CN116234515A - 用于对准机器人臂的触觉反馈 - Google Patents

用于对准机器人臂的触觉反馈 Download PDF

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Publication number
CN116234515A
CN116234515A CN202180065312.9A CN202180065312A CN116234515A CN 116234515 A CN116234515 A CN 116234515A CN 202180065312 A CN202180065312 A CN 202180065312A CN 116234515 A CN116234515 A CN 116234515A
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CN
China
Prior art keywords
robotic arm
resistance
alignment
alignment positions
robotic
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
CN202180065312.9A
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English (en)
Chinese (zh)
Inventor
何铭晏
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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Auris Surgical Robotics Inc
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Filing date
Publication date
Application filed by Auris Surgical Robotics Inc filed Critical Auris Surgical Robotics Inc
Priority claimed from PCT/IB2021/058612 external-priority patent/WO2022064369A1/en
Publication of CN116234515A publication Critical patent/CN116234515A/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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2051—Electromagnetic tracking 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39121—Two manipulators operate on same object
    • 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
    • G05B2219/40191—Autonomous manipulation, computer assists operator during manipulation
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
CN202180065312.9A 2020-09-25 2021-09-21 用于对准机器人臂的触觉反馈 Pending CN116234515A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063083664P 2020-09-25 2020-09-25
US63/083664 2020-09-25
PCT/IB2021/058612 WO2022064369A1 (en) 2020-09-25 2021-09-21 Haptic feedback for aligning robotic arms

Publications (1)

Publication Number Publication Date
CN116234515A true CN116234515A (zh) 2023-06-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180065312.9A Pending CN116234515A (zh) 2020-09-25 2021-09-21 用于对准机器人臂的触觉反馈

Country Status (5)

Country Link
US (1) US12220193B2 (https=)
EP (1) EP4216860A4 (https=)
JP (1) JP2023542706A (https=)
KR (1) KR20230074229A (https=)
CN (1) CN116234515A (https=)

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Publication number Priority date Publication date Assignee Title
US20250065494A1 (en) * 2022-01-21 2025-02-27 Kinova Inc. System for teaching a robotic arm
DE102022118388B4 (de) * 2022-07-22 2024-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für die minimalinvasive robotische Chirurgie
EP4389049A1 (en) * 2022-12-22 2024-06-26 Ecential Robotics Robotic trajectory axis adjustment interface
WO2024191393A1 (en) * 2023-03-10 2024-09-19 Elmed Elektroni̇k Ve Medi̇kal Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ FLEXIBLE URETEROSCOPE (fURS) HAPTIC FEEDBACK MECHANISM FOR A ROBOTIC-ASSISTED RETROGRADE INTRA RENAL SURGICAL (RA-RIRS) SYSTEM AND ASSOCIATED METHOD(S) THEREOF
CN117140517A (zh) * 2023-09-14 2023-12-01 广东奥普特科技股份有限公司 一种高精度的机械臂自动手眼标定方法及系统

Citations (9)

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CN102612350A (zh) * 2009-10-01 2012-07-25 马科外科公司 用于安放假体组件和/或限制手术工具移动的手术系统
US20130116706A1 (en) * 2011-12-23 2013-05-09 Samsung Electronics Co., Ltd. Surgical robot and control method thereof
CN109640860A (zh) * 2016-08-25 2019-04-16 威里利生命科学有限责任公司 机器人系统的运动执行
CN110678142A (zh) * 2017-05-26 2020-01-10 索尼公司 医疗系统、用于医疗支撑臂的控制装置以及用于医疗支撑臂的控制方法
CN111328306A (zh) * 2017-10-10 2020-06-23 奥瑞斯健康公司 手术机器人臂导纳控制
US20200281676A1 (en) * 2019-03-08 2020-09-10 Mako Surgical Corp. Systems and methods for controlling movement of a surgical tool along a predefined path
WO2020181290A1 (en) * 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging
US20200289050A1 (en) * 2019-03-12 2020-09-17 Mako Surgical Corp. Systems and methods for robotic soft tissue evaluation

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US7747311B2 (en) * 2002-03-06 2010-06-29 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
US9092698B2 (en) * 2012-06-21 2015-07-28 Rethink Robotics, Inc. Vision-guided robots and methods of training them
WO2015193479A1 (en) * 2014-06-19 2015-12-23 KB Medical SA Systems and methods for performing minimally invasive surgery
KR20170128327A (ko) * 2015-03-17 2017-11-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수동 조인트 위치 결정 동안 피드백을 제공하는 시스템 및 방법
US9955986B2 (en) * 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
CN111417354B (zh) * 2016-10-25 2023-12-12 莫比乌斯成像公司 用于机器人辅助手术的方法及系统
CN110996826B (zh) * 2017-07-27 2023-04-25 直观外科手术操作公司 医疗装置手柄
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm

Patent Citations (9)

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Publication number Priority date Publication date Assignee Title
CN101227870A (zh) * 2005-05-19 2008-07-23 直观外科手术公司 用于外科手术及其它应用的软件中心和高度可配置的机器人系统
CN102612350A (zh) * 2009-10-01 2012-07-25 马科外科公司 用于安放假体组件和/或限制手术工具移动的手术系统
US20130116706A1 (en) * 2011-12-23 2013-05-09 Samsung Electronics Co., Ltd. Surgical robot and control method thereof
CN109640860A (zh) * 2016-08-25 2019-04-16 威里利生命科学有限责任公司 机器人系统的运动执行
CN110678142A (zh) * 2017-05-26 2020-01-10 索尼公司 医疗系统、用于医疗支撑臂的控制装置以及用于医疗支撑臂的控制方法
CN111328306A (zh) * 2017-10-10 2020-06-23 奥瑞斯健康公司 手术机器人臂导纳控制
WO2020181290A1 (en) * 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging
US20200281676A1 (en) * 2019-03-08 2020-09-10 Mako Surgical Corp. Systems and methods for controlling movement of a surgical tool along a predefined path
US20200289050A1 (en) * 2019-03-12 2020-09-17 Mako Surgical Corp. Systems and methods for robotic soft tissue evaluation

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KR20230074229A (ko) 2023-05-26
US20220096183A1 (en) 2022-03-31
JP2023542706A (ja) 2023-10-11
EP4216860A4 (en) 2024-10-09
US12220193B2 (en) 2025-02-11
EP4216860A1 (en) 2023-08-02

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