GB2593740B - Control system of a surgical robot - Google Patents

Control system of a surgical robot Download PDF

Info

Publication number
GB2593740B
GB2593740B GB2004753.6A GB202004753A GB2593740B GB 2593740 B GB2593740 B GB 2593740B GB 202004753 A GB202004753 A GB 202004753A GB 2593740 B GB2593740 B GB 2593740B
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
GB2004753.6A
Other languages
English (en)
Other versions
GB2593740A (en
GB202004753D0 (en
Inventor
John Mottram Edward
John Veitch Graham
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 GB2004753.6A priority Critical patent/GB2593740B/en
Publication of GB202004753D0 publication Critical patent/GB202004753D0/en
Priority to JP2021560920A priority patent/JP7340619B2/ja
Priority to CN202180025532.9A priority patent/CN115334996A/zh
Priority to EP21716836.8A priority patent/EP4125678A1/en
Priority to PCT/GB2021/050766 priority patent/WO2021198662A1/en
Priority to US17/995,235 priority patent/US20230172676A1/en
Publication of GB2593740A publication Critical patent/GB2593740A/en
Application granted granted Critical
Publication of GB2593740B publication Critical patent/GB2593740B/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
    • A61B34/30—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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • B25J9/1628—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
GB2004753.6A 2020-03-31 2020-03-31 Control system of a surgical robot Active GB2593740B (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
GB2004753.6A GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
PCT/GB2021/050766 WO2021198662A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot
CN202180025532.9A CN115334996A (zh) 2020-03-31 2021-03-29 外科机器人的控制系统
EP21716836.8A EP4125678A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot
JP2021560920A JP7340619B2 (ja) 2020-03-31 2021-03-29 外科手術ロボットの制御システム
US17/995,235 US20230172676A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2004753.6A GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot

Publications (3)

Publication Number Publication Date
GB202004753D0 GB202004753D0 (en) 2020-05-13
GB2593740A GB2593740A (en) 2021-10-06
GB2593740B true GB2593740B (en) 2024-08-14

Family

ID=70553222

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2004753.6A Active GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot

Country Status (6)

Country Link
US (1) US20230172676A1 (enExample)
EP (1) EP4125678A1 (enExample)
JP (1) JP7340619B2 (enExample)
CN (1) CN115334996A (enExample)
GB (1) GB2593740B (enExample)
WO (1) WO2021198662A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2575113B (en) 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
TWI883313B (zh) * 2021-03-31 2025-05-11 日商發那科股份有限公司 算出作用在機器人裝置或工件上之外力的容許值的計算裝置及機器人的控制裝置
CN119328754B (zh) * 2024-11-04 2025-04-15 浙江大学 基于可操作度自适应优化的移动机械臂协调运动控制方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2575113A (en) * 2018-06-29 2020-01-01 Cmr Surgical Ltd Detecting collisions of robot arms

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111889A (ja) * 1991-10-23 1993-05-07 Fanuc Ltd 制御方式可変型ロボツト制御方式
US6304954B1 (en) * 1998-04-20 2001-10-16 Rise Technology Company Executing multiple instructions in multi-pipelined processor by dynamically switching memory ports of fewer number than the pipeline
US9084623B2 (en) * 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
EP3232975B1 (en) 2014-12-16 2020-07-15 Intuitive Surgical Operations, Inc. Ureter detection using waveband-selective imaging
GB2534558B (en) 2015-01-21 2020-12-30 Cmr Surgical Ltd Robot tool retraction
WO2016152046A1 (en) * 2015-03-23 2016-09-29 Sony Corporation Medical support arm device and method of controlling medical support arm device
JP2016179168A (ja) 2015-03-23 2016-10-13 ソニー株式会社 医療用支持アーム装置、医療用支持アーム装置の制御方法及び医療用観察装置
US10327849B2 (en) * 2015-11-11 2019-06-25 Mako Surgical Corp. Robotic system and method for backdriving the same
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
WO2020001742A1 (en) * 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2575113A (en) * 2018-06-29 2020-01-01 Cmr Surgical Ltd Detecting collisions of robot arms

Also Published As

Publication number Publication date
EP4125678A1 (en) 2023-02-08
JP7340619B2 (ja) 2023-09-07
US20230172676A1 (en) 2023-06-08
WO2021198662A1 (en) 2021-10-07
GB2593740A (en) 2021-10-06
JP2022530755A (ja) 2022-07-01
CN115334996A (zh) 2022-11-11
GB202004753D0 (en) 2020-05-13

Similar Documents

Publication Publication Date Title
GB2593738B (en) Control system of a surgical robot
GB2593739B (en) Control system of a surgical robot
GB2593740B (en) Control system of a surgical robot
GB2593741B (en) Configuring a surgical robotic system
EP3989794A4 (en) PATIENT INTRODUCER FOR A ROBOTIC SYSTEM
EP4115272A4 (en) GRAPHICAL USER GUIDANCE FOR A SURGICAL ROBOT SYSTEM
GB2593473B (en) Virtual console for controlling a surgical robot
GB2592378B (en) Controlling movement of a surgical robot arm
GB2588829B (en) Method of controlling a surgical robot
GB202213907D0 (en) Robot control
EP4054804C0 (fr) Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant
GB2622792B (en) Control system for controlling a surgical robot arm
GB2627451B (en) Control system for a surgical robotic system
GB2621576B (en) Control system of a surgical robot
GB2625572B (en) Control of a surgical robot arm
GB2622791B (en) Control system for controlling a surgical robot arm
GB2625105B (en) Control system for a surgical robotic system
EP4400278A4 (en) ROBOT CONTROL SYSTEM
GB2621587B (en) Control of a surgical robot arm
GB2598387B (en) Control system for surgical robot system wtih safety device
GB2622790B (en) Control system for controlling a surgical robot arm
GB2634005B (en) Control system for controlling a surgical robot arm
GB2621584B (en) Alarm system for a surgical robot
CA237068S (en) Surgical robot
EP4640381A4 (en) Robot control system