変型ロボツト制御方式
US20130116706A1 (en) * 2011-12-23 2013-05-09 Samsung Electronics Co., Ltd. Surgical robot and control method thereof
US20170128136A1 (en) * 2015-11-11 2017-05-11 Mako Surgical Corp. Robotic system and method for backdriving the same
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11992285B2 (en) 2018-06-29 2024-05-28 Cmr Surgical Limited Detecting collisions of robot arms

Also Published As

Publication number Publication date
EP4125678A1 (en) 2023-02-08
JP7340619B2 (ja) 2023-09-07
GB2593740B (en) 2024-08-14
US20230172676A1 (en) 2023-06-08
WO2021198662A1 (en) 2021-10-07
GB2593740A (en) 2021-10-06
JP2022530755A (ja) 2022-07-01
GB202004753D0 (en) 2020-05-13

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