JP2015535693A5 - - Google Patents

Download PDF

Info

Publication number
JP2015535693A5
JP2015535693A5 JP2015527554A JP2015527554A JP2015535693A5 JP 2015535693 A5 JP2015535693 A5 JP 2015535693A5 JP 2015527554 A JP2015527554 A JP 2015527554A JP 2015527554 A JP2015527554 A JP 2015527554A JP 2015535693 A5 JP2015535693 A5 JP 2015535693A5
Authority
JP
Japan
Prior art keywords
freedom
degrees
machine body
mechanical system
information
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
JP2015527554A
Other languages
English (en)
Japanese (ja)
Other versions
JP6255401B2 (ja
JP2015535693A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2013/054834 external-priority patent/WO2014028557A1/en
Publication of JP2015535693A publication Critical patent/JP2015535693A/ja
Publication of JP2015535693A5 publication Critical patent/JP2015535693A5/ja
Application granted granted Critical
Publication of JP6255401B2 publication Critical patent/JP6255401B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2015527554A 2012-08-15 2013-08-14 機械本体の動きを操作するためのファントム自由度 Active JP6255401B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261683495P 2012-08-15 2012-08-15
US61/683,495 2012-08-15
PCT/US2013/054834 WO2014028557A1 (en) 2012-08-15 2013-08-14 Phantom degrees of freedom for manipulating the movement of mechanical bodies

Publications (3)

Publication Number Publication Date
JP2015535693A JP2015535693A (ja) 2015-12-17
JP2015535693A5 true JP2015535693A5 (enExample) 2016-09-29
JP6255401B2 JP6255401B2 (ja) 2017-12-27

Family

ID=50100616

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015527554A Active JP6255401B2 (ja) 2012-08-15 2013-08-14 機械本体の動きを操作するためのファントム自由度

Country Status (6)

Country Link
US (2) US9272416B2 (enExample)
EP (1) EP2885114B1 (enExample)
JP (1) JP6255401B2 (enExample)
KR (1) KR102189666B1 (enExample)
CN (1) CN104718054B (enExample)
WO (1) WO2014028557A1 (enExample)

Families Citing this family (103)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3007167B2 (ja) 1990-12-25 2000-02-07 株式会社ニフコ ベルト連結用のバックル
US5794316A (en) 1996-06-24 1998-08-18 National Molding Corp. Side-release buckle having improved locking feature
US9468501B2 (en) * 1999-09-17 2016-10-18 Intuitive Surgical Operations, Inc. Systems and methods for using the null space to emphasize manipulator joint motion anisotropically
US9272416B2 (en) 1999-09-17 2016-03-01 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
KR101917076B1 (ko) * 2012-02-21 2018-11-09 삼성전자주식회사 링크 유닛 및 이를 가지는 암 모듈
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
CN104736094B (zh) 2012-08-15 2017-07-28 直观外科手术操作公司 操纵外科系统的活动的假想自由度
WO2014028563A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
KR102422496B1 (ko) 2013-03-15 2022-07-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 수술 시스템에서의 수술 중 도구의 교환
EP2969408B1 (en) 2013-03-15 2021-12-15 Intuitive Surgical Operations, Inc. Software configurable manipulator degrees of freedom
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
KR102332023B1 (ko) 2013-10-24 2021-12-01 아우리스 헬스, 인크. 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
WO2016005988A1 (en) * 2014-07-10 2016-01-14 M.S.T. Medical Surgery Technologies Ltd. Improved interface for laparoscopic surgeries - movement gestures
US20160124163A1 (en) * 2014-10-29 2016-05-05 Compass Electro Optical Systems Ltd. Vacuum gripper
US9645328B2 (en) 2014-10-29 2017-05-09 Compass Electro Optical Systems Ltd. No-polish optical element attachment for optical fiber ferrule
US9651744B2 (en) 2014-10-29 2017-05-16 Compass Electro Optical Systems Ltd. Multi-fiber ferrule
EP3692940B1 (en) 2015-05-15 2023-12-13 Intuitive Surgical Operations, Inc. A computer assisted medical device with torque limit compensation
CN104965517B (zh) * 2015-07-07 2018-01-26 张耀伦 一种机器人笛卡尔空间轨迹的规划方法
CN113274140B (zh) 2015-09-09 2022-09-02 奥瑞斯健康公司 手术覆盖件
WO2017049163A1 (en) 2015-09-18 2017-03-23 Auris Surgical Robotics, Inc. Navigation of tubular networks
WO2017056704A1 (ja) * 2015-10-01 2017-04-06 ソニー株式会社 医療用支持アーム装置及び医療用システム
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10219871B2 (en) * 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
JP2017099819A (ja) * 2015-12-04 2017-06-08 リバーフィールド株式会社 操作システム
WO2017123985A1 (en) * 2016-01-13 2017-07-20 Harnischfeger Technologies, Inc. Providing operator feedback during operation of an industrial machine
CN108472099B (zh) * 2016-03-17 2021-07-23 直观外科手术操作公司 用于器械插入控制的系统和方法
GB2549072B (en) * 2016-03-24 2020-07-29 Cmr Surgical Ltd Robot control
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
TWI614100B (zh) * 2016-09-06 2018-02-11 國立臺北科技大學 機械手臂的教導系統及其控制方法
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11490782B2 (en) 2017-03-31 2022-11-08 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
GB201707473D0 (en) 2017-05-10 2017-06-21 Moog Bv Optimal control of coupled admittance controllers
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
EP4681656A1 (en) * 2017-11-10 2026-01-21 Intuitive Surgical Operations, Inc. Systems and methods for controlling a robotic manipulator or associated tool
CN111770736A (zh) 2017-12-11 2020-10-13 奥瑞斯健康公司 用于基于器械的插入架构的系统和方法
JP7322026B2 (ja) * 2017-12-14 2023-08-07 オーリス ヘルス インコーポレイテッド 器具の位置推定のシステムおよび方法
CN110809453B (zh) 2017-12-18 2023-06-06 奥瑞斯健康公司 用于腔网络内的器械跟踪和导航的方法和系统
CN111867511A (zh) 2018-01-17 2020-10-30 奥瑞斯健康公司 具有改进的机器人臂的外科机器人系统
US10881472B2 (en) 2018-02-20 2021-01-05 Verb Surgical Inc. Correcting a robotic surgery user interface device tracking input
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
CN110831486B (zh) 2018-05-30 2022-04-05 奥瑞斯健康公司 用于基于定位传感器的分支预测的系统和方法
MX2020012898A (es) 2018-05-31 2021-02-26 Auris Health Inc Navegacion de redes tubulares basada en trayecto.
US10898275B2 (en) 2018-05-31 2021-01-26 Auris Health, Inc. Image-based airway analysis and mapping
US11503986B2 (en) 2018-05-31 2022-11-22 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise
IL317004A (en) 2018-06-17 2025-01-01 Momentis Surgical Ltd Articulated surgical arm
JP7366943B2 (ja) 2018-06-27 2023-10-23 オーリス ヘルス インコーポレイテッド 医療器具のための位置合わせ及び取り付けシステム
AU2019347754B2 (en) 2018-09-28 2024-10-03 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
CN112752534B (zh) 2018-09-28 2024-12-03 奥瑞斯健康公司 用于手动和机器人驱动医疗器械的装置、系统和方法
EP3663054A1 (de) * 2018-12-05 2020-06-10 Siemens Aktiengesellschaft Gelenkarmroboter
AU2019395013A1 (en) * 2018-12-06 2021-04-22 Covidien Lp Method of controlling cable driven end effectors
WO2020133368A1 (zh) * 2018-12-29 2020-07-02 天津大学 柔性手术器械、操作臂系统及微创手术机器人从手系统
CN109700537B (zh) * 2018-12-29 2021-07-30 天津大学 柔性手术器械、操作臂系统及微创手术机器人从手系统
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
EP3908224A4 (en) * 2019-03-22 2022-10-19 Auris Health, Inc. SYSTEMS AND METHODS FOR INLET ALIGNMENTS ON MEDICAL DEVICES
IT201900005894A1 (it) 2019-04-26 2019-07-26 Guido Danieli EasyLap, sistema robotico per laparoscopia mono e multi accesso che utilizza principalmente strumentazione tradizionale già presente negli ospedali
CN114375183A (zh) 2019-07-15 2022-04-19 史赛克公司 机器人手持式外科器械系统和方法
KR102196484B1 (ko) * 2019-07-24 2020-12-30 (주)이지원인터넷서비스 로봇의 관절 구동제어모듈
KR102196483B1 (ko) * 2019-07-24 2020-12-30 (주)이지원인터넷서비스 로봇의 관절 구동모듈
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
KR20220058569A (ko) 2019-08-30 2022-05-09 아우리스 헬스, 인코포레이티드 위치 센서의 가중치-기반 정합을 위한 시스템 및 방법
CN114340540B (zh) 2019-08-30 2023-07-04 奥瑞斯健康公司 器械图像可靠性系统和方法
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
CN114514092B (zh) * 2019-10-16 2025-05-20 瑞典爱立信有限公司 通过无线网络控制机器人装置
US12213758B2 (en) 2019-12-05 2025-02-04 Momentis Surgical Ltd. Orientation of user-input devices for controlling surgical arms
CN113021331B (zh) * 2019-12-24 2022-04-05 沈阳智能机器人创新中心有限公司 一种七自由度协作机器人动力学建模与辨识方法
EP4084721B1 (en) 2019-12-31 2025-10-01 Auris Health, Inc. Anatomical feature identification and targeting
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
KR20220123087A (ko) 2019-12-31 2022-09-05 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 인터페이스
KR20220123076A (ko) 2019-12-31 2022-09-05 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 기법
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
IL272830B2 (en) 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
US12350829B2 (en) * 2020-03-26 2025-07-08 Auris Health, Inc. Systems and methods for constrained motion control of medical instruments
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
CN113843786B (zh) * 2020-06-28 2024-11-05 杭州有容智控科技有限公司 一种用于蛇行柔性机械臂的人机交互控制方法及系统
JP7578244B2 (ja) * 2020-10-06 2024-11-06 国立大学法人 東京大学 制御システムの生産装置、制御システムの生産方法及びプログラム
US12023117B2 (en) * 2021-07-06 2024-07-02 Verb Surgical Inc. Projection of user interface pose command to reduced degree of freedom space for a surgical robot
US12076099B2 (en) * 2021-07-06 2024-09-03 Verb Surgical Inc. Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
CN114888810B (zh) * 2022-06-06 2024-02-06 佗道医疗科技有限公司 一种末端仪器的防碰撞方法

Family Cites Families (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61146482A (ja) * 1984-12-20 1986-07-04 工業技術院長 異構造異自由度バイラテラル・マスタスレイブ・マニピユレ−タの制御装置
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
ATE238140T1 (de) 1992-01-21 2003-05-15 Stanford Res Inst Int Chirurgisches system
US5550953A (en) 1994-04-20 1996-08-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration On-line method and apparatus for coordinated mobility and manipulation of mobile robots
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
EP0699053B1 (en) 1993-05-14 1999-03-17 Sri International Surgical apparatus
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
EP2362283B1 (en) 1997-09-19 2015-11-25 Massachusetts Institute Of Technology Robotic apparatus
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US6317651B1 (en) * 1999-03-26 2001-11-13 Kuka Development Laboratories, Inc. Trajectory generation system
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9272416B2 (en) 1999-09-17 2016-03-01 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
US6668466B1 (en) 2000-10-19 2003-12-30 Sandia Corporation Highly accurate articulated coordinate measuring machine
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
US7155316B2 (en) * 2002-08-13 2006-12-26 Microbotics Corporation Microsurgical robot system
JP3934524B2 (ja) 2002-10-09 2007-06-20 株式会社日立製作所 手術用マニピュレータ
US7386365B2 (en) 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
DE102005009928B3 (de) * 2005-03-04 2006-06-14 Bühler Motor GmbH Elektromotor
DE602005005306T2 (de) 2005-05-31 2009-05-07 Honda Research Institute Europe Gmbh Steuerung der Bahn eines Greifers
KR101274595B1 (ko) * 2005-06-30 2013-06-13 인튜어티브 서지컬 인코포레이티드 멀티암 로보트 원격 외과수술에서 툴 상태에 대한 인디케이터와 통신
US7688016B2 (en) * 2005-09-28 2010-03-30 Canadian Space Agency Robust impedance-matching of manipulators interacting with unknown environments
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US8469945B2 (en) * 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
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
ES2298051B2 (es) * 2006-07-28 2009-03-16 Universidad De Malaga Sistema robotico de asistencia a la cirugia minimamente invasiva capaz de posicionar un instrumento quirurgico en respueta a las ordenes de un cirujano sin fijacion a la mesa de operaciones ni calibracion previa del punto de insercion.
JP5030639B2 (ja) 2007-03-29 2012-09-19 オリンパスメディカルシステムズ株式会社 内視鏡装置の処置具位置制御装置
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
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
US9052710B1 (en) 2009-03-20 2015-06-09 Exelis Inc. Manipulation control based upon mimic of human gestures
US20120041263A1 (en) 2009-04-23 2012-02-16 M.S.T. Medical Surgery Technologies Ltd. Two-part endoscope surgical device
ES2388029B1 (es) * 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
EP2434977B1 (en) 2009-05-29 2016-10-19 Nanyang Technological University Robotic system for flexible endoscopy
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
WO2012078989A1 (en) 2010-12-10 2012-06-14 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
JP5669590B2 (ja) * 2011-01-20 2015-02-12 オリンパス株式会社 マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ
CN103717169B (zh) 2011-08-04 2016-11-16 奥林巴斯株式会社 医疗用机械手及其控制方法
CN104736094B (zh) 2012-08-15 2017-07-28 直观外科手术操作公司 操纵外科系统的活动的假想自由度
WO2014028563A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
US8986150B2 (en) * 2012-09-07 2015-03-24 Dana Limited Ball type continuously variable transmission/infinitely variable transmission
EP2893220A4 (en) 2012-09-07 2016-12-28 Dana Ltd CONTINUOUS BALL VARIATION TRANSMISSION WITH DIRECT DRIVE MODE

Similar Documents

Publication Publication Date Title
JP2015535693A5 (enExample)
Niemeyer et al. Telerobotics
EP3486041A3 (en) Gripping system, learning device, and gripping method
JP2015168056A (ja) 協調的なロボット制御
WO2018160267A3 (en) Cloud based robotic control systems and methods
EP2777597A3 (en) Robots and methods of controlling the same
EP3446640A3 (en) Surgical system bailout
JP2016518877A5 (enExample)
WO2018087123A3 (en) System and method for instructing a robot
JP2016514493A5 (enExample)
KR102030141B1 (ko) 로봇의 팔꿈치 제어시스템 및 그 제어방법
JP5406893B2 (ja) 力および位置ベースの制御法則を用いたテンドン駆動ロボットフィンガのロバスト操作
ATE481317T1 (de) Multimodale bemannte und unbemannte fahrzeugsysteme und -verfahren
KR20200064175A (ko) 로보틱 시스템 및 로보틱 시스템을 제어하는 방법
Aldana et al. Operational space consensus of multiple heterogeneous robots without velocity measurements
BR112014032743A2 (pt) dispositivo cirúrgico roboticamente acionado com sistema de inversão manualmente atuável
JP2017071018A5 (enExample)
Hashemzadeh et al. Nonlinear trilateral teleoperation stability analysis subjected to time-varying delays
JP2011079123A5 (enExample)
US11440185B2 (en) Multi-operation unit integration device, control method therefor, and autonomous learning type robot device
JP2018187754A5 (ja) ロボットシステム及びロボットの制御方法
Lee et al. A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system
WO2018022692A1 (en) Spherical parallel manipulator architecture for shoulder robotic exoskeleton
KR101497320B1 (ko) 로봇팔 분할 조종장치
CN107553485B (zh) 一种人机交互过程中动态虚拟夹具的生成方法