GB2577717B - Monitoring performance during manipulation of user input control device of robotic system - Google Patents

Monitoring performance during manipulation of user input control device of robotic system Download PDF

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Publication number
GB2577717B
GB2577717B GB1816167.9A GB201816167A GB2577717B GB 2577717 B GB2577717 B GB 2577717B GB 201816167 A GB201816167 A GB 201816167A GB 2577717 B GB2577717 B GB 2577717B
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GB
United Kingdom
Prior art keywords
control device
user input
input control
robotic system
performance during
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
GB1816167.9A
Other languages
English (en)
Other versions
GB2577717A (en
Inventor
Christopher Roberts Paul
David Ronald Hares Luke
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.)
CMR Surgical Ltd
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
Priority to GB2303086.9A priority Critical patent/GB2613980B/en
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB1816167.9A priority patent/GB2577717B/en
Priority to PCT/GB2019/052792 priority patent/WO2020070501A1/en
Priority to US17/282,655 priority patent/US20210346109A1/en
Priority to CN201980065319.3A priority patent/CN112789006A/zh
Priority to EP19787372.2A priority patent/EP3860498A1/en
Priority to JP2021518663A priority patent/JP2022514450A/ja
Publication of GB2577717A publication Critical patent/GB2577717A/en
Priority to JP2022164654A priority patent/JP2022186798A/ja
Application granted granted Critical
Publication of GB2577717B publication Critical patent/GB2577717B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/25—User interfaces for surgical 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
    • A61B34/30—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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • 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
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0531—Measuring skin impedance
    • A61B5/0533—Measuring galvanic skin response
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue
    • A61B5/14542—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue for measuring blood gases
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
GB1816167.9A 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system Active GB2577717B (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
GB1816167.9A GB2577717B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system
GB2303086.9A GB2613980B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of a robotic system
US17/282,655 US20210346109A1 (en) 2018-10-03 2019-10-03 Monitoring performance during manipulation of user input control device of robotic system
CN201980065319.3A CN112789006A (zh) 2018-10-03 2019-10-03 在操纵机器人系统的用户输入控制装置期间监测执行
PCT/GB2019/052792 WO2020070501A1 (en) 2018-10-03 2019-10-03 Monitoring performance during manipulation of user input control device of robotic system
EP19787372.2A EP3860498A1 (en) 2018-10-03 2019-10-03 Monitoring performance during manipulation of user input control device of robotic system
JP2021518663A JP2022514450A (ja) 2018-10-03 2019-10-03 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視
JP2022164654A JP2022186798A (ja) 2018-10-03 2022-10-13 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1816167.9A GB2577717B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system

Publications (2)

Publication Number Publication Date
GB2577717A GB2577717A (en) 2020-04-08
GB2577717B true GB2577717B (en) 2023-06-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
GB1816167.9A Active GB2577717B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system

Country Status (6)

Country Link
US (1) US20210346109A1 (https=)
EP (1) EP3860498A1 (https=)
JP (2) JP2022514450A (https=)
CN (1) CN112789006A (https=)
GB (1) GB2577717B (https=)
WO (1) WO2020070501A1 (https=)

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JP7835164B2 (ja) * 2020-06-12 2026-03-25 コーニンクレッカ フィリップス エヌ ヴェ ツール及びユーザの相互作用力に基づく協働ロボット制御パラメータの自動選択
EP4360581A3 (en) * 2020-07-28 2024-07-31 Forsight Robotics Ltd. Robotic system for microsurgical procedures
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
CN116113892A (zh) * 2020-08-24 2023-05-12 发那科株式会社 电动机的控制装置、机械系统以及控制方法
DE102020134626A1 (de) * 2020-12-22 2022-06-23 avateramedical GmBH Robotisches Operationssystem und Verfahren zu seiner Steuerung
FR3117997A1 (fr) * 2020-12-22 2022-06-24 Safran Electronics & Defense Interface homme-machine, notamment pour un véhicule ou pour un dispositif.
CN117323018A (zh) * 2021-04-27 2024-01-02 深圳市精锋医疗科技股份有限公司 输入装置及手术机器人
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US12358136B2 (en) * 2021-06-30 2025-07-15 Cilag Gmbh International Grasping work determination and indications thereof
CN113779533B (zh) * 2021-08-27 2024-05-14 上海微创医疗机器人（集团）股份有限公司 用于医用机器人的操作者身份识别方法、装置和系统
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
CN114081631B (zh) * 2021-11-18 2024-05-03 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
KR102705819B1 (ko) * 2022-03-02 2024-09-11 광운대학교 산학협력단 인간-로봇 협업 상태 관측 방법, 이를 수행하는 장치 및 컴퓨터 프로그램
JP2025509980A (ja) * 2022-03-24 2025-04-11 オーリス ヘルス インコーポレイテッド モータを動的に停止させる方法
DE102022118330A1 (de) 2022-07-21 2024-02-01 Karl Storz Se & Co. Kg System mit einem medizinischen Operationsinstrument, einer Datenerfassungsvorrichtung und einer Datenverarbeitungseinrichtung
CN115444565B (zh) * 2022-08-22 2024-01-30 北京长木谷医疗科技股份有限公司 手术机器人系统及其执行末端的反馈控制系统和方法
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CN120379611A (zh) * 2022-12-06 2025-07-25 直观外科手术操作公司 用于在控制可重新定位结构时耗散动能的系统和方法
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US20140046128A1 (en) * 2012-08-07 2014-02-13 Samsung Electronics Co., Ltd. Surgical robot system and control method thereof
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Also Published As

Publication number Publication date
WO2020070501A1 (en) 2020-04-09
CN112789006A (zh) 2021-05-11
US20210346109A1 (en) 2021-11-11
EP3860498A1 (en) 2021-08-11
GB2577717A (en) 2020-04-08
JP2022186798A (ja) 2022-12-15
JP2022514450A (ja) 2022-02-14

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