GB2593739B - Control system of a surgical robot - Google Patents

Control system of a surgical robot Download PDF

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Publication number
GB2593739B
GB2593739B GB2004752.8A GB202004752A GB2593739B GB 2593739 B GB2593739 B GB 2593739B GB 202004752 A GB202004752 A GB 202004752A GB 2593739 B GB2593739 B GB 2593739B
Authority
GB
United Kingdom
Prior art keywords
control system
surgical robot
surgical
robot
control
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
GB2004752.8A
Other languages
English (en)
Other versions
GB202004752D0 (en
GB2593739A (en
Inventor
John Mottram Edward
James Wildin Tucker Edward
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
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB2004752.8A priority Critical patent/GB2593739B/en
Publication of GB202004752D0 publication Critical patent/GB202004752D0/en
Priority to JP2022559765A priority patent/JP2023519734A/ja
Priority to US17/995,227 priority patent/US20230150128A1/en
Priority to CN202180025531.4A priority patent/CN115334995A/zh
Priority to PCT/GB2021/050768 priority patent/WO2021198664A1/en
Priority to EP21716838.4A priority patent/EP4125679A1/en
Publication of GB2593739A publication Critical patent/GB2593739A/en
Application granted granted Critical
Publication of GB2593739B publication Critical patent/GB2593739B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • 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
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40174—Robot teleoperation through internet
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
GB2004752.8A 2020-03-31 2020-03-31 Control system of a surgical robot Active GB2593739B (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
GB2004752.8A GB2593739B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
PCT/GB2021/050768 WO2021198664A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot
US17/995,227 US20230150128A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot
CN202180025531.4A CN115334995A (zh) 2020-03-31 2021-03-29 外科机器人的控制系统
JP2022559765A JP2023519734A (ja) 2020-03-31 2021-03-29 外科手術ロボットの制御システム
EP21716838.4A EP4125679A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2004752.8A GB2593739B (en) 2020-03-31 2020-03-31 Control system of a surgical robot

Publications (3)

Publication Number Publication Date
GB202004752D0 GB202004752D0 (en) 2020-05-13
GB2593739A GB2593739A (en) 2021-10-06
GB2593739B true GB2593739B (en) 2024-09-18

Family

ID=70553238

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2004752.8A Active GB2593739B (en) 2020-03-31 2020-03-31 Control system of a surgical robot

Country Status (6)

Country Link
US (1) US20230150128A1 (enExample)
EP (1) EP4125679A1 (enExample)
JP (1) JP2023519734A (enExample)
CN (1) CN115334995A (enExample)
GB (1) GB2593739B (enExample)
WO (1) WO2021198664A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113084828B (zh) * 2021-04-02 2022-11-11 上海电气集团股份有限公司 一种运动控制方法、装置、设备和存储介质
CN115957006B (zh) * 2021-10-09 2026-03-31 术锐(上海)科技有限公司 基于姿态确定可形变机械臂的外部受力的方法及机器人系统
DE102022200943B3 (de) * 2022-01-28 2023-05-11 Kuka Deutschland Gmbh Steuern eines Teleroboters
CN118900753A (zh) * 2022-02-03 2024-11-05 株式会社安川电机 机器人系统以及传感方法
CN114469354B (zh) * 2022-04-13 2022-06-24 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端初始化方法和可读存储介质
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system
CN117653343B (zh) * 2023-11-13 2024-12-17 北京长木谷医疗科技股份有限公司 一种手术机器人智能动力控制方法及装置
CN120245007B (zh) * 2025-06-04 2025-08-26 首都医科大学附属北京积水潭医院 一种手术机器人术中患者侧力估计方法
CN121403417B (zh) * 2025-12-30 2026-04-21 知行机器人科技（苏州）有限公司 一种基于深度学习的机器人精密力控方法及系统

Citations (2)

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US20180008359A1 (en) * 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

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US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP4054984B2 (ja) * 2001-12-20 2008-03-05 株式会社安川電機 ロボットの制御装置および制御方法
WO2007111749A2 (en) * 2005-12-20 2007-10-04 Intuitive Surgical, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
JP5242342B2 (ja) * 2008-10-31 2013-07-24 株式会社東芝 ロボット制御装置
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
WO2014152418A1 (en) * 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
EP3868326B1 (en) * 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
KR102374441B1 (ko) * 2014-03-17 2022-03-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법
JP6540810B2 (ja) * 2015-08-10 2019-07-10 富士通株式会社 ハンド力覚計測装置、ハンド力覚計測方法、及びハンド力覚計測プログラム
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GB2593738B (en) * 2020-03-31 2024-08-14 Cmr Surgical Ltd Control system of a surgical robot
GB2593740B (en) * 2020-03-31 2024-08-14 Cmr Surgical Ltd Control system of a surgical robot

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US20180008359A1 (en) * 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

Also Published As

Publication number Publication date
CN115334995A (zh) 2022-11-11
GB202004752D0 (en) 2020-05-13
EP4125679A1 (en) 2023-02-08
US20230150128A1 (en) 2023-05-18
JP2023519734A (ja) 2023-05-12
GB2593739A (en) 2021-10-06
WO2021198664A1 (en) 2021-10-07

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