JP2017514542A5 - - Google Patents

Download PDF

Info

Publication number
JP2017514542A5
JP2017514542A5 JP2016557122A JP2016557122A JP2017514542A5 JP 2017514542 A5 JP2017514542 A5 JP 2017514542A5 JP 2016557122 A JP2016557122 A JP 2016557122A JP 2016557122 A JP2016557122 A JP 2016557122A JP 2017514542 A5 JP2017514542 A5 JP 2017514542A5
Authority
JP
Japan
Prior art keywords
joints
joint
instrument
control unit
posture
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
JP2016557122A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017514542A (ja
JP6660302B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2015/021097 external-priority patent/WO2015142947A1/en
Publication of JP2017514542A publication Critical patent/JP2017514542A/ja
Publication of JP2017514542A5 publication Critical patent/JP2017514542A5/ja
Application granted granted Critical
Publication of JP6660302B2 publication Critical patent/JP6660302B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2016557122A 2014-03-17 2015-03-17 基準目標に合わせるシステム及び方法 Active JP6660302B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461954261P 2014-03-17 2014-03-17
US61/954,261 2014-03-17
US201462024887P 2014-07-15 2014-07-15
US62/024,887 2014-07-15
PCT/US2015/021097 WO2015142947A1 (en) 2014-03-17 2015-03-17 System and method for aligning with a reference target

Publications (3)

Publication Number Publication Date
JP2017514542A JP2017514542A (ja) 2017-06-08
JP2017514542A5 true JP2017514542A5 (enExample) 2018-04-19
JP6660302B2 JP6660302B2 (ja) 2020-03-11

Family

ID=54145241

Family Applications (5)

Application Number Title Priority Date Filing Date
JP2016557131A Active JP6537523B2 (ja) 2014-03-17 2015-03-17 ツールの姿勢を維持するシステム及び方法
JP2016557122A Active JP6660302B2 (ja) 2014-03-17 2015-03-17 基準目標に合わせるシステム及び方法
JP2019104259A Active JP6961646B2 (ja) 2014-03-17 2019-06-04 ツールの姿勢を維持するシステム及び方法
JP2021167946A Active JP7297841B2 (ja) 2014-03-17 2021-10-13 ツールの姿勢を維持するシステム及び方法
JP2023097962A Active JP7758280B2 (ja) 2014-03-17 2023-06-14 ツールの姿勢を維持するシステム及び方法

Family Applications Before (1)

Application Number Title Priority Date Filing Date
JP2016557131A Active JP6537523B2 (ja) 2014-03-17 2015-03-17 ツールの姿勢を維持するシステム及び方法

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2019104259A Active JP6961646B2 (ja) 2014-03-17 2019-06-04 ツールの姿勢を維持するシステム及び方法
JP2021167946A Active JP7297841B2 (ja) 2014-03-17 2021-10-13 ツールの姿勢を維持するシステム及び方法
JP2023097962A Active JP7758280B2 (ja) 2014-03-17 2023-06-14 ツールの姿勢を維持するシステム及び方法

Country Status (6)

Country Link
US (9) US10070931B2 (enExample)
EP (3) EP3119342B1 (enExample)
JP (5) JP6537523B2 (enExample)
KR (6) KR102869641B1 (enExample)
CN (4) CN110192919B (enExample)
WO (2) WO2015142943A1 (enExample)

Families Citing this family (72)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6512216B2 (ja) * 2014-03-14 2019-05-15 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
KR102869641B1 (ko) 2014-03-17 2025-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 툴 포즈를 유지하는 시스템 및 방법
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
EP4631460A2 (en) 2014-10-27 2025-10-15 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
US10617479B2 (en) 2014-10-27 2020-04-14 Intuitive Surgical Operations, Inc. System and method for integrated surgical table motion
KR102480765B1 (ko) 2014-10-27 2022-12-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
EP3912610B1 (en) 2014-10-27 2023-03-15 Intuitive Surgical Operations, Inc. System for registering to a surgical table
KR102707904B1 (ko) 2014-10-27 2024-09-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기기 교란 보상을 위한 시스템 및 방법
EP3212149B1 (en) 2014-10-27 2025-06-18 Intuitive Surgical Operations, Inc. System for integrated surgical table
TR201511033A2 (tr) * 2015-09-04 2017-03-21 Melih Cakmakci Bir hareket sistemi.
JP2017104451A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
DE102015225183B4 (de) * 2015-12-15 2022-09-15 Carl Zeiss Meditec Ag Medizinische Vorrichtung mit einem medizinisch-optischen Gerät und einer Haltevorrichtung und Verfahren zum Betrieb der medizinischen Vorrichtung
JP6657933B2 (ja) * 2015-12-25 2020-03-04 ソニー株式会社 医療用撮像装置及び手術ナビゲーションシステム
JP6827041B2 (ja) * 2016-01-20 2021-02-10 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 医療デバイスの再配置可能なアームにおける運動偏差の急速な停止及び回復のためのシステム及び方法
CN108430372B (zh) 2016-01-29 2022-01-18 直观外科手术操作公司 用于可变速度手术器械的系统和方法
EP3419544A4 (en) 2016-02-26 2019-10-23 Think Surgical, Inc. METHOD AND SYSTEM FOR MANAGING THE USER POSITIONING OF A ROBOT
WO2018053282A1 (en) 2016-09-16 2018-03-22 GYS Tech, LLC d/b/a Cardan Robotics System and method for mounting a robotic arm in a surgical robotic system
US11166770B2 (en) 2016-09-19 2021-11-09 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
EP3545675A4 (en) 2016-11-24 2020-07-01 The University of Washington CAPTURE AND RESTITUTION OF LIGHT FIELD FOR HEADSETS
US11633233B2 (en) 2016-12-08 2023-04-25 Orthotaxy S.A.S. 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
AU2017372744B2 (en) * 2016-12-08 2020-03-26 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
EP3592276B1 (en) 2017-03-07 2024-05-01 Intuitive Surgical Operations, Inc. Systems for controlling tool with articulatable distal portion
CN107374727B (zh) * 2017-07-28 2019-10-22 重庆金山医疗器械有限公司 一种微创外科手术机器人简化运动学模型的建模方法
CN107389011A (zh) * 2017-09-01 2017-11-24 凯里市浪金科技有限责任公司 一种可多方位测量的坐标测量装置
EP4606328A2 (en) 2017-10-30 2025-08-27 Intuitive Surgical Operations, Inc. Systems and methods for guided port placement selection
CN108210070B (zh) * 2017-12-29 2020-04-10 微创（上海）医疗机器人有限公司 机械臂及其工作方法与手术机器人
CN110269685B (zh) * 2018-03-14 2021-02-19 深圳市精锋医疗科技有限公司 微创手术的连接组件、操作臂、从操作设备及手术机器人
CN108338841B (zh) * 2018-04-17 2021-03-23 成都博恩思医学机器人有限公司 一种腹腔镜手术持镜机器人系统
CN112367894B (zh) * 2018-05-15 2023-07-14 深圳市亚泰光电技术有限公司 内窥镜转向调节方法及内窥镜
CN109124773A (zh) * 2018-06-25 2019-01-04 深圳市精锋医疗科技有限公司 机械臂
CN109124772A (zh) * 2018-06-25 2019-01-04 深圳市精锋医疗科技有限公司 从操作设备
CN109223183A (zh) * 2018-09-30 2019-01-18 深圳市精锋医疗科技有限公司 手术机器人的启动方法、可读取存储器及手术机器人
CN109316235B (zh) * 2018-10-10 2021-04-30 江西欧德医疗器材有限公司 一种智能骨针操控系统及使用方法
WO2020150707A1 (en) * 2019-01-18 2020-07-23 Norgren Automation Solutions, Llc Method and apparatus for automated transforming tooling systems
JP7153335B2 (ja) 2019-01-29 2022-10-14 リバーフィールド株式会社 手術支援装置
EP3946833B1 (en) 2019-03-29 2023-08-30 Intuitive Surgical Operations, Inc. Reducing energy buildup in servo-controlled mechanisms
KR102150495B1 (ko) * 2019-04-26 2020-09-01 주식회사 골프존 스윙머신 및 그 제어방법
CN113271884A (zh) 2019-05-01 2021-08-17 直观外科手术操作公司 用于与成像设备集成运动的系统和方法
CN112272806A (zh) * 2019-08-13 2021-01-26 深圳市大疆创新科技有限公司 云台控制方法、装置、云台和存储介质
CN110559083B (zh) * 2019-09-10 2020-08-25 深圳市精锋医疗科技有限公司 手术机器人及其末端器械的控制方法、控制装置
US12324639B2 (en) * 2019-12-05 2025-06-10 Kawasaki Jukogyo Kabushiki Kaisha Surgical system and method of controlling surgical manipulator arm
WO2021112228A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 手術ロボット、手術システム及び制御方法
CN111035452B (zh) * 2019-12-27 2021-07-02 苏州微创畅行机器人有限公司 定位工具、机械臂系统、手术系统以及注册配准方法
JP6892707B1 (ja) 2020-02-20 2021-06-23 リバーフィールド株式会社 手術支援装置
GB2624133B (en) * 2020-02-25 2024-12-25 Cmr Surgical Ltd Controlling movement of a surgical robot arm
CN111256633B (zh) * 2020-03-17 2021-11-09 上海奥朋医疗科技有限公司 手术病床的跟踪测量机械臂装置
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
US10949986B1 (en) * 2020-05-12 2021-03-16 Proprio, Inc. Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
US20230240767A1 (en) * 2020-06-16 2023-08-03 Intuitive Surgical Operations, Inc. Techniques for selective joint floating in a computer-assisted system
US20230218365A1 (en) * 2020-07-09 2023-07-13 Sony Group Corporation Medical arm device
WO2022046787A1 (en) * 2020-08-28 2022-03-03 Intuitive Surgical Operations, Inc. Method and system for coordinated multiple-tool movement using a drivable assembly
CN112171640B (zh) * 2020-09-29 2022-05-27 广州优尼冲压有限公司 生产器件配件用的机械手抓取结构
EP4221624A4 (en) * 2020-09-30 2024-10-09 Auris Health, Inc. GUIDED COORDINATED BED MOVEMENT FOR INTRAOPERATIVE PATIENT POSITIONING IN ROBOTIC SURGERY
JP2023546031A (ja) 2020-10-07 2023-11-01 カナリー メディカル スウィッツァーランド アクチェンゲゼルシャフト 感知機能を有する医療デバイスの提供
AU2021369677B2 (en) 2020-10-30 2025-10-02 Mako Surgical Corp. Robotic surgical system with recovery alignment
CN112539700B (zh) * 2020-11-26 2022-05-13 上海卓昕医疗科技有限公司 一种基于光学定位的工具标定系统及方法
CN112754616B (zh) * 2020-12-30 2022-05-10 诺创智能医疗科技(杭州)有限公司 超声定位穿刺系统和存储介质
CN112957218B (zh) * 2021-01-20 2024-03-22 诺创智能医疗科技(杭州)有限公司 手术床控制方法、手术床控制系统、电子装置和存储介质
CN114310877B (zh) * 2021-03-09 2024-05-07 香港科能有限公司 机器人协同系统及其应用和加工精度评价方法
JP6951812B1 (ja) * 2021-03-31 2021-10-20 国立大学法人 岡山大学 穿刺ロボットの制御装置
CN115429440A (zh) * 2021-06-02 2022-12-06 上海微创医疗机器人（集团）股份有限公司 术中不动点的调整方法、可读存储介质及手术机器人系统
USD1044829S1 (en) 2021-07-29 2024-10-01 Mako Surgical Corp. Display screen or portion thereof with graphical user interface
US12261988B2 (en) 2021-11-08 2025-03-25 Proprio, Inc. Methods for generating stereoscopic views in multicamera systems, and associated devices and systems
CN114129266B (zh) * 2021-11-11 2024-05-14 深圳市精锋医疗科技股份有限公司 保持rc点不变的方法、机械臂、设备、机器人和介质
CN114098954B (zh) * 2021-11-11 2023-06-16 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
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
WO2023177785A1 (en) 2022-03-17 2023-09-21 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
CN115139299B (zh) * 2022-06-06 2025-07-11 佗道医疗科技有限公司 一种保持末端工具位姿的方法
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
GB2621578B (en) * 2022-08-15 2024-09-25 Cmr Surgical Ltd Controlling a surgical robot arm whilst entering a sleep mode
CN118141524B (zh) * 2024-03-28 2024-09-27 北京纳通医用机器人科技有限公司 目标工具的安装状态确定方法、装置、设备及介质

Family Cites Families (91)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1006468A (en) 1911-01-09 1911-10-24 Leonard H Des Isles Fastener for railway-rails.
US1007093A (en) 1911-01-25 1911-10-31 Firm Of Sprague Warner & Company Machine for treating coffee-beans.
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
JP2568769B2 (ja) 1991-09-12 1997-01-08 株式会社日立製作所 吸収冷凍機
JPH0699372A (ja) * 1992-09-21 1994-04-12 Toyoda Mach Works Ltd ロボット制御装置
GB9300403D0 (en) * 1993-01-11 1993-03-03 Huissoon Jan P Dynamic seam tracking with redundant axes control
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6246200B1 (en) * 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage 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
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
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
US9510911B2 (en) 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
WO2001045627A1 (en) 1999-12-23 2001-06-28 Hill-Rom Services, Inc. Surgical theater system
US7747312B2 (en) * 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
AU2003218010A1 (en) * 2002-03-06 2003-09-22 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
DE102004010332B3 (de) * 2004-02-25 2005-10-20 Aesculap Ag & Co Kg Chirurgische Haltevorrichtung
US8160205B2 (en) * 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US9072535B2 (en) * 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US20060025668A1 (en) 2004-08-02 2006-02-02 Peterson Thomas H Operating table with embedded tracking technology
JP2006099474A (ja) 2004-09-29 2006-04-13 Fanuc Ltd ロボットの軌跡制御方法
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
JP2008541797A (ja) * 2005-05-03 2008-11-27 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
US9789608B2 (en) * 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US7962192B2 (en) 2005-09-30 2011-06-14 Restoration Robotics, Inc. Systems and methods for aligning a tool with a desired location or object
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
EP2289455B1 (en) * 2005-12-30 2019-11-13 Intuitive Surgical Operations, Inc. Modular force sensor
WO2007087351A2 (en) * 2006-01-24 2007-08-02 Carnegie Mellon University Method, apparatus, and system for computer-aided tracking, navigation, and motion teaching
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
KR101477481B1 (ko) * 2007-03-05 2014-12-30 이노스 오토메이션스소프트웨어 게엠베하 위치 결정 장치 및 방법
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
CA2690808C (en) * 2007-07-12 2016-09-27 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
WO2009034957A1 (ja) * 2007-09-14 2009-03-19 Kabushiki Kaisha Yaskawa Denki ロボットの力制御方法、制御装置およびロボットシステム
US8400094B2 (en) 2007-12-21 2013-03-19 Intuitive Surgical Operations, Inc. Robotic surgical system with patient support
FR2930472B1 (fr) * 2008-04-24 2010-08-13 Univ Havre Robot manipulateur et commande associee pour un positionnement fin de l'extremite terminale
DE102008041602B4 (de) * 2008-08-27 2015-07-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter und Verfahren zum Steuern eines Roboters
JP5475262B2 (ja) * 2008-10-01 2014-04-16 テルモ株式会社 医療用マニピュレータ
US8483800B2 (en) 2008-11-29 2013-07-09 General Electric Company Surgical navigation enabled imaging table environment
EP2376175B1 (en) * 2008-12-12 2019-01-30 Corindus, Inc. Remote catheter procedure system
DE102009023307A1 (de) * 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
US8423186B2 (en) 2009-06-30 2013-04-16 Intuitive Surgical Operations, Inc. Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
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
US9285246B2 (en) * 2010-02-12 2016-03-15 Intuitive Surgical Operations, Inc. Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
WO2011114568A1 (ja) * 2010-03-17 2011-09-22 オリンパスメディカルシステムズ株式会社 内視鏡システム
US20140330288A1 (en) * 2010-03-25 2014-11-06 Precision Automation And Robotics India Ltd. Articulating Arm for a Robotic Surgical Instrument System
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
US20130190726A1 (en) * 2010-04-30 2013-07-25 Children's Medical Center Corporation Motion compensating catheter device
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US9101379B2 (en) * 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9527207B2 (en) * 2011-03-23 2016-12-27 Sri International Dexterous telemanipulator system
US9259289B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
WO2012166807A1 (en) * 2011-05-31 2012-12-06 Intuitive Surgical Operations, Inc. Surgical instrument with motor
CN103889663B (zh) * 2011-09-28 2016-09-28 Ur机器人有限公司 机器人的校准和编程
US20130085510A1 (en) 2011-09-30 2013-04-04 Ethicon Endo-Surgery, Inc. Robot-mounted surgical tables
US10582973B2 (en) * 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP5856817B2 (ja) * 2011-11-16 2016-02-10 オリンパス株式会社 医療用処置具およびこれを備えるマニピュレータ
JP5949911B2 (ja) * 2012-05-21 2016-07-13 株式会社安川電機 ロボット
EP2854687B1 (en) 2012-06-01 2022-08-24 Intuitive Surgical Operations, Inc. Systems for avoiding collisions between manipulator arms using a null-space
JP6291484B2 (ja) 2012-06-01 2018-03-14 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 ゼロ空間を使用して手術用マニピュレータの命令された再構成を取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
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
JP6310455B2 (ja) * 2012-08-02 2018-04-11 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット遠隔運動中心のコントローラ定義
US9770305B2 (en) * 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
CN108524001B (zh) 2012-08-15 2021-06-29 直观外科手术操作公司 利用零空间取消关节运动的系统
CN107961076B (zh) * 2012-08-15 2020-07-07 直观外科手术操作公司 使用者启动的手术安装平台的断开式离合
KR102328291B1 (ko) * 2012-08-15 2021-11-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 암의 수동식 운동에 의해 제어되는 이동가능한 수술용 장착 플랫폼
KR102229337B1 (ko) * 2013-02-15 2021-03-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 기구의 근위측 제어를 위한 시스템 및 방법
WO2014129672A1 (en) 2013-02-25 2014-08-28 Olympus Corporation Surgical tool holding device, endoscope, and medical system
US9057600B2 (en) * 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
JP2016516487A (ja) 2013-03-15 2016-06-09 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 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
EP2969405B1 (en) 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. Systems for facilitating access to edges of cartesian-coordinate space using the null space
EP2969406B1 (en) 2013-03-15 2022-09-21 Intuitive Surgical Operations, Inc. Systems for tracking a path using the null-space
KR102214811B1 (ko) 2013-03-15 2021-02-10 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 매니퓰레이터 조인트 운동을 비등방적으로 증폭시키기 위해 영공간을 이용하는 시스템 및 방법
KR102285954B1 (ko) 2013-03-15 2021-08-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
BR112015022453A2 (pt) * 2013-03-15 2017-07-18 Stanford Res Inst Int sistema cirúrgico hiperdextro
KR101413406B1 (ko) 2013-04-01 2014-06-27 한국과학기술원 접촉 토크 측정 장치, 수술 로봇 및 이를 구비하는 수술 로봇 시스템
JP6157258B2 (ja) * 2013-07-26 2017-07-05 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
CN106170266B (zh) * 2013-10-07 2020-05-22 杭州术创机器人有限公司 用于机器人系统的模块化接口
JP5980764B2 (ja) * 2013-11-29 2016-08-31 オリンパス株式会社 術具
CN105916461B (zh) * 2014-01-31 2020-02-18 柯惠Lp公司 用于手术系统的接口
WO2015142798A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods and devices for tele-surgical table registration
KR102869641B1 (ko) 2014-03-17 2025-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 툴 포즈를 유지하는 시스템 및 방법

Similar Documents

Publication Publication Date Title
JP2017514542A5 (enExample)
JP6660302B2 (ja) 基準目標に合わせるシステム及び方法
US11806875B2 (en) Disturbance compensation in computer-assisted devices
JP2017514543A5 (enExample)
US11684448B2 (en) Device with active brake release control
JP6466547B2 (ja) 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
KR102375479B1 (ko) 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법
KR102457538B1 (ko) 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법
JP2019512354A5 (enExample)
EP3293600A3 (en) Three-axis motion joystick
EP2623417A3 (fr) Procédé de gestion d'une commande d'orientation d'une partie orientable d'un atterrisseur d'aéronef
CN114637308A (zh) 一种凿岩台车推进梁姿态控制系统及控制方法
WO2012153958A3 (ko) 고소작업대의 직선이동제어 방법 및 장치
CN107405526B (zh) 具有机器人机构的游乐设施
JP6156236B2 (ja) マスタスレーブマニピュレータの位置姿勢合わせ方法
US9180953B1 (en) Airboat braking system
KR101705971B1 (ko) 크레인
CN107310392A (zh) 一种可调俯仰角度的手柄控制台及其操作方法
JP2009118690A5 (enExample)
CN104385053B (zh) 基于并联机构的法向找正方法
Mikami et al. A Laparoscope Control System using a Pneumatic Robot Arm
Ha et al. Automatic Manipulation of Tie Rod using Robot with 3D Sensing System
JP2008036777A (ja) 作業補助装置
CN104385053A (zh) 基于并联机构的法向找正方法