JP2017512552A5 - - Google Patents

Download PDF

Info

Publication number
JP2017512552A5
JP2017512552A5 JP2016557647A JP2016557647A JP2017512552A5 JP 2017512552 A5 JP2017512552 A5 JP 2017512552A5 JP 2016557647 A JP2016557647 A JP 2016557647A JP 2016557647 A JP2016557647 A JP 2016557647A JP 2017512552 A5 JP2017512552 A5 JP 2017512552A5
Authority
JP
Japan
Prior art keywords
joint
robot arm
yointo
passive
reference state
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
JP2016557647A
Other languages
English (en)
Japanese (ja)
Other versions
JP6486380B2 (ja
JP2017512552A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2015/020896 external-priority patent/WO2015142801A1/en
Publication of JP2017512552A publication Critical patent/JP2017512552A/ja
Publication of JP2017512552A5 publication Critical patent/JP2017512552A5/ja
Application granted granted Critical
Publication of JP6486380B2 publication Critical patent/JP6486380B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2016557647A 2014-03-17 2015-03-17 手術用セットアップ構造の劣駆動ジョイントの運動を制御する方法 Active JP6486380B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954537P 2014-03-17 2014-03-17
US61/954,537 2014-03-17
PCT/US2015/020896 WO2015142801A1 (en) 2014-03-17 2015-03-17 Methods of controlling motion of under-actuated joints in a surgical set-up structure

Publications (3)

Publication Number Publication Date
JP2017512552A JP2017512552A (ja) 2017-05-25
JP2017512552A5 true JP2017512552A5 (enExample) 2018-04-12
JP6486380B2 JP6486380B2 (ja) 2019-03-20

Family

ID=54145197

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016557647A Active JP6486380B2 (ja) 2014-03-17 2015-03-17 手術用セットアップ構造の劣駆動ジョイントの運動を制御する方法

Country Status (6)

Country Link
US (2) US10022196B2 (enExample)
EP (1) EP3119336B1 (enExample)
JP (1) JP6486380B2 (enExample)
KR (1) KR102375479B1 (enExample)
CN (1) CN106132335B (enExample)
WO (1) WO2015142801A1 (enExample)

Families Citing this family (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106132335B (zh) 2014-03-17 2019-08-30 直观外科手术操作公司 控制手术装配结构中的欠驱动关节的运动的方法
CN106456257B (zh) * 2014-05-13 2019-11-05 柯惠Lp公司 手术机器人手臂支撑系统及使用方法
CN111166476B (zh) * 2014-10-27 2023-05-02 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
CN107072724B (zh) 2014-10-27 2019-10-25 直观外科手术操作公司 用于器械干扰补偿的系统和方法
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
EP3212151B1 (en) * 2014-10-27 2020-07-29 Intuitive Surgical Operations, Inc. System for integrated surgical table motion
KR102617042B1 (ko) 2014-10-27 2023-12-27 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 테이블에 등록하기 위한 시스템 및 방법
WO2016069648A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table
CN107072746B (zh) 2014-10-27 2020-06-09 直观外科手术操作公司 用于集成手术台图标的系统和方法
EP3270813B1 (en) 2015-03-17 2026-01-07 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
US10130429B1 (en) 2016-01-06 2018-11-20 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10154886B2 (en) 2016-01-06 2018-12-18 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10219868B2 (en) 2016-01-06 2019-03-05 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
JP6527095B2 (ja) * 2016-03-25 2019-06-05 ファナック株式会社 ブレーキトルク増減機能を有するモータ及び機構部
CN106113009B (zh) * 2016-07-14 2019-02-12 中国地质大学（武汉） 一种多功能平面机械臂系统
WO2018104376A1 (en) * 2016-12-07 2018-06-14 Koninklijke Philips N.V. Automatic motion control of a dependent surgical robotic arm
EP3551097B1 (en) 2016-12-08 2024-03-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
EP3551098B1 (en) 2016-12-08 2024-03-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target cutting plane
EP3551099B1 (en) 2016-12-08 2024-03-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
CN106959763B (zh) * 2017-05-05 2023-12-12 上海每时每刻文化传播有限公司 虚拟现实体验设备及控制系统
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) * 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
CN107263543B (zh) * 2017-06-27 2021-05-28 深圳儒博智能科技有限公司 一种机器人关节的校准方法和计算装置
CN111132630B (zh) * 2017-09-05 2023-11-07 柯惠Lp公司 包括双编码器的机器人手术系统控制臂
CN111386085B (zh) * 2017-10-02 2023-12-26 直观外科手术操作公司 至主控制器的末端执行器力反馈
US10016900B1 (en) * 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
US10807242B2 (en) 2017-12-13 2020-10-20 Verb Surgical Inc. Control modes and processes for positioning of a robotic manipulator
CN111670011B (zh) * 2017-12-13 2023-11-17 威博外科公司 用于定位机器人操纵器的控制模式和过程
WO2019136039A1 (en) * 2018-01-04 2019-07-11 Covidien Lp Robotic surgical systems including torque sensors
WO2019186563A1 (en) * 2018-03-29 2019-10-03 Human Xtensions Ltd. Control unit for a medical device
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
CN109262652B (zh) * 2018-09-06 2022-01-07 上海大学 一种用于多杆件多关节机构的干涉检测预警方法
JP6469304B1 (ja) * 2018-10-23 2019-02-13 株式会社A−Traction 手術支援装置、その制御方法及びプログラム
US11717366B2 (en) * 2018-12-26 2023-08-08 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator
US20220125535A1 (en) * 2019-03-11 2022-04-28 Smith & Nephew, Inc. Systems and methods associated with passive robotic arm
US12186134B2 (en) 2019-03-14 2025-01-07 Covidien Lp Instrument drive unit torque compensation using inertial measurement unit
WO2021111392A1 (en) 2019-12-05 2021-06-10 Memic Innovative Surgery Ltd. Dual control of a mechanical surgical arm
JP2021091060A (ja) * 2019-12-12 2021-06-17 セイコーエプソン株式会社 制御方法およびロボットシステム
IL272830B2 (en) * 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
JP7462437B2 (ja) * 2020-03-09 2024-04-05 株式会社東芝 ロボットシステム、パラレルリンク機構、制御方法、制御装置、プログラム、及び記憶媒体
DE102020204532B4 (de) * 2020-04-08 2025-02-27 Carl Zeiss Industrielle Messtechnik Gmbh Lagemessung bei einer Positioniervorrichtung
US12133706B2 (en) * 2020-04-28 2024-11-05 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
CN121818099A (zh) * 2020-07-28 2026-04-10 直观外科手术操作公司 用于为计算机辅助设备的部件选择分配的系统和方法
CN112207823B (zh) * 2020-09-22 2023-07-25 北京石油化工学院 一种康复机器人等速运动控制方法及系统
US20240058063A1 (en) * 2020-12-28 2024-02-22 Smith & Nephew, Inc. Surgical system for cutting with navigated assistance
JP7712117B2 (ja) * 2021-06-08 2025-07-23 川崎重工業株式会社 手術支援システム、操作者側装置および手術支援システムの制御方法
EP4391948A1 (en) * 2021-08-27 2024-07-03 Covidien LP Semi-automatic positioning of multiple passive joints in a robotic system
CN114469355A (zh) * 2021-12-29 2022-05-13 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人及保持rc点不变的方法
CN116650129B (zh) * 2023-05-19 2025-12-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术机器人系统及手术机器人系统的控制处理设备
WO2025235859A1 (en) * 2024-05-10 2025-11-13 Intuitive Surgical Operations, Inc. System and method for adjusting the kinematic configuration of under-actuated structures

Family Cites Families (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4604787A (en) * 1984-08-15 1986-08-12 Transamerica Delaval Inc. Tool changer for manipulator arm
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5377310A (en) * 1992-04-03 1994-12-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling under-actuated robot arms using a high speed dynamics
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5887121A (en) * 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5923139A (en) * 1996-02-23 1999-07-13 Northwestern University Passive robotic constraint devices using non-holonomic transmission elements
US5799055A (en) * 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6434507B1 (en) * 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US6793652B1 (en) * 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US6645196B1 (en) * 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
US7883458B2 (en) * 2003-06-27 2011-02-08 Stryker Corporation System for remotely controlling two or more medical devices
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20050193451A1 (en) * 2003-12-30 2005-09-01 Liposonix, Inc. Articulating arm for medical procedures
US9241767B2 (en) * 2005-12-20 2016-01-26 Intuitive Surgical Operations, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
WO2007143859A1 (en) * 2006-06-14 2007-12-21 Macdonald Dettwiler & Associates Inc. Surgical manipulator with right-angle pulley drive mechanisms
US9179984B2 (en) * 2007-02-19 2015-11-10 Medtronic Navigation, Inc. Multi-configuration tracking array and related method
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8444631B2 (en) * 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US20090076476A1 (en) * 2007-08-15 2009-03-19 Hansen Medical, Inc. Systems and methods employing force sensing for mapping intra-body tissue
KR20110030034A (ko) * 2009-09-17 2011-03-23 주식회사 이턴 수술용 로봇
CA2691780C (en) * 2009-02-11 2015-09-22 Certusview Technologies, Llc Management system, and associated methods and apparatus, for providing automatic assesment of a locate operation
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
WO2010148088A2 (en) * 2009-06-16 2010-12-23 Surgivision, Inc. Mri-guided devices and mri-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time
US20110082452A1 (en) * 2009-10-02 2011-04-07 Cardiofocus, Inc. Cardiac ablation system with automatic safety shut-off feature
WO2011109041A1 (en) 2010-03-04 2011-09-09 Mako Surgical Corp. System with brake to limit manual movement of member and control system for same
US20110295247A1 (en) * 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated minimally invasive therapy using radiometry
US8672837B2 (en) * 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
EP2688717B1 (en) * 2011-03-23 2023-10-18 SRI International Dexterous telemanipulator system
CN119097419A (zh) * 2012-08-03 2024-12-10 史赛克公司 用于机器人外科手术的系统和方法
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
KR102145801B1 (ko) * 2012-08-15 2020-08-28 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 장착 플랫폼의 사용자 개시 브레이크-어웨이 클러칭
CN104736095B (zh) * 2012-08-15 2018-07-03 直观外科手术操作公司 由机器人手臂的手动运动控制的可移动手术安装平台
CN106132335B (zh) 2014-03-17 2019-08-30 直观外科手术操作公司 控制手术装配结构中的欠驱动关节的运动的方法

Similar Documents

Publication Publication Date Title
CN101028838A (zh) 步行式移动机器人
JP2017513539A5 (enExample)
JP5910491B2 (ja) ロボットアーム教示システム及びロボットアーム教示方法
JP2017514542A5 (enExample)
JP6228097B2 (ja) 移動ロボット
JP2017515521A5 (enExample)
JP2017514543A5 (enExample)
JP2016007645A (ja) アームの退避機能を有する多関節ロボット
JPWO2011078104A6 (ja) ２脚受動歩行機
JPWO2011078104A1 (ja) ２脚受動歩行機
JP2013126454A5 (enExample)
CN104690710A (zh) 一种电液复合驱动的可移动式机械臂
JP6964494B2 (ja) ロボットの直接教示装置及びその方法
CN108945520B (zh) 腿式着陆巡视机器人
CN108674513B (zh) 变构态轮腿移动作业机器人
JP2007280408A (ja) コミュニケーションロボット
JP5262810B2 (ja) パラレルメカニズム
JP2008175778A (ja) 車両試験装置及びロールオーバ試験方法
JP2012024882A5 (enExample)
JP2016150409A (ja) ロボット
CN219748029U (zh) 一种机器人定位夹爪
JP4828424B2 (ja) 脚式移動ロボットの制御方法
JP2016117118A (ja) 脚部機構およびそれを備えた歩行ロボット
JP2020501732A5 (enExample)
JP2018012143A (ja) ロボット装置