JP2015508682A5 - - Google Patents

Download PDF

Info

Publication number
JP2015508682A5
JP2015508682A5 JP2014557807A JP2014557807A JP2015508682A5 JP 2015508682 A5 JP2015508682 A5 JP 2015508682A5 JP 2014557807 A JP2014557807 A JP 2014557807A JP 2014557807 A JP2014557807 A JP 2014557807A JP 2015508682 A5 JP2015508682 A5 JP 2015508682A5
Authority
JP
Japan
Prior art keywords
mode
input devices
operation mode
processor
medical robot
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.)
Granted
Application number
JP2014557807A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015508682A (ja
JP6250566B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2013/026316 external-priority patent/WO2013123310A1/en
Publication of JP2015508682A publication Critical patent/JP2015508682A/ja
Publication of JP2015508682A5 publication Critical patent/JP2015508682A5/ja
Application granted granted Critical
Publication of JP6250566B2 publication Critical patent/JP6250566B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2014557807A 2012-02-15 2013-02-15 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択 Active JP6250566B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261599237P 2012-02-15 2012-02-15
US61/599,237 2012-02-15
PCT/US2013/026316 WO2013123310A1 (en) 2012-02-15 2013-02-15 User selection of robotic system operating modes using mode distinguishing operator actions

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017224701A Division JP6487019B2 (ja) 2012-02-15 2017-11-22 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択

Publications (3)

Publication Number Publication Date
JP2015508682A JP2015508682A (ja) 2015-03-23
JP2015508682A5 true JP2015508682A5 (enExample) 2016-04-07
JP6250566B2 JP6250566B2 (ja) 2017-12-20

Family

ID=48946291

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2014557807A Active JP6250566B2 (ja) 2012-02-15 2013-02-15 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択
JP2017224701A Active JP6487019B2 (ja) 2012-02-15 2017-11-22 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択
JP2019028113A Active JP6782801B2 (ja) 2012-02-15 2019-02-20 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2017224701A Active JP6487019B2 (ja) 2012-02-15 2017-11-22 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択
JP2019028113A Active JP6782801B2 (ja) 2012-02-15 2019-02-20 モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択

Country Status (6)

Country Link
US (3) US9586323B2 (enExample)
EP (3) EP3950237B1 (enExample)
JP (3) JP6250566B2 (enExample)
KR (2) KR102164186B1 (enExample)
CN (3) CN111449756B (enExample)
WO (1) WO2013123310A1 (enExample)

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9155544B2 (en) * 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
US8332072B1 (en) 2008-08-22 2012-12-11 Titan Medical Inc. Robotic hand controller
WO2013056225A1 (en) * 2011-10-13 2013-04-18 Plexus Information Systems, Inc. Systems and methods for monitoring pressure applied on patients
KR102164186B1 (ko) 2012-02-15 2020-10-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택
WO2014156250A1 (ja) * 2013-03-29 2014-10-02 オリンパス株式会社 マスタスレーブシステム
US9283048B2 (en) * 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
CN111658180B (zh) * 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
US9592608B1 (en) * 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode
WO2016125398A1 (ja) * 2015-02-03 2016-08-11 オリンパス株式会社 医療用マニピュレータシステムとその制御方法
EP3342562A4 (en) * 2015-08-25 2019-06-26 Kawasaki Jukogyo Kabushiki Kaisha REMOTE-CONTROLLED ROBOT SYSTEM
US11638615B2 (en) * 2015-08-30 2023-05-02 Asensus Surgical Us, Inc. Intelligent surgical tool control system for laparoscopic surgeries
US9919422B1 (en) 2016-01-06 2018-03-20 X Development Llc Methods and systems to provide mechanical feedback during movement of a robotic system
CN108601624B (zh) 2016-01-12 2022-07-08 直观外科手术操作公司 触觉致动器的均匀缩放
EP3834765B1 (en) 2016-01-12 2024-07-17 Intuitive Surgical Operations, Inc. Staged force feedback transitioning between control states
KR102520799B1 (ko) 2016-07-01 2023-04-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 의료 시스템 및 방법
KR102549728B1 (ko) 2016-07-14 2023-07-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 의료 시스템 내의 온스크린 메뉴들을 위한 시스템들 및 방법들
CN106137399B (zh) 2016-08-31 2018-09-04 北京术锐技术有限公司 一种基于嵌入式计算机的手术机器人集成控制系统
CN107962560B (zh) * 2016-10-18 2020-08-07 珠海格力智能装备有限公司 机器人及其控制方法和装置
EP4480441A3 (en) 2017-07-06 2025-03-19 Intuitive Surgical Operations, Inc. Methods for haptic feedback in selection of menu items in a teleoperational system
DE112018003540T5 (de) 2017-07-12 2020-05-14 Sony Corporation Steuervorrichtung, steuerverfahren und master-slave-system
CN107553487B (zh) * 2017-08-22 2021-05-25 广东美的智能机器人有限公司 机器人的模式切换方法及其装置
CN107468341B (zh) * 2017-10-19 2019-12-27 中国人民解放军第三军医大学第一附属医院 一种与手术机械臂匹配的控制器
GB2571319B (en) * 2018-02-23 2022-11-23 Cmr Surgical Ltd Concurrent control of an end effector in a master-slave robotic system using multiple input devices
CN119564349A (zh) 2018-03-29 2025-03-07 直观外科手术操作公司 双制动器装配接头
DE102018109326B4 (de) * 2018-04-19 2019-12-05 Gottfried Wilhelm Leibniz Universität Hannover Mehrgliedrige aktuierte Kinematik, vorzugsweise Roboter, besonders vorzugsweise Knickarmroboter
CN112218595B (zh) 2018-05-18 2026-04-03 奥瑞斯健康公司 用于机器人使能的远程操作的系统的控制器
US11166769B2 (en) 2018-10-30 2021-11-09 Titan Medical Inc. Hand controller apparatus with feedback responsive to function change in a robotic surgery system
CN112996453A (zh) * 2018-10-30 2021-06-18 提坦医疗公司 机器人手术系统中的手动控制器设备
USD963596S1 (en) 2018-10-30 2022-09-13 Titan Medical Inc. Hand controller apparatus for medical device
US10426561B1 (en) 2018-10-30 2019-10-01 Titan Medical Inc. Hand controller apparatus for detecting input position in a robotic surgery system
US10758311B2 (en) 2018-10-30 2020-09-01 Titan Medical Inc. Hand controller apparatus for gesture control and shared input control in a robotic surgery system
US11116591B2 (en) 2018-10-30 2021-09-14 Titan Medical Inc. Hand controller apparatus including ergonomic features for a robotic surgery system
US12016646B2 (en) * 2019-03-12 2024-06-25 Intuitive Surgical Operations, Inc. Layered functionality for a user input mechanism in a computer-assisted surgical system
US11625107B2 (en) 2019-06-27 2023-04-11 Intuitive Surgical Operations, Inc. System and method for motion mode management
US11931119B1 (en) 2019-11-15 2024-03-19 Verily Life Sciences Llc Integrating applications in a surgeon console user interface of a robotic surgical system
US11918307B1 (en) * 2019-11-15 2024-03-05 Verily Life Sciences Llc Integrating applications in a surgeon console user interface of a robotic surgical system
JP6694544B1 (ja) * 2019-12-05 2020-05-13 カイロス株式会社 マイクロ作業ロボット
CN115023170B (zh) * 2020-01-16 2026-04-10 奥林巴斯株式会社 内窥镜系统、控制装置以及信息处理方法
US12616540B2 (en) * 2020-12-10 2026-05-05 Intuitive Surgical Operations, Inc. Imaging device control via multiple input modalities
CN112890954B (zh) * 2020-12-30 2022-08-09 北京和华瑞博医疗科技有限公司 机械臂运动控制方法、系统及外科手术系统
CN116370095B (zh) * 2021-12-24 2026-03-27 深圳市精锋医疗科技股份有限公司 手术机器人
CN116616898A (zh) * 2022-02-12 2023-08-22 深圳市精锋医疗科技股份有限公司 具有平行关节的器械、手术机器人
TWI868853B (zh) * 2022-08-12 2025-01-01 美商靈巧公司 具有七種或更多自由度之機器人、機器人系統、控制一機器人之方法、及用以控制一機器人之電腦程式產品
US12447618B2 (en) 2022-12-21 2025-10-21 Intuitive Surgical Operations, Inc. Techniques for constraining motion of a drivable assembly
CN121568659A (zh) 2023-07-24 2026-02-24 直观外科手术操作公司 成像器械的基于视野的运动
CN117100408B (zh) * 2023-10-24 2024-02-13 深圳市精锋医疗科技股份有限公司 手术器械及手术机器人
WO2026080318A1 (en) 2024-10-08 2026-04-16 Intuitive Surgical Operations, Inc. View content-based steering of imaging instruments

Family Cites Families (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0455852B1 (de) 1990-05-09 1994-08-10 Siemens Aktiengesellschaft Medizinische, insbesondere zahnmedizinische Einrichtung
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6032343A (en) * 1997-02-24 2000-03-07 Ethicon, Inc. Automated swage wind and packaging machine
US6115650A (en) * 1997-04-30 2000-09-05 Ethicon, Inc. Robotic control system for needle sorting and feeder apparatus
US5983601A (en) * 1998-02-06 1999-11-16 Ethicon, Inc. Machine for the automated packaging of needles and attached sutures
US6081981A (en) * 1998-02-06 2000-07-04 Ethicon, Inc. Control system for an automatic needle-suture assembly and packaging machine
CA2309671C (en) * 1998-09-10 2010-12-21 Sony Corporation Robot apparatus, method of controlling robot apparatus, method of display, and medium
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
JP3948189B2 (ja) * 2000-03-28 2007-07-25 松下電器産業株式会社 ロボットの教示装置
US6507773B2 (en) * 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
AU2003276901A1 (en) * 2002-09-18 2004-04-08 Benchmark Entertainment Lc Crane amusement game with vertically adjustable play field
US8077963B2 (en) * 2004-07-13 2011-12-13 Yulun Wang Mobile robot with a head-based movement mapping scheme
DE112006000533T5 (de) * 2005-03-04 2008-06-26 Fanuc Robotics America, Inc., Rochester Hills Flexible Verbindung von Lehrvorrichtungen mit programmierbaren Steuervorrichtungen
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
EP1941333A4 (en) * 2005-10-06 2010-10-06 Abb As CONTROL SYSTEM AND CONTROL BOX FOR AN INDUSTRIAL ROBOT
EP3155998B1 (en) 2005-10-20 2021-03-31 Intuitive Surgical Operations, Inc. Auxiliary image display and manipulation on a computer display in a medical robotic system
US8400402B2 (en) * 2006-04-14 2013-03-19 Pressure Profile Systems, Inc. Electronic device housing with integrated user input capability
US8029516B2 (en) * 2006-06-13 2011-10-04 Intuitive Surgical Operations, Inc. Bracing of bundled medical devices for single port entry, robotically assisted medical procedures
CN104688327B (zh) 2006-06-13 2017-06-09 直观外科手术操作公司 微创手术系统
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
JP4916011B2 (ja) 2007-03-20 2012-04-11 株式会社日立製作所 マスタ・スレーブ式マニピュレータシステム
US8255092B2 (en) * 2007-05-14 2012-08-28 Irobot Corporation Autonomous behaviors for a remote vehicle
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
CN100518683C (zh) * 2007-08-23 2009-07-29 哈尔滨工程大学 主被动式内镜操作手术机器人
US9050120B2 (en) * 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
US20090249257A1 (en) * 2008-03-31 2009-10-01 Nokia Corporation Cursor navigation assistance
US8414469B2 (en) * 2008-06-27 2013-04-09 Intuitive Surgical Operations, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US9179832B2 (en) * 2008-06-27 2015-11-10 Intuitive Surgical Operations, Inc. Medical robotic system with image referenced camera control using partitionable orientational and translational modes
AT10676U1 (de) 2008-07-21 2009-08-15 Keba Ag Verfahren zum betreiben eines mobilen handbediengerätes für die abgabe oder freischaltung von potentiell gefahrbringenden steuerkommandos sowie entsprechendes handbediengerät
DE102008041602B4 (de) * 2008-08-27 2015-07-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter und Verfahren zum Steuern eines Roboters
DE102008041709A1 (de) * 2008-08-29 2010-03-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Medizinischer Arbeitsplatz und Bedienvorrichtung zum manuellen Bewegen eines Roboterarms eines medizinischen Arbeitsplatzes
US8315720B2 (en) 2008-09-26 2012-11-20 Intuitive Surgical Operations, Inc. Method for graphically providing continuous change of state directions to a user of a medical robotic system
JP2010082187A (ja) * 2008-09-30 2010-04-15 Olympus Corp 手術マニピュレータシステム
WO2010039952A1 (en) * 2008-10-02 2010-04-08 Zf Friedrichshafen Ag Joystick controlled marine maneuvering system
CN101732874B (zh) * 2008-11-14 2012-02-08 上海九鹰电子科技有限公司 航空模型遥控器
US8335590B2 (en) 2008-12-23 2012-12-18 Intuitive Surgical Operations, Inc. System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device
US9052710B1 (en) * 2009-03-20 2015-06-09 Exelis Inc. Manipulation control based upon mimic of human gestures
WO2011123669A1 (en) 2010-03-31 2011-10-06 St. Jude Medical, Atrial Fibrillation Division, Inc. Intuitive user interface control for remote catheter navigation and 3d mapping and visualization systems
US8918211B2 (en) * 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US8682489B2 (en) * 2009-11-13 2014-03-25 Intuitive Sugical Operations, Inc. Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
US8935003B2 (en) * 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
EP2642371A1 (en) * 2010-01-14 2013-09-25 BrainLAB AG Controlling a surgical navigation system
US9572481B2 (en) * 2011-05-13 2017-02-21 Intuitive Surgical Operations, Inc. Medical system with multiple operating modes for steering a medical instrument through linked body passages
KR101114232B1 (ko) 2011-05-17 2012-03-05 주식회사 이턴 수술 로봇 시스템 및 그 동작 제한 방법
JP6000641B2 (ja) * 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
KR102164186B1 (ko) * 2012-02-15 2020-10-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택
US9342195B2 (en) * 2012-03-12 2016-05-17 Microchip Technology Incorporated System and method to share electrodes between capacitive touch controller and gesture detection device
US9862099B1 (en) * 2015-06-22 2018-01-09 X Development Llc Haptic controller with touch-sensitive control knob

Similar Documents

Publication Publication Date Title
JP5744455B2 (ja) マスタ・スレーブ方式マニピュレータの制御装置及びその制御方法
JP6250566B2 (ja) モードを区別する操作動作を用いたロボットシステム操作モードの使用者選択
US20220331039A1 (en) Staged force feedback transitioning between control states
CN107848116B (zh) 远程操作机器人系统
KR20200064175A (ko) 로보틱 시스템 및 로보틱 시스템을 제어하는 방법
WO2012167043A3 (en) Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems
JP5905537B2 (ja) 教示操作盤が着脱可能なロボット制御装置
WO2019126863A8 (en) Microsurgery-specific haptic hand controller
JP2017071018A5 (enExample)
WO2012115360A3 (ko) 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
US10321965B2 (en) Medical manipulator system and method for controlling thereof
EP4494591A3 (en) Teleoperated surgical system with surgeon skill level based instrument control
JP2018012183A5 (ja) ロボット制御装置および挿入方法
JP2016519585A5 (enExample)
WO2017126101A1 (ja) 医療用マニピュレータシステム
EP2963515A3 (en) Robot cleaner and method for controlling the same
JP6240422B2 (ja) ロボット制御システム及びロボット制御方法
MY198153A (en) Parking Control Method And Parking Control Device
JP2021167065A (ja) 機械の教示に用いる機械教示端末、教示システム、プログラム及び安全確認方法
JP2011003067A5 (enExample)
JP2016221635A5 (enExample)
WO2012149402A3 (en) Robotic agile lift system with extremity control
SG11201908142YA (en) Assistance device
JP2023539372A5 (enExample)
JP2017030068A5 (enExample)