JP2016516487A5 - - Google Patents

Download PDF

Info

Publication number
JP2016516487A5
JP2016516487A5 JP2016502603A JP2016502603A JP2016516487A5 JP 2016516487 A5 JP2016516487 A5 JP 2016516487A5 JP 2016502603 A JP2016502603 A JP 2016502603A JP 2016502603 A JP2016502603 A JP 2016502603A JP 2016516487 A5 JP2016516487 A5 JP 2016516487A5
Authority
JP
Japan
Prior art keywords
joints
end effector
movement
space
joint
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
JP2016502603A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016516487A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2014/031082 external-priority patent/WO2014146107A1/en
Publication of JP2016516487A publication Critical patent/JP2016516487A/ja
Publication of JP2016516487A5 publication Critical patent/JP2016516487A5/ja
Priority to JP2019182903A priority Critical patent/JP7384612B2/ja
Pending legal-status Critical Current

Links

JP2016502603A 2013-03-15 2014-03-18 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法 Pending JP2016516487A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019182903A JP7384612B2 (ja) 2013-03-15 2019-10-03 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361799920P 2013-03-15 2013-03-15
US61/799,920 2013-03-15
PCT/US2014/031082 WO2014146107A1 (en) 2013-03-15 2014-03-18 System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019182903A Division JP7384612B2 (ja) 2013-03-15 2019-10-03 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法

Publications (2)

Publication Number Publication Date
JP2016516487A JP2016516487A (ja) 2016-06-09
JP2016516487A5 true JP2016516487A5 (OSRAM) 2017-04-06

Family

ID=50513516

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2016502603A Pending JP2016516487A (ja) 2013-03-15 2014-03-18 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
JP2019182903A Active JP7384612B2 (ja) 2013-03-15 2019-10-03 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
JP2021165866A Active JP7434246B2 (ja) 2013-03-15 2021-10-08 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2019182903A Active JP7384612B2 (ja) 2013-03-15 2019-10-03 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
JP2021165866A Active JP7434246B2 (ja) 2013-03-15 2021-10-08 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法

Country Status (6)

Country Link
US (8) US9415510B2 (OSRAM)
EP (2) EP2969403B1 (OSRAM)
JP (3) JP2016516487A (OSRAM)
KR (1) KR102154521B1 (OSRAM)
CN (2) CN105073058B (OSRAM)
WO (1) WO2014146107A1 (OSRAM)

Families Citing this family (89)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
KR20250048812A (ko) 2012-08-03 2025-04-10 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
WO2014028703A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
WO2014146107A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
WO2014146120A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Systems and methods for using the null space to emphasize anipulator joint motion anisotropically
US10034717B2 (en) 2014-03-17 2018-07-31 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
WO2015142947A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
CN110584789B (zh) * 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
KR102757751B1 (ko) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블을 위한 시스템 및 방법
JP6630050B2 (ja) * 2015-03-13 2020-01-15 川崎重工業株式会社 ロボット、ロボットの制御方法、ワークの取付方法及びワークの搬送方法
EP4647220A2 (en) * 2015-03-17 2025-11-12 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
CN107249425B (zh) * 2015-05-14 2019-09-27 奥林巴斯株式会社 内窥镜装置
JP6088601B2 (ja) * 2015-08-10 2017-03-01 ファナック株式会社 走行軸付きロボットにおけるツール先端の振れを抑制するロボット制御装置
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
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
EP3373836B1 (en) * 2015-11-10 2023-01-04 Eindhoven Medical Robotics B.V. Modular robotic device for precision surgical bone removal and other applications
JP6956081B2 (ja) 2015-11-11 2021-10-27 マコ サージカル コーポレーション ロボットシステム及びロボットシステムをバックドライブする方法
KR20250080909A (ko) * 2016-01-29 2025-06-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변 속도 수술 기기용 시스템 및 방법
EP3419543B1 (en) 2016-02-26 2023-04-05 Intuitive Surgical Operations, Inc. System for collision avoidance using virtual boundaries
KR102414405B1 (ko) 2016-06-09 2022-06-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 원격 조작 수술 시스템 및 방법
WO2017221323A1 (ja) * 2016-06-21 2017-12-28 オリンパス株式会社 医療システム
US10531929B2 (en) * 2016-08-16 2020-01-14 Ethicon Llc Control of robotic arm motion based on sensed load on cutting tool
US10390895B2 (en) 2016-08-16 2019-08-27 Ethicon Llc Control of advancement rate and application force based on measured forces
US10709511B2 (en) 2016-08-16 2020-07-14 Ethicon Llc Control of jaw or clamp arm closure in concert with advancement of device
KR102551268B1 (ko) 2016-09-19 2023-07-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격으로 제어가능한 아암을 위한 위치결정 표시장치 시스템 및 관련 방법
EP3522814B1 (en) 2016-10-04 2022-05-04 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems
EP3528736A4 (en) * 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR COMPUTER-ASSISTED TELE-OPERATED SURGERY
JP6739544B2 (ja) * 2016-12-07 2020-08-12 オリンパス株式会社 医療システムとその制御方法
US11202682B2 (en) 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
US10251716B2 (en) * 2016-12-19 2019-04-09 Ethicon Llc Robotic surgical system with selective motion control decoupling
JP2018202504A (ja) 2017-05-31 2018-12-27 ソニー株式会社 医療用支持アームシステム、医療用支持アームの制御方法、および医療用支持アームの制御装置
US11284955B2 (en) * 2017-06-29 2022-03-29 Verb Surgical Inc. Emulation of robotic arms and control thereof in a virtual reality environment
US11270601B2 (en) 2017-06-29 2022-03-08 Verb Surgical Inc. Virtual reality system for simulating a robotic surgical environment
US11011077B2 (en) 2017-06-29 2021-05-18 Verb Surgical Inc. Virtual reality training, simulation, and collaboration in a robotic surgical system
US10610303B2 (en) 2017-06-29 2020-04-07 Verb Surgical Inc. Virtual reality laparoscopic tools
US11129634B2 (en) 2017-10-30 2021-09-28 Cilag Gmbh International Surgical instrument with rotary drive selectively actuating multiple end effector functions
US10932804B2 (en) 2017-10-30 2021-03-02 Ethicon Llc Surgical instrument with sensor and/or control systems
US11116485B2 (en) 2017-10-30 2021-09-14 Cilag Gmbh International Surgical instrument with modular power sources
US10786317B2 (en) 2017-12-11 2020-09-29 Verb Surgical Inc. Active backdriving for a robotic arm
US11114199B2 (en) 2018-01-25 2021-09-07 Mako Surgical Corp. Workflow systems and methods for enhancing collaboration between participants in a surgical procedure
JP7194910B2 (ja) * 2018-07-02 2022-12-23 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
DE102018126873A1 (de) * 2018-10-26 2020-04-30 Franka Emika Gmbh Roboter
CA3121914A1 (en) * 2018-12-06 2020-06-11 Covidien Lp Method of controlling cable driven end effectors
CN111374777B (zh) * 2018-12-29 2024-09-17 达科为（深圳）医疗设备有限公司 用于胸腹腔微创手术的主从式机器人系统及配置方法
EP3905980A2 (en) * 2019-01-05 2021-11-10 Distalmotion SA Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
EP4272908B1 (en) 2019-03-29 2025-02-26 Intuitive Surgical Operations, Inc. Reducing energy buildup in servo-controlled mechanisms
CA3144616A1 (en) * 2019-06-24 2020-12-30 Vicarious Surgical Inc. Methods of inserting a surgical robot through a trocar
US12138003B2 (en) 2019-06-25 2024-11-12 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
WO2020263949A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11553973B2 (en) 2019-07-29 2023-01-17 Verb Surgical Inc. Robotic arm having an extendable prismatic link
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
WO2021112229A1 (ja) 2019-12-05 2021-06-10 川崎重工業株式会社 手術支援ロボット及びその制御方法
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
JP7165158B2 (ja) 2020-04-13 2022-11-02 株式会社メディカロイド 医師側操作装置および手術システム
JP7171647B2 (ja) * 2020-04-28 2022-11-15 川崎重工業株式会社 手術支援ロボット、ピボット位置設定方法および外科手術システム
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
WO2022046787A1 (en) * 2020-08-28 2022-03-03 Intuitive Surgical Operations, Inc. Method and system for coordinated multiple-tool movement using a drivable assembly
EP4245238A4 (en) * 2020-11-10 2025-01-08 Chongqing Jinshan Medical Robotics Co., Ltd. CONTROL METHODS FOR POSITION AND ORIENTATION OF A SURGICAL ROBOT END AND CONTROL METHODS FOR SURGICAL ROBOT
CN112549046A (zh) * 2020-12-04 2021-03-26 亿嘉和科技股份有限公司 一种具备微视角监控定位的浮动操作工具及其操作方法
WO2022144640A1 (en) * 2020-12-30 2022-07-07 Auris Health, Inc. Systems and methods of contact sensing and contact reaction of robotic arms
DE112022002158B4 (de) * 2021-04-12 2025-07-10 Intuitive Surgical Operations, Inc. Kontrollierter widerstand in rückfahrbaren gelenken
US12082896B2 (en) * 2021-08-04 2024-09-10 Pixee Medical Surgical navigation system on wearable computer combining augmented reality and robotics
WO2023014149A1 (ko) * 2021-08-06 2023-02-09 주식회사 리브스메드 수술용 로봇 암
CN113334390B (zh) * 2021-08-06 2021-11-09 成都博恩思医学机器人有限公司 一种机械臂的控制方法、系统、机器人及存储介质
CN113729969B (zh) * 2021-10-11 2023-05-16 中南大学 力反馈一体式微创手术机器人
CN116000911B (zh) * 2021-10-22 2024-09-20 瑞龙诺赋(上海)医疗科技有限公司 一种机械臂控制方法、装置以及机械臂
CN116460849A (zh) * 2021-11-05 2023-07-21 佛山非夕机器人科技有限公司 多自由度机器人的运动学标定方法及标定系统
CN114098953A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
KR102879698B1 (ko) * 2022-05-27 2025-11-03 주식회사 리브스메드 수술용 로봇 암
JP2024022287A (ja) 2022-08-05 2024-02-16 川崎重工業株式会社 手術支援ロボット
WO2024145000A1 (en) * 2022-12-30 2024-07-04 Intuitive Surgical Operations, Inc. Clutching of manipulators and related devices and systems

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1025171A (en) 1911-04-22 1912-05-07 Union Typewriter Co Type-writing machine.
US5214749A (en) * 1991-06-12 1993-05-25 Massachusetts Institute Of Technology Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage
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
ATE155059T1 (de) 1992-01-21 1997-07-15 Stanford Res Inst Int Teleoperateursystem und verfahren mit teleanwesenheit
US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
US5430643A (en) * 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
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
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
EP2362286B1 (en) 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
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
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
US7699835B2 (en) * 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
WO2004014244A2 (en) * 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
JP2004094399A (ja) * 2002-08-29 2004-03-25 Mitsubishi Heavy Ind Ltd 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム
US8052636B2 (en) * 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
US20060243085A1 (en) * 2005-04-25 2006-11-02 Blake Hannaford Spherical motion mechanism
EP1728600B1 (en) 2005-05-31 2008-03-12 Honda Research Institute Europe GmbH Controlling the trajectory of an effector
US7819859B2 (en) * 2005-12-20 2010-10-26 Intuitive Surgical Operations, Inc. Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
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
US7843158B2 (en) * 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
US8332072B1 (en) * 2008-08-22 2012-12-11 Titan Medical Inc. Robotic hand controller
JP5175691B2 (ja) * 2008-11-20 2013-04-03 トヨタ自動車株式会社 ロボットアームの教示システム及び方法
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
CN102387532B (zh) 2011-01-10 2013-12-04 华为技术有限公司 频点信息处理方法和用户设备
EP2785267B1 (en) 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
KR102167359B1 (ko) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
WO2014028703A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
JP6112300B2 (ja) * 2013-01-10 2017-04-12 パナソニックＩｐマネジメント株式会社 マスタースレーブロボットの制御装置及び制御方法、マスタースレーブロボット、並びに、制御プログラム
KR102217573B1 (ko) * 2013-03-15 2021-02-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
WO2014146107A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
EP3193768A4 (en) 2014-09-17 2018-05-09 Intuitive Surgical Operations, Inc. Systems and methods for utilizing augmented jacobian to control manipulator joint movement
US10957077B2 (en) 2016-09-01 2021-03-23 Warple Inc. Systems and methods for obtaining opinion data from individuals via a web widget and displaying a graphic visualization of aggregated opinion data with waveforms that may be embedded into the web widget

Similar Documents

Publication Publication Date Title
JP2016516487A5 (OSRAM)
US20250352190A1 (en) Systems and methods for confirming disc engagement
US10194997B2 (en) Manipulator arm-to-patient collision avoidance using a null-space
US11213360B2 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
JP6793797B2 (ja) ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
US11890069B2 (en) Sensors for touch-free control of surgical robotic systems
JP6534680B2 (ja) モード移行において振動を減衰させる指令形成
JP5612971B2 (ja) マスタスレーブマニピュレータ
KR102146708B1 (ko) 영-공간을 이용하여 매니퓰레이터 암들 사이의 충돌을 회피하는 시스템 및 방법
JP2016514493A5 (OSRAM)
JP2015531624A5 (OSRAM)
JP2015526116A5 (OSRAM)
CN104622585A (zh) 一种腹腔镜微创手术机器人主从同构式遥操作主手
JP2015521084A5 (OSRAM)
CN107635730A (zh) 机器人系统
WO2018105045A1 (ja) 医療システムとその制御方法
CN112888398A (zh) 主机器人及其控制方法
Alassi et al. Development and kinematic analysis of a redundant, modular and backdrivable laparoscopic surgery robot
Kuo et al. A Design for Remote Center of Motion Control Using a Software Computing Approach
US20240173856A1 (en) Systems and methods for controlling a robotic manipulator or associated tool
WO2018003049A1 (ja) 医療システムとその制御方法