DK3386420T3 - Lokalisering af robotarm - Google Patents

Lokalisering af robotarm Download PDF

Info

Publication number
DK3386420T3
DK3386420T3 DK16815913.5T DK16815913T DK3386420T3 DK 3386420 T3 DK3386420 T3 DK 3386420T3 DK 16815913 T DK16815913 T DK 16815913T DK 3386420 T3 DK3386420 T3 DK 3386420T3
Authority
DK
Denmark
Prior art keywords
location
robot arm
robot
arm
Prior art date
Application number
DK16815913.5T
Other languages
English (en)
Inventor
Andrew Murray Scholan
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
Application granted granted Critical
Publication of DK3386420T3 publication Critical patent/DK3386420T3/da

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
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10762—Relative movement
    • G06K7/10772—Moved readers, e.g. pen, wand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A61B2017/00482—Coupling with a code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10722—Photodetector array or CCD scanning
    • G06K7/10732—Light sources

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Toxicology (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
DK16815913.5T 2015-12-10 2016-12-09 Lokalisering af robotarm DK3386420T3 (da)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1521814.2A GB201521814D0 (en) 2015-12-10 2015-12-10 Arm location
GB1611731.9A GB2545286B (en) 2015-12-10 2016-07-05 Arm location
PCT/GB2016/053886 WO2017098261A1 (en) 2015-12-10 2016-12-09 Robot arm location

Publications (1)

Publication Number Publication Date
DK3386420T3 true DK3386420T3 (da) 2021-10-04

Family

ID=55274535

Family Applications (1)

Application Number Title Priority Date Filing Date
DK16815913.5T DK3386420T3 (da) 2015-12-10 2016-12-09 Lokalisering af robotarm

Country Status (7)

Country Link
US (1) US10960547B2 (da)
EP (1) EP3386420B8 (da)
JP (1) JP6857655B2 (da)
CN (1) CN108472091B (da)
DK (1) DK3386420T3 (da)
GB (2) GB201521814D0 (da)
WO (1) WO2017098261A1 (da)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022529110A (ja) * 2019-04-15 2022-06-17 コヴィディエン リミテッド パートナーシップ 外科用ロボットアームを位置合わせするためのシステムおよび方法
CN111200988A (zh) * 2019-04-15 2020-05-26 柯惠Lp公司 用于机器人推车臂组件识别的系统和方法
CN117426883A (zh) * 2022-07-14 2024-01-23 瑞龙诺赋(上海)医疗科技有限公司 套管识别系统、套管识别方法、套管及台车

Family Cites Families (22)

* Cited by examiner, † Cited by third party
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US6317953B1 (en) * 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly
JP3801498B2 (ja) * 2001-12-17 2006-07-26 有限会社誠和工業 真空吸着パッドセッティング装置
US7979157B2 (en) * 2004-07-23 2011-07-12 Mcmaster University Multi-purpose robotic operating system and method
CN102143827B (zh) * 2008-10-09 2014-03-12 莱卡地球系统公开股份有限公司 用于标记或处理表面的装置、工具以及关节臂
CN102554924B (zh) * 2010-12-15 2015-04-15 北京北方微电子基地设备工艺研究中心有限责任公司 机械手定位装置及传送系统
DE102011052501A1 (de) * 2011-08-08 2013-02-14 Aesculap Ag RFID-Tag
DE102011109886A1 (de) * 2011-08-10 2013-02-14 Robot-Technology Components GmbH Kinematikanordnung
US10383765B2 (en) * 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
DE102012110193B4 (de) * 2012-10-25 2023-03-30 Abb Schweiz Ag Haltevorrichtung zum lösbaren Befestigen eines Roboters
US8959345B2 (en) 2012-10-26 2015-02-17 Audible, Inc. Electronic reading position management for printed content
US8958913B2 (en) * 2013-02-02 2015-02-17 Perfint Healthcare Private Limited Electronic docking system and method for robotic positioning system
CA2896381C (en) * 2013-03-15 2017-01-10 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
DE102013012397B4 (de) * 2013-07-26 2018-05-24 Rg Mechatronics Gmbh OP-Robotersystem
DE102013220329A1 (de) * 2013-10-09 2015-04-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Repositionierbares Robotersystem
DE102013111935A1 (de) * 2013-10-30 2015-04-30 Rg Mechatronics Gmbh Rahmen zum Halten eines Chirurgieroboters, Verwendung eines solchen Rahmens in einem Chirurgieroboter-System, sowie Chirurgieroboter-System mit einem solchen Rahmen
JP2015123811A (ja) 2013-12-25 2015-07-06 トヨタ自動車株式会社 車両骨格構造
DE102014203921B4 (de) 2014-03-04 2017-11-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Führungssysteme
US11173005B2 (en) * 2014-03-17 2021-11-16 Intuitive Surgical Operations, Inc. Methods and devices for tele-surgical table registration
CN118078465A (zh) * 2014-03-17 2024-05-28 直观外科手术操作公司 外科手术套管以及用于识别外科手术套管的相关系统和方法
WO2015142802A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods and devices for table pose tracking using fiducial markers
US10376338B2 (en) * 2014-05-13 2019-08-13 Covidien Lp Surgical robotic arm support systems and methods of use
WO2016048738A1 (en) * 2014-09-23 2016-03-31 Covidien Lp Surgical robotic arm support systems and methods of use

Also Published As

Publication number Publication date
EP3386420B1 (en) 2021-08-11
GB2545286A (en) 2017-06-14
GB2545286B (en) 2021-07-21
WO2017098261A1 (en) 2017-06-15
JP6857655B2 (ja) 2021-04-14
US20180370036A1 (en) 2018-12-27
EP3386420B8 (en) 2021-09-29
JP2018538066A (ja) 2018-12-27
EP3386420A1 (en) 2018-10-17
US10960547B2 (en) 2021-03-30
CN108472091A (zh) 2018-08-31
GB201521814D0 (en) 2016-01-27
GB201611731D0 (en) 2016-08-17
CN108472091B (zh) 2021-10-29

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