CN117770979A - 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 - Google Patents

图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 Download PDF

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Publication number
CN117770979A
CN117770979A CN202311823402.7A CN202311823402A CN117770979A CN 117770979 A CN117770979 A CN 117770979A CN 202311823402 A CN202311823402 A CN 202311823402A CN 117770979 A CN117770979 A CN 117770979A
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CN
China
Prior art keywords
movable arm
image acquisition
arm
coordinate system
acquisition device
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
CN202311823402.7A
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English (en)
Chinese (zh)
Inventor
L·布鲁赫姆
C·涅布莱尔
H·昆泽
M·阿兹安
J·索格
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.)
Siemens Healthcare Inc
Intuitive Surgical Operations Inc
Original Assignee
Siemens Healthcare Inc
Intuitive Surgical Operations Inc
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 Siemens Healthcare Inc, Intuitive Surgical Operations Inc filed Critical Siemens Healthcare Inc
Publication of CN117770979A publication Critical patent/CN117770979A/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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
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    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
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    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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    • A—HUMAN NECESSITIES
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    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • A—HUMAN NECESSITIES
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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    • A61B90/37—Surgical systems with images on a monitor during operation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN202311823402.7A 2012-12-10 2013-12-10 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免 Pending CN117770979A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261735170P 2012-12-10 2012-12-10
US61/735,170 2012-12-10
US14/101,769 US9259282B2 (en) 2012-12-10 2013-12-10 Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
PCT/US2013/074163 WO2014093367A1 (en) 2012-12-10 2013-12-10 Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
CN201380064534.4A CN105188590B (zh) 2012-12-10 2013-12-10 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免

Related Parent Applications (1)

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CN117770979A true CN117770979A (zh) 2024-03-29

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CN201910317935.5A Active CN110279427B (zh) 2012-12-10 2013-12-10 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免
CN201380064534.4A Active CN105188590B (zh) 2012-12-10 2013-12-10 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免

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CN201380064534.4A Active CN105188590B (zh) 2012-12-10 2013-12-10 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免

Country Status (6)

Country Link
US (3) US9259282B2 (enExample)
EP (2) EP2928407B1 (enExample)
JP (2) JP6293777B2 (enExample)
KR (1) KR102218244B1 (enExample)
CN (3) CN117770979A (enExample)
WO (1) WO2014093367A1 (enExample)

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