FR2972132B1 - Dispositif d'assistance a la manipulation d'un instrument ou outil - Google Patents

Dispositif d'assistance a la manipulation d'un instrument ou outil

Info

Publication number
FR2972132B1
FR2972132B1 FR1151687A FR1151687A FR2972132B1 FR 2972132 B1 FR2972132 B1 FR 2972132B1 FR 1151687 A FR1151687 A FR 1151687A FR 1151687 A FR1151687 A FR 1151687A FR 2972132 B1 FR2972132 B1 FR 2972132B1
Authority
FR
France
Prior art keywords
assisting
handling
instrument
tool
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.)
Active
Application number
FR1151687A
Other languages
English (en)
Other versions
FR2972132A1 (fr
Inventor
Anja Marx
Marie Aude Vitrani
Guillaume Morel
Razvan Iordache
Serge Muller
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.)
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie Paris 6
General Electric Co
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie Paris 6
General Electric Co
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 Centre National de la Recherche Scientifique CNRS, Universite Pierre et Marie Curie Paris 6, General Electric Co filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1151687A priority Critical patent/FR2972132B1/fr
Priority to JP2012042614A priority patent/JP5975676B2/ja
Priority to US13/410,727 priority patent/US9795361B2/en
Priority to CN2012100637519A priority patent/CN102652675A/zh
Publication of FR2972132A1 publication Critical patent/FR2972132A1/fr
Application granted granted Critical
Publication of FR2972132B1 publication Critical patent/FR2972132B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
FR1151687A 2011-03-02 2011-03-02 Dispositif d'assistance a la manipulation d'un instrument ou outil Active FR2972132B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1151687A FR2972132B1 (fr) 2011-03-02 2011-03-02 Dispositif d'assistance a la manipulation d'un instrument ou outil
JP2012042614A JP5975676B2 (ja) 2011-03-02 2012-02-29 機器又は器具の操作を支援する装置
US13/410,727 US9795361B2 (en) 2011-03-02 2012-03-02 Device for assisting with the handling of an instrument or tool
CN2012100637519A CN102652675A (zh) 2011-03-02 2012-03-02 用于协助操纵器械或工具的装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1151687A FR2972132B1 (fr) 2011-03-02 2011-03-02 Dispositif d'assistance a la manipulation d'un instrument ou outil

Publications (2)

Publication Number Publication Date
FR2972132A1 FR2972132A1 (fr) 2012-09-07
FR2972132B1 true FR2972132B1 (fr) 2014-05-09

Family

ID=44548047

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1151687A Active FR2972132B1 (fr) 2011-03-02 2011-03-02 Dispositif d'assistance a la manipulation d'un instrument ou outil

Country Status (4)

Country Link
US (1) US9795361B2 (fr)
JP (1) JP5975676B2 (fr)
CN (1) CN102652675A (fr)
FR (1) FR2972132B1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203468632U (zh) * 2013-08-29 2014-03-12 中慧医学成像有限公司 具有机械臂的医学成像系统
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
AU2022247392A1 (en) 2021-03-31 2023-09-28 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US20230022716A1 (en) * 2021-07-20 2023-01-26 Mevion Medical Systems, Inc. Gantry having a retractable cover
JP2023049895A (ja) * 2021-09-29 2023-04-10 株式会社日立製作所 放射線治療システム、および、放射線治療システムの運転方法
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11839442B1 (en) 2023-01-09 2023-12-12 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force

Family Cites Families (26)

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Publication number Priority date Publication date Assignee Title
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
JPH0732772B2 (ja) 1988-12-27 1995-04-12 博 古幡 超音波診断用プローブ支持装置
US5887121A (en) * 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
CN1100516C (zh) * 1997-08-27 2003-02-05 北京航空航天大学 机器人脑外科设备系统及其所采用的图象和坐标处理方法
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
CN1127402C (zh) * 1998-11-30 2003-11-12 索尼公司 机器人装置及其控制方法
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US6204620B1 (en) * 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
US6285920B1 (en) * 2000-02-18 2001-09-04 Fanuc Robotics North America Method of robot teaching with motion constraints
JP4217023B2 (ja) * 2002-02-25 2009-01-28 一郎 佐久間 血管内皮計測装置
CN1522671A (zh) * 2003-09-04 2004-08-25 高春平 机械臂式自动立体定位系统
DE10347740B4 (de) * 2003-10-14 2011-10-06 Siemens Ag Motorisch verstellbares Röntgengerät
KR20060099520A (ko) 2003-10-21 2006-09-19 노보 노르디스크 에이/에스 의료용 피부 장착 장치
US20050089205A1 (en) 2003-10-23 2005-04-28 Ajay Kapur Systems and methods for viewing an abnormality in different kinds of images
US8160205B2 (en) * 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US7440793B2 (en) * 2004-07-22 2008-10-21 Sunita Chauhan Apparatus and method for removing abnormal tissue
KR101258912B1 (ko) * 2005-06-06 2013-04-30 인튜어티브 서지컬 인코포레이티드 복강경의 초음파 로보트 수술 시스템
US7741802B2 (en) * 2005-12-20 2010-06-22 Intuitive Surgical Operations, Inc. Medical robotic system with programmably controlled constraints on error dynamics
WO2008038184A2 (fr) * 2006-09-25 2008-04-03 Koninklijke Philips Electronics N.V. Procédés et systèmes de balayage médical à rétroaction haptique
JP2009032189A (ja) * 2007-07-30 2009-02-12 Toyota Motor Corp ロボットの動作経路生成装置
DE102007046700A1 (de) 2007-09-28 2009-04-16 Siemens Ag Ultraschallvorrichtung
WO2010025336A1 (fr) * 2008-08-29 2010-03-04 Corindus Ltd. Système d'assistance et de simulation de cathéter
JP2010082333A (ja) * 2008-10-01 2010-04-15 Tokyo Univ Of Agriculture & Technology 超音波検査ロボットシステムおよび超音波検査ロボットの制御方法
US20140039314A1 (en) 2010-11-11 2014-02-06 The Johns Hopkins University Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting

Also Published As

Publication number Publication date
JP5975676B2 (ja) 2016-08-23
US9795361B2 (en) 2017-10-24
CN102652675A (zh) 2012-09-05
JP2012179361A (ja) 2012-09-20
US20130231561A1 (en) 2013-09-05
FR2972132A1 (fr) 2012-09-07

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