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
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
JP6255402B2 (ja) 2012-08-15 2017-12-27 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術システムの動きを操作するためのファントム自由度
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
KR102146796B1 (ko) 2012-08-15 2020-08-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 조인트 추정과 제어에서의 가상 자유도
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
WO2014146085A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Software configurable manipulator degrees of freedom
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
WO2014146090A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Inter-operative switching of tools in a robotic surgical system
CN105050529B (zh) * 2013-03-15 2018-08-28 直观外科手术操作公司 用于使用零空间来各向异性地增强操纵器接头运动的系统和方法
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
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
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
EP3060157B1 (en) 2013-10-24 2019-12-11 Auris Health, Inc. System for robotic-assisted endolumenal surgery
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
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
US20160124163A1 (en) * 2014-10-29 2016-05-05 Compass Electro Optical Systems Ltd. Vacuum gripper
CN107635488B (zh) 2015-05-15 2020-07-24 直观外科手术操作公司 用于力或扭矩极限补偿的系统和方法
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
CN108348133B (zh) 2015-09-09 2020-11-13 奥瑞斯健康公司 用于手术机器人系统的器械装置操纵器
EP4070723B1 (en) 2015-09-18 2025-08-06 Auris Health, Inc. Navigation of tubular networks
US11033340B2 (en) 2015-10-01 2021-06-15 Sony Corporation Medical support arm apparatus and medical system
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
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
CN108885804B (zh) * 2016-01-13 2021-11-05 久益环球地表采矿公司 在工业机械操作期间向操作员提供反馈
CN113456224B (zh) * 2016-03-17 2024-12-13 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
KR20230096148A (ko) 2016-08-31 2023-06-29 아우리스 헬스, 인코포레이티드 길이 보존 수술용 기구
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
CN108990412B (zh) 2017-03-31 2022-03-22 奥瑞斯健康公司 补偿生理噪声的用于腔网络导航的机器人系统
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
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
KR102222651B1 (ko) * 2017-11-10 2021-03-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 조작기 또는 연관 도구를 제어하기 위한 시스템 및 방법
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
EP3684562B1 (en) * 2017-12-14 2025-03-12 Auris Health, Inc. System and program for estimating instrument location
JP7059377B2 (ja) 2017-12-18 2022-04-25 オーリス ヘルス インコーポレイテッド 管腔ネットワーク内の器具の追跡およびナビゲーションの方法およびシステム
WO2019143458A1 (en) 2018-01-17 2019-07-25 Auris Health, Inc. Surgical robotics systems with improved robotic arms
US10881472B2 (en) 2018-02-20 2021-01-05 Verb Surgical Inc. Correcting a robotic surgery user interface device tracking input
EP3773131B1 (en) 2018-03-28 2024-07-10 Auris Health, Inc. Systems for registration of location sensors
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
KR102499906B1 (ko) 2018-05-30 2023-02-16 아우리스 헬스, 인코포레이티드 위치 센서-기반 분지부 예측을 위한 시스템 및 방법
MX2020012904A (es) 2018-05-31 2021-02-26 Auris Health Inc Analisis y mapeo de vias respiratorias basados en imagen.
CN112236083B (zh) 2018-05-31 2024-08-13 奥瑞斯健康公司 用于导航检测生理噪声的管腔网络的机器人系统和方法
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
US12150631B2 (en) 2018-06-17 2024-11-26 Momentis Surgical Ltd. Surgical articulated arm
CN118902621A (zh) 2018-06-27 2024-11-08 奥瑞斯健康公司 用于医疗器械的对准系统和附接系统
KR102870092B1 (ko) 2018-09-28 2025-10-17 아우리스 헬스, 인코포레이티드 동시 내시경술 및 경피 의료 절차를 위한 로봇 시스템 및 방법
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
EP3663054A1 (de) * 2018-12-05 2020-06-10 Siemens Aktiengesellschaft Gelenkarmroboter
WO2020118149A1 (en) * 2018-12-06 2020-06-11 Covidien Lp Method of controlling cable driven end effectors
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
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
US11202683B2 (en) 2019-02-22 2021-12-21 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
WO2020197671A1 (en) * 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
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
JP7530958B2 (ja) 2019-07-15 2024-08-08 ストライカー・コーポレイション 手持ち式ロボット機器
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
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
EP4045236B1 (en) * 2019-10-16 2023-08-16 Telefonaktiebolaget LM Ericsson (publ) Control of robotic devices over a wireless network
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
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
KR20220123273A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 해부학적 특징부 식별 및 표적설정
CN114901192A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 用于经皮进入的对准技术
IL272830B2 (en) 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
WO2021191691A1 (en) * 2020-03-26 2021-09-30 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
CA2632123C (en) 1992-01-21 2010-03-23 Sri International Teleoperator system and method with telepresence
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
JP2665052B2 (ja) 1993-05-14 1997-10-22 エスアールアイ インターナショナル 遠隔中心位置決め装置
SE9400579L (sv) * 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
WO2000007503A1 (en) 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
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
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
WO2004014244A2 (en) * 2002-08-13 2004-02-19 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
JP2008544814A (ja) * 2005-06-30 2008-12-11 インテュイティブ サージカル， インコーポレイテッド マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
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
US8945148B2 (en) 2007-06-13 2015-02-03 Intuitive Surgical Operations, Inc. Surgical system instrument manipulator
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.
SG10201402759QA (en) 2009-05-29 2014-08-28 Univ Nanyang Tech Robotic System for Flexible Endoscopy
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale 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
KR102146796B1 (ko) 2012-08-15 2020-08-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 조인트 추정과 제어에서의 가상 자유도
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
JP6255402B2 (ja) 2012-08-15 2017-12-27 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術システムの動きを操作するためのファントム自由度
JP6247691B2 (ja) * 2012-09-07 2017-12-13 デーナ リミテッド ボール式連続可変トランスミッション／無段可変トランスミッション
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)
JP6520478B2 (ja) ロボットアームの操作システム
KR102284918B1 (ko) 로보틱 시스템 및 로보틱 시스템을 제어하는 방법
Niemeyer et al. Telerobotics
EP3486041A3 (en) Gripping system, learning device, and gripping method
WO2018160267A3 (en) Cloud based robotic control systems and methods
EP2777597A3 (en) Robots and methods of controlling the same
JP2016518877A5 (enExample)
WO2018087123A3 (en) System and method for instructing a robot
JP2016514493A5 (enExample)
KR102030141B1 (ko) 로봇의 팔꿈치 제어시스템 및 그 제어방법
AU2017275595A1 (en) Control arm assemblies for robotic surgical systems
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
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)
JP2018187754A5 (ja) ロボットシステム及びロボットの制御方法
WO2019003495A1 (ja) 複数動作ユニット統合装置、およびその制御方法、並びに自律学習型ロボット装置
Bong et al. Force feedback haptic interface for bilateral teleoperation of robot manipulation
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
Kobayashi et al. Automatic controller generation based on dependency network of multi-modal sensor variables for musculoskeletal robotic arm
KR101263487B1 (ko) 로봇의 교시 장치