CY1116722T1 - Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας - Google Patents

Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Info

Publication number
CY1116722T1
CY1116722T1 CY20151100860T CY151100860T CY1116722T1 CY 1116722 T1 CY1116722 T1 CY 1116722T1 CY 20151100860 T CY20151100860 T CY 20151100860T CY 151100860 T CY151100860 T CY 151100860T CY 1116722 T1 CY1116722 T1 CY 1116722T1
Authority
CY
Cyprus
Prior art keywords
calculation
force
dof
instrument
torque
Prior art date
Application number
CY20151100860T
Other languages
English (en)
Inventor
Morales Emilio Ruiz
Salvador Carlos Correcher
Original Assignee
The European Atomic Energy Community (Euratom) Represented By The European Commission
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 The European Atomic Energy Community (Euratom) Represented By The European Commission filed Critical The European Atomic Energy Community (Euratom) Represented By The European Commission
Publication of CY1116722T1 publication Critical patent/CY1116722T1/el

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • 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
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Surgical Instruments (AREA)

Abstract

Μέθοδος υπολογισμού δυνάμεων για ένα ιατρικό σύστημα ελάχιστης επεμβατικότητας που περιλαμβάνει ρομποτικό βραχίονα χειρισμού (robot manipulator) (10). Ο βραχίονας χειρισμού διαθέτει ένα στοιχείο δράσης (effector unit) (12), εξοπλισμένο με έναν αισθητήρα δύναμης/ροπής με 6 βαθμούς ελευθερίας (6 DOF), και είναι σχεδιασμένος ώστε να φέρει ένα εργαλείο ελάχιστης επεμβατικότητας (minimally invasive instrument) (14) που έχει ένα πρώτο άκρο (16) τοποθετημένο στο στοιχείο δράσης και ένα δεύτερο άκρο (20) που βρίσκεται πέρα από ένα εξωτερικό υπομόχλιο (fulcrum) (23), το οποίο περιορίζει το εργαλείο σε κίνηση, συνήθως σε 4 βαθμούς ελευθερίας (4 DOF). Η μέθοδος περιλαμβάνει τα εξής βήματα: - προσδιορισμό μιας θέσης του εργαλείου σε σχέση με το υπομόχλιο - μέτρηση, μέσω του αισθητήρα δύναμης/ροπής 6 βαθμών ελευθερίας, της δύναμης και της ροπής που ασκείται στο στοιχείο δράσης από το πρώτο άκρο του οργάνου, και - υπολογισμό, μέσω της αρχής της υπέρθεσης (ή "επαλληλίας") (superposition), μιας εκτίμησης της δύναμης που ασκείται στο δεύτερο άκρο του οργάνου, με βάση την προσδιορισμένη θέση, τη μετρηθείσα δύναμη και τη μετρηθείσα ροπή.
CY20151100860T 2006-10-25 2015-09-28 Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας CY1116722T1 (el)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06122937A EP1915963A1 (en) 2006-10-25 2006-10-25 Force estimation for a minimally invasive robotic surgery system
EP07821857.5A EP2083737B1 (en) 2006-10-25 2007-10-25 Force estimation for a minimally invasive robotic surgery system

Publications (1)

Publication Number Publication Date
CY1116722T1 true CY1116722T1 (el) 2017-03-15

Family

ID=37745859

Family Applications (2)

Application Number Title Priority Date Filing Date
CY20151100431T CY1116282T1 (el) 2006-10-25 2015-05-14 Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας
CY20151100860T CY1116722T1 (el) 2006-10-25 2015-09-28 Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CY20151100431T CY1116282T1 (el) 2006-10-25 2015-05-14 Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Country Status (15)

Country Link
US (5) US9855662B2 (el)
EP (3) EP1915963A1 (el)
JP (2) JP5044659B2 (el)
KR (2) KR101404447B1 (el)
CN (2) CN102697559B (el)
BR (2) BRPI0717408B8 (el)
CA (2) CA2870343C (el)
CY (2) CY1116282T1 (el)
DK (2) DK2491884T3 (el)
ES (2) ES2535843T3 (el)
MX (2) MX338904B (el)
PL (2) PL2083737T3 (el)
PT (2) PT2491884E (el)
RU (2) RU2462342C2 (el)
WO (1) WO2008049898A1 (el)

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* Cited by examiner, † Cited by third party
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