JP2016518877A5 - - Google Patents

Download PDF

Info

Publication number
JP2016518877A5
JP2016518877A5 JP2016502600A JP2016502600A JP2016518877A5 JP 2016518877 A5 JP2016518877 A5 JP 2016518877A5 JP 2016502600 A JP2016502600 A JP 2016502600A JP 2016502600 A JP2016502600 A JP 2016502600A JP 2016518877 A5 JP2016518877 A5 JP 2016518877A5
Authority
JP
Japan
Prior art keywords
joint space
manipulator
interface elements
output signal
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.)
Granted
Application number
JP2016502600A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016518877A (ja
JP6541640B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2014/031028 external-priority patent/WO2014146085A1/en
Publication of JP2016518877A publication Critical patent/JP2016518877A/ja
Publication of JP2016518877A5 publication Critical patent/JP2016518877A5/ja
Application granted granted Critical
Publication of JP6541640B2 publication Critical patent/JP6541640B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2016502600A 2013-03-15 2014-03-18 ソフトウェア構成可能なマニピュレータ自由度 Active JP6541640B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361793093P 2013-03-15 2013-03-15
US61/793,093 2013-03-15
PCT/US2014/031028 WO2014146085A1 (en) 2013-03-15 2014-03-18 Software configurable manipulator degrees of freedom

Publications (3)

Publication Number Publication Date
JP2016518877A JP2016518877A (ja) 2016-06-30
JP2016518877A5 true JP2016518877A5 (enExample) 2017-04-13
JP6541640B2 JP6541640B2 (ja) 2019-07-10

Family

ID=51531012

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016502600A Active JP6541640B2 (ja) 2013-03-15 2014-03-18 ソフトウェア構成可能なマニピュレータ自由度

Country Status (6)

Country Link
US (1) US10561470B2 (enExample)
EP (1) EP2969408B1 (enExample)
JP (1) JP6541640B2 (enExample)
KR (1) KR102218243B1 (enExample)
CN (2) CN107485449B (enExample)
WO (1) WO2014146085A1 (enExample)

Families Citing this family (148)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9906838B2 (en) 2010-07-12 2018-02-27 Time Warner Cable Enterprises Llc Apparatus and methods for content delivery and message exchange across multiple content delivery networks
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2013014621A2 (en) 2011-07-27 2013-01-31 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US20140005640A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
US9186793B1 (en) 2012-08-31 2015-11-17 Brain Corporation Apparatus and methods for controlling attention of a robot
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
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーDistalmotion Sa 交換可能な遠位装置を備える機械的遠隔操作デバイス
US9533413B2 (en) * 2014-03-13 2017-01-03 Brain Corporation Trainable modular robotic apparatus and methods
US9364950B2 (en) 2014-03-13 2016-06-14 Brain Corporation Trainable modular robotic methods
US9987743B2 (en) 2014-03-13 2018-06-05 Brain Corporation Trainable modular robotic apparatus and methods
WO2016030767A1 (en) 2014-08-27 2016-03-03 Distalmotion Sa Surgical system for microsurgical techniques
US9426946B2 (en) 2014-12-02 2016-08-30 Brain Corporation Computerized learning landscaping apparatus and methods
CN107205787B (zh) 2014-12-19 2020-03-20 迪斯透莫森公司 用于微创手术的可再用手术器械
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
WO2016097873A2 (en) 2014-12-19 2016-06-23 Distalmotion Sa Articulated handle for mechanical telemanipulator
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
EP3280337B1 (en) 2015-04-09 2019-11-13 DistalMotion SA Articulated hand-held instrument
EP3280343B1 (en) * 2015-04-09 2024-08-21 DistalMotion SA Mechanical teleoperated device for remote manipulation
US9840003B2 (en) 2015-06-24 2017-12-12 Brain Corporation Apparatus and methods for safe navigation of robotic devices
WO2017006376A1 (ja) 2015-07-09 2017-01-12 川崎重工業株式会社 手術用ロボット
CN107847110B (zh) 2015-07-23 2019-11-08 奥林巴斯株式会社 操纵器和医疗系统
CN107847285B (zh) * 2015-07-23 2020-09-08 奥林巴斯株式会社 输入机构和医疗系统
US9630315B2 (en) * 2015-08-24 2017-04-25 Rethink Robotics, Inc. Robot with hot-swapped end effectors
US11167411B2 (en) * 2015-08-24 2021-11-09 Rethink Robotics Gmbh Quick-release mechanism for tool adapter plate and robots incorporating the same
EP3340897B1 (en) 2015-08-28 2024-10-09 DistalMotion SA Surgical instrument with increased actuation force
JP6654883B2 (ja) * 2015-12-11 2020-02-26 川崎重工業株式会社 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体
EP3422987A4 (en) * 2016-03-03 2019-10-23 Covidien LP HAND OF AN INPUT DEVICE FOR SURGICAL ROBOTIC SYSTEMS WITH LONG TURNING AROUND ONE ROLL AXLE
US10241514B2 (en) 2016-05-11 2019-03-26 Brain Corporation Systems and methods for initializing a robot to autonomously travel a trained route
US9987752B2 (en) 2016-06-10 2018-06-05 Brain Corporation Systems and methods for automatic detection of spills
US10282849B2 (en) 2016-06-17 2019-05-07 Brain Corporation Systems and methods for predictive/reconstructive visual object tracker
US10016896B2 (en) 2016-06-30 2018-07-10 Brain Corporation Systems and methods for robotic behavior around moving bodies
WO2018005750A1 (en) * 2016-07-01 2018-01-04 Intuitive Surgical Operations, Inc. Computer-assisted medical systems and methods
US10993760B2 (en) 2016-08-16 2021-05-04 Ethicon, Llc Modular surgical robotic tool
US11246670B2 (en) 2016-08-16 2022-02-15 Cilag Gmbh International Modular surgical robotic tool
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
US10274325B2 (en) 2016-11-01 2019-04-30 Brain Corporation Systems and methods for robotic mapping
US10001780B2 (en) 2016-11-02 2018-06-19 Brain Corporation Systems and methods for dynamic route planning in autonomous navigation
US10723018B2 (en) 2016-11-28 2020-07-28 Brain Corporation Systems and methods for remote operating and/or monitoring of a robot
US10377040B2 (en) 2017-02-02 2019-08-13 Brain Corporation Systems and methods for assisting a robotic apparatus
US10852730B2 (en) 2017-02-08 2020-12-01 Brain Corporation Systems and methods for robotic mobile platforms
US10293485B2 (en) 2017-03-30 2019-05-21 Brain Corporation Systems and methods for robotic path planning
IT201700041980A1 (it) * 2017-04-14 2018-10-14 Medical Microinstruments Spa Assieme robotico per microchirurgia
USD849953S1 (en) * 2017-04-21 2019-05-28 Intuitive Surgical Operations, Inc. Surgical apparatus
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
KR101980269B1 (ko) 2017-05-17 2019-05-21 한국과학기술연구원 모듈 연결 시스템
DE102017111302A1 (de) 2017-05-23 2018-11-29 Medineering Gmbh Medizinische mechatronische männliche sowie weibliche Schnittstelleneinrichtung
USD840542S1 (en) * 2017-06-29 2019-02-12 Intuitive Surgical Operations, Inc. Surgical system base
US10772703B2 (en) 2017-08-25 2020-09-15 Titan Medical Inc. Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure
DE102017009319C5 (de) 2017-10-09 2023-08-03 Günther Zimmer Adaptersystem zur Anbindung des letzten Gliedes einer kinematischen Kette an eine Handhabungsvorrichtung
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11026713B2 (en) 2017-10-30 2021-06-08 Cilag Gmbh International Surgical clip applier configured to store clips in a stored state
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US12376855B2 (en) 2017-12-28 2025-08-05 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11058498B2 (en) * 2017-12-28 2021-07-13 Cilag Gmbh International Cooperative surgical actions for robot-assisted surgical platforms
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US20190201112A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Computer implemented interactive surgical systems
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
WO2019133143A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Surgical hub and modular device response adjustment based on situational awareness
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
JP2021509061A (ja) 2017-12-28 2021-03-18 エシコン エルエルシーEthicon LLC 状況認識に基づく外科用デバイスの機能の調節
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US10918310B2 (en) 2018-01-03 2021-02-16 Biosense Webster (Israel) Ltd. Fast anatomical mapping (FAM) using volume filling
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US20190201113A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Controls for robot-assisted surgical platforms
US12396806B2 (en) 2017-12-28 2025-08-26 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CN111885979A (zh) 2018-02-07 2020-11-03 迪斯透莫森公司 包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11589915B2 (en) 2018-03-08 2023-02-28 Cilag Gmbh International In-the-jaw classifier based on a model
US11389188B2 (en) 2018-03-08 2022-07-19 Cilag Gmbh International Start temperature of blade
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11589865B2 (en) 2018-03-28 2023-02-28 Cilag Gmbh International Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
US10675760B2 (en) * 2018-06-14 2020-06-09 International Business Machines Corporation Robot identification manager
GB2577716B (en) 2018-10-03 2023-01-18 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
CN118438439A (zh) * 2018-10-22 2024-08-06 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
US12144574B2 (en) 2018-10-31 2024-11-19 Intuitive Surgical Operations, Inc. System and method for assisting tool exchange
CN111476257A (zh) * 2019-01-24 2020-07-31 富士通株式会社 信息处理方法和信息处理装置
US11272931B2 (en) 2019-02-19 2022-03-15 Cilag Gmbh International Dual cam cartridge based feature for unlocking a surgical stapler lockout
US12295686B2 (en) 2019-04-15 2025-05-13 Covidien Lp System and method for robotic cart arm assembly identification
US11369443B2 (en) * 2019-06-27 2022-06-28 Cilag Gmbh International Method of using a surgical modular robotic assembly
US11207146B2 (en) 2019-06-27 2021-12-28 Cilag Gmbh International Surgical instrument drive systems with cable-tightening system
US11723729B2 (en) 2019-06-27 2023-08-15 Cilag Gmbh International Robotic surgical assembly coupling safety mechanisms
US11607278B2 (en) 2019-06-27 2023-03-21 Cilag Gmbh International Cooperative robotic surgical systems
US11612445B2 (en) * 2019-06-27 2023-03-28 Cilag Gmbh International Cooperative operation of robotic arms
US11399906B2 (en) 2019-06-27 2022-08-02 Cilag Gmbh International Robotic surgical system for controlling close operation of end-effectors
US11413102B2 (en) 2019-06-27 2022-08-16 Cilag Gmbh International Multi-access port for surgical robotic systems
US11278362B2 (en) 2019-06-27 2022-03-22 Cilag Gmbh International Surgical instrument drive systems
US11376082B2 (en) 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
US11547468B2 (en) 2019-06-27 2023-01-10 Cilag Gmbh International Robotic surgical system with safety and cooperative sensing control
US11376083B2 (en) 2019-06-27 2022-07-05 Cilag Gmbh International Determining robotic surgical assembly coupling status
US11553973B2 (en) 2019-07-29 2023-01-17 Verb Surgical Inc. Robotic arm having an extendable prismatic link
CN111956333B (zh) * 2019-09-10 2021-09-24 深圳市精锋医疗科技有限公司 手术机器人及其控制方法、控制装置
CN110811837B (zh) * 2019-09-25 2021-06-01 中奕智创医疗科技有限公司 机器人及多电机自适应控制系统、方法、装置、存储介质
US11806105B2 (en) 2020-01-21 2023-11-07 Alcon Inc. Vitreoretinal surgery dexterity enhancement system
GB2624133B (en) 2020-02-25 2024-12-25 Cmr Surgical Ltd Controlling movement of a surgical robot arm
US12023112B2 (en) * 2020-03-10 2024-07-02 Covidien Lp System and method for controlling a surgical robotic system
CN111702778B (zh) * 2020-06-16 2022-01-04 大连理工大学 一种实现使用者的坐卧姿转换和搬运的多臂机器人
WO2022184071A1 (zh) * 2021-03-02 2022-09-09 上海微创医疗机器人(集团)股份有限公司 机械臂、手术装置、手术末端装置、手术系统及工作方法
US11974829B2 (en) 2021-06-30 2024-05-07 Cilag Gmbh International Link-driven articulation device for a surgical device
US11931026B2 (en) 2021-06-30 2024-03-19 Cilag Gmbh International Staple cartridge replacement
US12358136B2 (en) 2021-06-30 2025-07-15 Cilag Gmbh International Grasping work determination and indications thereof
WO2023037273A1 (en) 2021-09-13 2023-03-16 Distalmotion Sa Instruments for surgical robotic system and interfaces for the same
CN114012728B (zh) * 2021-11-12 2023-04-25 哈尔滨工业大学(威海) 适用于两段6自由度连续体机械臂的逆运动学求解方法
CA3239161A1 (en) * 2021-11-30 2023-06-08 Desarrollo De Maquinas Y Soluciones Automaticas S.L. (Desmasa) Mechanical grapple for high-pressure processing containers and method for handling high-pressure processing containers using said mechanical grapple
CN120663334B (zh) * 2025-08-22 2025-11-07 太原理工大学 钻锚机械臂的智能控制系统

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CA2081519C (en) * 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
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
JP3419869B2 (ja) 1993-12-28 2003-06-23 オリンパス光学工業株式会社 医療器具
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
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
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
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
US8271130B2 (en) 2009-03-09 2012-09-18 Intuitive Surgical Operations, Inc. Master controller having redundant degrees of freedom and added forces to create internal motion
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
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
JP2001087281A (ja) * 1999-09-20 2001-04-03 Olympus Optical Co Ltd 多機能マニピュレータ
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
JP2002289676A (ja) 2001-03-26 2002-10-04 Taiheiyo Cement Corp 静電チャック
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US7379790B2 (en) * 2004-05-04 2008-05-27 Intuitive Surgical, Inc. Tool memory-based software upgrades for robotic surgery
DE102004050665A1 (de) 2004-10-18 2006-05-04 Mk-Elektronik-Gmbh Elektronikstromversorgung
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
JP4580973B2 (ja) 2007-11-29 2010-11-17 オリンパスメディカルシステムズ株式会社 処置具システム
BRPI0822027A2 (pt) * 2008-01-18 2015-07-21 Fundacion Fatronik Dispositivo de manipulação paralela com dois graus de liberdade
US9895813B2 (en) 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8120301B2 (en) * 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
CN105748152B (zh) 2010-11-15 2018-06-26 直观外科手术操作公司 在手术仪器中去耦仪器轴滚动和末端执行器促动
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies

Similar Documents

Publication Publication Date Title
JP2016518877A5 (enExample)
Huynh et al. Direct method for updating flexible multibody systems applied to a milling robot
CN109313417B (zh) 帮助机器人定位
JP5686775B2 (ja) ロボット制御インターフェイスの動的最適化のための方法
EP3584042A3 (en) Systems, devices, components, and methods for a compact robotic gripper with palm-mounted sensing, grasping, and computing devices and components
JP2016518878A5 (enExample)
KR102030141B1 (ko) 로봇의 팔꿈치 제어시스템 및 그 제어방법
ATE465851T1 (de) Verfahren und vorrichtung zur handhabung von teilen
WO2017115385A3 (en) System and method for operating and controlling a hyper configurable humanoid robot to perform multiple applications in various work environments
EP3376322A3 (en) Control system, controller, and control method
US20170066137A1 (en) Control device, robot, and robot system
WO2017051263A3 (en) Robot arm for testing of touchscreen applications
CN106003036A (zh) 一种基于双目视觉引导的物体抓取与放置系统
ES2746259T3 (es) Procedimiento de control de mezcla de 5 ejes y 6 ejes para robots industriales y sistema de los mismos
CN105892412A (zh) 基于自定义总线的多轴运动控制系统硬件架构
CN105108727A (zh) 一种机器人仿形控制器及其控制方法
CN103213143A (zh) 一种具有温度感知功能的多元触觉交互感知系统
KR102474838B1 (ko) 로봇의 교시 장치, 방법 및 시스템
CN203250190U (zh) 工业机器人控制器
JP2009220184A (ja) 産業用ロボットの出力トルク制限回路
Hock et al. Simulation model of adjustable arm using Denavit-Hartenberg parameters
WO2017080649A3 (de) Sensitive roboter durch sensorik vor der ersten roboterachse
CN103128728B (zh) 一种基于视觉力觉系统的靶体遥控维护工艺
JP2019010683A (ja) ロボット制御装置およびロボットシステム
CN205058074U (zh) 一种机械臂空间定位设备