JP2014038075A - 外力推定装置及び鉗子システム - Google Patents

外力推定装置及び鉗子システム Download PDF

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Publication number
JP2014038075A
JP2014038075A JP2012181863A JP2012181863A JP2014038075A JP 2014038075 A JP2014038075 A JP 2014038075A JP 2012181863 A JP2012181863 A JP 2012181863A JP 2012181863 A JP2012181863 A JP 2012181863A JP 2014038075 A JP2014038075 A JP 2014038075A
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JP
Japan
Prior art keywords
external force
joint
forceps
force estimation
estimation device
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.)
Pending
Application number
JP2012181863A
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English (en)
Japanese (ja)
Inventor
Kotaro Tadano
耕太郎 只野
Kenji Kawashima
健嗣 川嶋
Daisuke HARAGUCHI
大輔 原口
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.)
Tokyo Institute of Technology NUC
Original Assignee
Tokyo Institute of Technology NUC
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 Tokyo Institute of Technology NUC filed Critical Tokyo Institute of Technology NUC
Priority to JP2012181863A priority Critical patent/JP2014038075A/ja
Priority to PCT/JP2013/053771 priority patent/WO2014030363A1/fr
Publication of JP2014038075A publication Critical patent/JP2014038075A/ja
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

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  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Surgical Instruments (AREA)
JP2012181863A 2012-08-20 2012-08-20 外力推定装置及び鉗子システム Pending JP2014038075A (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2012181863A JP2014038075A (ja) 2012-08-20 2012-08-20 外力推定装置及び鉗子システム
PCT/JP2013/053771 WO2014030363A1 (fr) 2012-08-20 2013-02-16 Dispositif d'estimation de force externe et système de forceps

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012181863A JP2014038075A (ja) 2012-08-20 2012-08-20 外力推定装置及び鉗子システム

Publications (1)

Publication Number Publication Date
JP2014038075A true JP2014038075A (ja) 2014-02-27

Family

ID=50149687

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012181863A Pending JP2014038075A (ja) 2012-08-20 2012-08-20 外力推定装置及び鉗子システム

Country Status (2)

Country Link
JP (1) JP2014038075A (fr)
WO (1) WO2014030363A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016144858A (ja) * 2015-02-04 2016-08-12 株式会社不二越 配管割断治具、配管割断装置および配管割断方法
CN106493710A (zh) * 2015-09-06 2017-03-15 上海本星电子科技有限公司 多骨骼联动系统
JP2018520785A (ja) * 2015-07-13 2018-08-02 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 可撓性ロボット外科用器具
WO2019073860A1 (fr) * 2017-10-12 2019-04-18 日本発條株式会社 Tube souple de manipulateur à usage médical, et structure flexible
WO2020209386A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément flexible
WO2020209387A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément flexible
WO2020209388A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément souple
JP2022089898A (ja) * 2019-04-11 2022-06-16 日本発條株式会社 可撓部材

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115844544B (zh) * 2023-02-16 2023-08-04 极限人工智能有限公司 介入机器人导管弯曲控制方法、系统、设备及存储介质

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06103236B2 (ja) * 1988-04-19 1994-12-14 日章電機株式会社 多分力の計測方法
JP2002264048A (ja) * 2001-03-08 2002-09-18 Hitachi Ltd 被牽引機構の位置決め制御装置
JP2004205432A (ja) * 2002-12-26 2004-07-22 Matsushita Electric Ind Co Ltd コード状感圧センサ入力装置
WO2011036750A1 (fr) * 2009-09-24 2011-03-31 株式会社 東芝 Unité de commande de robot

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016144858A (ja) * 2015-02-04 2016-08-12 株式会社不二越 配管割断治具、配管割断装置および配管割断方法
JP2018520785A (ja) * 2015-07-13 2018-08-02 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 可撓性ロボット外科用器具
CN106493710A (zh) * 2015-09-06 2017-03-15 上海本星电子科技有限公司 多骨骼联动系统
WO2019073860A1 (fr) * 2017-10-12 2019-04-18 日本発條株式会社 Tube souple de manipulateur à usage médical, et structure flexible
US11576740B2 (en) 2017-10-12 2023-02-14 Nhk Spring Co., Ltd. Bending structure and flexible tube for medical manipulator
WO2020209386A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément flexible
WO2020209387A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément flexible
WO2020209388A1 (fr) 2019-04-11 2020-10-15 日本発條株式会社 Élément souple
JP2022089898A (ja) * 2019-04-11 2022-06-16 日本発條株式会社 可撓部材
JP7217825B2 (ja) 2019-04-11 2023-02-03 日本発條株式会社 可撓部材
US11883954B2 (en) 2019-04-11 2024-01-30 Nhk Spring Co., Ltd. Flexible member

Also Published As

Publication number Publication date
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