JP2017533795A5 - - Google Patents

Download PDF

Info

Publication number
JP2017533795A5
JP2017533795A5 JP2017540988A JP2017540988A JP2017533795A5 JP 2017533795 A5 JP2017533795 A5 JP 2017533795A5 JP 2017540988 A JP2017540988 A JP 2017540988A JP 2017540988 A JP2017540988 A JP 2017540988A JP 2017533795 A5 JP2017533795 A5 JP 2017533795A5
Authority
JP
Japan
Prior art keywords
joint set
disturbance
control unit
point
interest
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
JP2017540988A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017533795A (ja
JP6676060B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2015/057669 external-priority patent/WO2016069659A1/en
Publication of JP2017533795A publication Critical patent/JP2017533795A/ja
Publication of JP2017533795A5 publication Critical patent/JP2017533795A5/ja
Application granted granted Critical
Publication of JP6676060B2 publication Critical patent/JP6676060B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2017540988A 2014-10-27 2015-10-27 器具外乱補償のためのシステム及び方法 Active JP6676060B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201462069245P 2014-10-27 2014-10-27
US62/069,245 2014-10-27
US201562134212P 2015-03-17 2015-03-17
US62/134,212 2015-03-17
PCT/US2015/057669 WO2016069659A1 (en) 2014-10-27 2015-10-27 System and method for instrument disturbance compensation

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020041503A Division JP6882566B2 (ja) 2014-10-27 2020-03-11 器具外乱補償のためのシステム及び方法

Publications (3)

Publication Number Publication Date
JP2017533795A JP2017533795A (ja) 2017-11-16
JP2017533795A5 true JP2017533795A5 (cg-RX-API-DMAC7.html) 2018-11-22
JP6676060B2 JP6676060B2 (ja) 2020-04-08

Family

ID=55858277

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2017540988A Active JP6676060B2 (ja) 2014-10-27 2015-10-27 器具外乱補償のためのシステム及び方法
JP2020041503A Active JP6882566B2 (ja) 2014-10-27 2020-03-11 器具外乱補償のためのシステム及び方法
JP2021078666A Active JP7176037B2 (ja) 2014-10-27 2021-05-06 器具外乱補償のためのシステム及び方法
JP2022179250A Active JP7563838B2 (ja) 2014-10-27 2022-11-09 器具外乱補償のためのシステム及び方法

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2020041503A Active JP6882566B2 (ja) 2014-10-27 2020-03-11 器具外乱補償のためのシステム及び方法
JP2021078666A Active JP7176037B2 (ja) 2014-10-27 2021-05-06 器具外乱補償のためのシステム及び方法
JP2022179250A Active JP7563838B2 (ja) 2014-10-27 2022-11-09 器具外乱補償のためのシステム及び方法

Country Status (6)

Country Link
US (5) US10272569B2 (cg-RX-API-DMAC7.html)
EP (3) EP4082466B1 (cg-RX-API-DMAC7.html)
JP (4) JP6676060B2 (cg-RX-API-DMAC7.html)
KR (3) KR102707904B1 (cg-RX-API-DMAC7.html)
CN (3) CN110584789B (cg-RX-API-DMAC7.html)
WO (1) WO2016069659A1 (cg-RX-API-DMAC7.html)

Families Citing this family (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
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
US10272569B2 (en) 2014-10-27 2019-04-30 Intuitive Surgical Operations, Inc. System and method for instrument disturbance compensation
KR102799097B1 (ko) 2014-10-27 2025-04-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
CN110236853B (zh) 2014-10-27 2021-06-04 直观外科手术操作公司 用于配准到手术台的系统及方法
JP6682512B2 (ja) 2014-10-27 2020-04-15 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 一体化された手術台のシステム及び方法
KR102781726B1 (ko) 2014-10-27 2025-03-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
WO2016069989A1 (en) * 2014-10-30 2016-05-06 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
US11751966B2 (en) 2017-07-27 2023-09-12 Intuitive Surgical Operations, Inc. Medical device handle
EP3703602B1 (en) * 2017-11-02 2025-10-29 Intuitive Surgical Operations, Inc. Systems for end effector position set point correction
CN116370080B (zh) * 2017-11-10 2025-11-21 直观外科手术操作公司 用于控制机器人操纵器或相关工具的系统和方法
KR102792239B1 (ko) * 2018-03-29 2025-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 듀얼 브레이크 셋업 조인트
CN112367897A (zh) 2018-06-17 2021-02-12 迈米克创新手术有限公司 外科铰接臂
CN109330700B (zh) * 2018-07-31 2020-10-09 深圳市精锋医疗科技有限公司 从操作设备组件及手术机器人
CN109465630A (zh) * 2018-12-21 2019-03-15 南京林城亿轮轨道交通技术有限公司 一种智能化扭矩操作监管系统及控制方法
CN111374775B (zh) * 2018-12-29 2024-08-30 达科为(深圳)医疗设备有限公司 医疗机器人机械操作手
JP7560241B2 (ja) * 2019-01-30 2024-10-02 株式会社安川電機 ロボットシステム
CN109875691B (zh) * 2019-03-16 2021-04-06 孔祥瑞 面向微创手术体表投影调整方法的轴调整方法
CN109953828B (zh) * 2019-05-07 2020-06-23 北京和华瑞博医疗科技有限公司 一种参考架坐标系找回方法以及参考架坐标系找回装置
CN110200699B (zh) * 2019-05-21 2020-08-18 武汉联影智融医疗科技有限公司 由医学影像设备引导的手术设备、校正方法与校正系统
JP2021003201A (ja) * 2019-06-25 2021-01-14 ソニー株式会社 手術顕微鏡システム、制御装置及び制御方法
US11234780B2 (en) 2019-09-10 2022-02-01 Auris Health, Inc. Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
WO2021111392A1 (en) 2019-12-05 2021-06-10 Memic Innovative Surgery Ltd. Dual control of a mechanical surgical arm
WO2021141920A1 (en) * 2020-01-06 2021-07-15 Intuitive Surgical Operations, Inc. System and method for inter-arm registration
IL272830B2 (en) * 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
EP4125689A4 (en) * 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
GB2593741B (en) * 2020-03-31 2024-05-15 Cmr Surgical Ltd Configuring a surgical robotic system
JP2021171875A (ja) * 2020-04-24 2021-11-01 セイコーエプソン株式会社 水平多関節ロボットおよび水平多関節ロボットシステム
WO2021252407A1 (en) * 2020-06-12 2021-12-16 Covidien Lp Surgical robotic system with motion integration
CN112171674B (zh) * 2020-09-25 2022-11-11 苏州微创畅行机器人有限公司 一种柔性机械臂的控制方法及机器人系统
CN113967071B (zh) 2020-10-23 2023-09-29 成都博恩思医学机器人有限公司 手术机器人机械臂跟随手术床运动的控制方法及装置
AU2021369671A1 (en) 2020-10-30 2023-06-15 Mako Surgical Corp. Robotic surgical system with slingshot prevention
WO2022144639A1 (en) * 2020-12-30 2022-07-07 Auris Health, Inc. Systems and methods for unified null space motion control
WO2022155067A1 (en) * 2021-01-15 2022-07-21 Covidien Lp Surgical robotic system with velocity limits
US20240156533A1 (en) * 2021-03-04 2024-05-16 Us Patent Innovations, Llc Robotic cold atmospheric plasma surgical system and method
CN113349933A (zh) * 2021-07-08 2021-09-07 杭州柳叶刀机器人有限公司 一种机器人系统
USD1044829S1 (en) 2021-07-29 2024-10-01 Mako Surgical Corp. Display screen or portion thereof with graphical user interface
US11906009B2 (en) 2021-07-30 2024-02-20 Corindus, Inc. Rotational joint assembly for robotic medical system
CN114211493B (zh) * 2021-12-23 2023-10-27 武汉联影智融医疗科技有限公司 机械臂的远程控制系统和方法
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
US11717969B1 (en) * 2022-07-28 2023-08-08 Altec Industries, Inc. Cooperative high-capacity and high-dexterity manipulators
US12397430B2 (en) * 2022-10-04 2025-08-26 Aescape, Inc. Method and system for electromechanical safety for robotic manipulators
CN115847385B (zh) * 2022-11-17 2025-03-18 上海微创医疗机器人(集团)股份有限公司 调整臂控制方法、装置、系统、计算机设备
KR102520214B1 (ko) * 2022-12-07 2023-04-11 주식회사 유에이로보틱스 선제적 대응이 가능한 협동 로봇 구동 방법 및 이를 위한 시스템

Family Cites Families (238)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3046156C2 (de) 1980-12-06 1983-01-13 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Betätigungsvorrichtung für Scheibenbremsen
DE3119577A1 (de) 1981-05-16 1982-12-02 Schmitz & Söhne GmbH & Co KG, 5757 Wickede Operationstisch mit hydraulisch bewegbaren tischelementen
US4456961A (en) * 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
JPS59108691A (ja) 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
DE3312862A1 (de) 1983-04-09 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
DE3663618D1 (en) 1985-10-09 1989-07-06 Siemens Ag Diagnostic x-ray installation comprising components to be positioned by means of a control device
SE464855B (sv) 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
US4991579A (en) 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
JPH01252389A (ja) 1988-03-31 1989-10-09 Agency Of Ind Science & Technol マニピュレータ及びその制御方法
JPH02178708A (ja) 1988-12-28 1990-07-11 Fanuc Ltd 重力軸のブレーキ制御方式
US5222499A (en) 1989-11-15 1993-06-29 Allen George S Method and apparatus for imaging the anatomy
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
JPH05138583A (ja) * 1991-11-19 1993-06-01 Nachi Fujikoshi Corp 産業用ロボツトのアーム落下防止装置
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US7074179B2 (en) 1992-08-10 2006-07-11 Intuitive Surgical Inc Method and apparatus for performing minimally invasive cardiac procedures
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
JP3070329B2 (ja) 1993-03-31 2000-07-31 松下電器産業株式会社 産業用ロボットシステム
JP3540362B2 (ja) 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
JP3300144B2 (ja) 1993-12-28 2002-07-08 株式会社神戸製鋼所 多軸ロボットのウィービング制御方法
DE4412605B4 (de) 1994-04-13 2005-10-20 Zeiss Carl Verfahren zum Betrieb eines stereotaktischen Adapters
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
EP0881044B1 (en) 1995-09-11 2006-06-07 Kabushiki Kaisha Yaskawa Denki Robot controller
JPH09254079A (ja) * 1996-03-22 1997-09-30 Yaskawa Electric Corp ロボットの制御装置
JPH09300264A (ja) 1996-05-20 1997-11-25 Nippon Telegr & Teleph Corp <Ntt> ロボット制御装置
JP3442941B2 (ja) * 1996-09-30 2003-09-02 株式会社東芝 ロボットの振動抑制制御装置およびその制御方法
JP2001522647A (ja) 1997-11-07 2001-11-20 ヒル−ロム,インコーポレイティド 可動式手術用支援装置
US6035228A (en) 1997-11-28 2000-03-07 Picker International, Inc. Frameless stereotactic arm apparatus and method of using same
JPH11226062A (ja) 1998-02-18 1999-08-24 Seishiro Yoshihara 柔軟ロボットアーム
US6146200A (en) 1998-06-04 2000-11-14 Sumitomo Wiring Systems, Ltd. Connector and a cap therefor
US6246200B1 (en) * 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
JP4083316B2 (ja) 1998-10-01 2008-04-30 オリンパス株式会社 手術用顕微鏡
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
JP2000300579A (ja) 1999-04-26 2000-10-31 Olympus Optical Co Ltd 多機能マニピュレータ
US6788018B1 (en) 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
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
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US9107683B2 (en) * 1999-09-17 2015-08-18 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
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
US9510911B2 (en) 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US6471167B1 (en) 2000-03-31 2002-10-29 Poly Vac, Inc. Surgical tray support system
DE50012038D1 (de) * 2000-04-25 2006-04-06 Moeller Wedel Gmbh Stativ mit einem Operationsmikroskop
WO2002011633A2 (en) 2000-08-08 2002-02-14 Sdgi Holdings, Inc. Improved method and apparatus for stereotactic implantation
FR2819173B1 (fr) 2001-01-09 2003-04-11 Alm Table d'operation motorisee a mulitples sections
JP3808321B2 (ja) * 2001-04-16 2006-08-09 ファナック株式会社 ロボット制御装置
JP4285926B2 (ja) * 2001-05-22 2009-06-24 オリンパス株式会社 手術機器保持装置
US20060178556A1 (en) * 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
JP3616759B2 (ja) * 2001-10-19 2005-02-02 ファナック株式会社 重力軸の落下を防止するサーボモータ制御装置
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US20070185376A1 (en) 2002-03-11 2007-08-09 Wilson Roger F System and method for positioning a laparoscopic device
KR100483660B1 (ko) 2002-04-12 2005-04-19 미쓰비시덴키 가부시키가이샤 로봇
JP2003299674A (ja) 2002-04-12 2003-10-21 Masasuke Shiraishi 手術台装置
EP1531749A2 (en) 2002-08-13 2005-05-25 Microbotics Corporation Microsurgical robot system
DE10249786A1 (de) 2002-10-24 2004-05-13 Medical Intelligence Medizintechnik Gmbh Referenzierung eines Roboters zu einem Werkstück und Vorrichtung hierfür
JP4270889B2 (ja) 2003-01-15 2009-06-03 オリンパス株式会社 医療用器具保持装置
JP2004216022A (ja) 2003-01-17 2004-08-05 Mizuho Co Ltd 手術台
JP2004223128A (ja) 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
US20110015521A1 (en) 2003-03-27 2011-01-20 Boulder Innovation Group, Inc. Means of Tracking Movement of Bodies During Medical Treatment
JP2004358239A (ja) 2003-05-15 2004-12-24 Olympus Corp 医療器具保持装置
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US8160205B2 (en) 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US7860550B2 (en) 2004-04-06 2010-12-28 Accuray, Inc. Patient positioning assembly
CA2513202C (en) 2004-07-23 2015-03-31 Mehran Anvari Multi-purpose robotic operating system and method
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
US8413271B2 (en) 2004-10-29 2013-04-09 Stryker Corporation Patient support apparatus
WO2006069288A2 (en) 2004-12-20 2006-06-29 Williams Gilbert J Overhead mount for a medical robot for use with medical scanning equipment
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US20140033434A1 (en) 2005-02-22 2014-02-06 Roger P. Jackson Cantilevered patient positioning support structure
US9265679B2 (en) 2005-02-22 2016-02-23 Roger P Jackson Cantilevered patient positioning support structure
CA2826925C (en) * 2005-02-22 2017-01-24 Mako Surgical Corp. Haptic guidance system and method
JP2006263894A (ja) * 2005-03-25 2006-10-05 Seiko Epson Corp 多関節ロボットのモータブレーキ解除装置
US7516924B2 (en) 2005-03-28 2009-04-14 Compview Corporation Articulated boom for positioning video and medical equipment in hospital operating rooms
CN101222889A (zh) 2005-05-12 2008-07-16 Om外科手术(Uk)有限公司 用于确保正确插入人造髋关节的系统、方法和器械
GB0516276D0 (en) * 2005-08-08 2005-09-14 Crampton Stephen Robust cmm arm with exoskeleton
KR101336214B1 (ko) 2005-08-10 2013-12-04 미주호 오서피딕 시스템즈, 아이엔씨. 제어된 운동이 이루어지는 의료용 테이블 및 그것의 사용방법
JP4053557B2 (ja) 2005-10-07 2008-02-27 ファナック株式会社 サーボモータ停止制御方法及びサーボモータ制御装置
DE102005054230A1 (de) 2005-11-14 2007-05-24 Maquet Gmbh & Co. Kg Verfahren und Einrichtung zur bidirektionalen IR-Datenübertragung zwischen einem Operationstisch und einem Bediengerät
US7741802B2 (en) * 2005-12-20 2010-06-22 Intuitive Surgical Operations, Inc. Medical robotic system with programmably controlled constraints on error dynamics
CN100464720C (zh) * 2005-12-22 2009-03-04 天津市华志计算机应用技术有限公司 基于光学跟踪闭环控制的脑外科机器人系统及实现方法
EP1815950A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
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
US8219178B2 (en) * 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
CN100478142C (zh) 2006-04-05 2009-04-15 中国科学院自动化研究所 一种移动机器人的位姿传感系统及其方法
FR2899460B1 (fr) 2006-04-10 2008-07-11 Steris Surgical Technologies S Dispositif de guidage pour table motorise comprenant une unite de regroupement de commandes de la table
DE602006007823D1 (de) 2006-05-16 2009-08-27 Abb Ab Steuersystem für einen Industrieroboter
NL1031827C2 (nl) 2006-05-17 2007-11-20 Univ Eindhoven Tech Operatierobot.
JP4953282B2 (ja) * 2006-05-18 2012-06-13 株式会社ニデック 眼科用手術支援装置
FR2901122B1 (fr) 2006-05-18 2008-08-22 Steris Surgical Technologies Sas Dispositif de guidage pour table d'operation comprenant des bras de guidage aptes a etre fixes de maniere amovible sur ladite table, et table d'operation comportant de tels bras de guidage
JP2009537231A (ja) 2006-05-19 2009-10-29 マコ サージカル コーポレーション 触覚デバイスを制御するための方法および装置
CN2910169Y (zh) 2006-05-24 2007-06-13 上海健医实业有限公司 自动手术台
RU2445007C2 (ru) 2006-05-24 2012-03-20 Конинклейке Филипс Электроникс, Н.В. Совмещение систем координат
US8551076B2 (en) * 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
WO2007146984A2 (en) * 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
CN104720887B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
US20090192523A1 (en) * 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
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.
US20080125649A1 (en) 2006-09-18 2008-05-29 Andreas Meyer Automatic object tracking in a region of interest
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
EP2114634A4 (en) 2007-02-23 2010-11-17 Intest Corp TESTING HEAD MANIPULATOR
EP1974870A1 (en) 2007-03-30 2008-10-01 Abb Research Ltd. An industrial robot having a plurality of independently controlled electromagnetic brakes
JP4505618B2 (ja) * 2007-04-11 2010-07-21 株式会社日立製作所 マニピュレータ装置
US20130338679A1 (en) 2007-05-04 2013-12-19 Technische Universiteit Eindhoven Surgical Robot
CN101049248A (zh) 2007-05-18 2007-10-10 西安工业大学 光磁电复合导航手术定位装置和方法
JP2008307618A (ja) 2007-06-12 2008-12-25 Denso Wave Inc ロボットの制御装置
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
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
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
US9532848B2 (en) 2007-06-15 2017-01-03 Othosoft, Inc. Computer-assisted surgery system and method
FR2920376B1 (fr) 2007-08-31 2009-12-18 Renault Sas Systeme de commande du desserrage d'un dispositif de frein de parking automatique, embarque a bord d'un vehicule automobile
CN201082167Y (zh) 2007-09-17 2008-07-09 刘衍民 手术台上方全方位旋转摄像装置
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
EP2230054A4 (en) 2007-12-07 2011-11-09 Yaskawa Denki Seisakusho Kk ROBOTIC MOTOR CONTROL METHOD, ROBOTIC SYSTEM AND ROBOTIC REGULATION REGULATOR
US8400094B2 (en) 2007-12-21 2013-03-19 Intuitive Surgical Operations, Inc. Robotic surgical system with patient support
KR100961428B1 (ko) 2008-02-20 2010-06-09 (주)미래컴퍼니 침대 일체형 수술용 로봇
JP4508246B2 (ja) 2008-02-21 2010-07-21 株式会社デンソーウェーブ ロボットの電磁ブレーキ制御装置およびロボットの電磁ブレーキの異常判定方法
JP4443615B2 (ja) 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
KR101429671B1 (ko) 2008-04-18 2014-08-13 피렐리 타이어 소시에떼 퍼 아찌오니 타이어 조립방법 및 기기
JP4508263B2 (ja) 2008-04-24 2010-07-21 トヨタ自動車株式会社 パワーアシスト装置およびその制御方法
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
CN100577125C (zh) 2008-08-06 2010-01-06 北京航空航天大学 长骨骨折牵引复位导航装置
WO2010022088A1 (en) 2008-08-18 2010-02-25 Encision, Inc. Enhanced control systems including flexible shielding and support systems for electrosurgical applications
DE102008041866B3 (de) 2008-09-08 2010-04-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Überprüfen einer Bremse eines Roboters
US8781630B2 (en) 2008-10-14 2014-07-15 University Of Florida Research Foundation, Inc. Imaging platform to provide integrated navigation capabilities for surgical guidance
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8483800B2 (en) 2008-11-29 2013-07-09 General Electric Company Surgical navigation enabled imaging table environment
WO2010068005A2 (en) 2008-12-12 2010-06-17 Rebo Surgical robot
KR101061987B1 (ko) 2008-12-12 2011-09-05 주식회사 이턴 침대 장착식 수술용 로봇
US8641621B2 (en) 2009-02-17 2014-02-04 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
JP2010194101A (ja) 2009-02-25 2010-09-09 Hitachi Medical Corp 手術管理システム
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8418073B2 (en) 2009-03-09 2013-04-09 Intuitive Surgical Operations, Inc. User interfaces for electrosurgical tools in robotic surgical systems
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
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
US8551115B2 (en) 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
EP2470089B1 (en) * 2009-11-13 2018-08-01 Intuitive Surgical Operations, Inc. Curved cannula and robotic manipulator
DE102009047219A1 (de) 2009-11-27 2011-06-01 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Verbrennungsmotors
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
JP5454499B2 (ja) * 2010-03-19 2014-03-26 株式会社デンソーウェーブ ロボットシステム
US8746252B2 (en) * 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
US8621954B1 (en) * 2010-06-04 2014-01-07 University Of Washington Through Its Center For Commercialization Systems and methods for gravity compensation
US8141558B2 (en) 2010-06-16 2012-03-27 Biosense Webster (Israel), Ltd. Position dependent interference cancellation
JP2012005557A (ja) 2010-06-23 2012-01-12 Terumo Corp 医療用ロボットシステム
DE102010027248A1 (de) * 2010-07-15 2012-01-19 Sensodrive Gmbh Haltevorrichtung für ein Instrument
DE102010038800B4 (de) 2010-08-02 2024-03-07 Kuka Deutschland Gmbh Medizinischer Arbeitsplatz
US8827948B2 (en) 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
WO2012045529A1 (en) 2010-10-07 2012-04-12 International Business Machines Corporation Raid array transformation
KR101598773B1 (ko) * 2010-10-21 2016-03-15 (주)미래컴퍼니 수술용 로봇의 움직임 제어/보상 방법 및 장치
US9101379B2 (en) * 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
DE102010051633A1 (de) 2010-11-17 2012-05-24 Ondal Medical Systems Gmbh Tragesystem mit Bedienungshilfe
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US8584281B2 (en) 2011-04-07 2013-11-19 Mizuho Orthopedic Systems, Inc Surgery table having coordinated motion
US20150113733A1 (en) 2011-04-07 2015-04-30 Mark Diel Surgery table having coordinated motion
WO2012155050A2 (en) * 2011-05-12 2012-11-15 The Johns Hopkins University Electromagnetic tracking system and methods of using same
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
JP5754707B2 (ja) * 2011-05-20 2015-07-29 国立大学法人東京工業大学 松葉杖形歩行支援機械
CN102429726A (zh) 2011-08-03 2012-05-02 哈尔滨工业大学 基于图像导航的并联机器人辅助人工颈椎间盘置换手术定位方法
EP2755591B1 (en) 2011-09-16 2020-11-18 Auris Health, Inc. System for displaying an image of a patient anatomy on a movable display
US8986228B2 (en) 2011-09-19 2015-03-24 Trimanus Medical, Inc. Method and apparatus for monitoring surgical traction
RU2605393C2 (ru) * 2011-09-28 2016-12-20 Юниверсал Роботс А/С Способ калибровки и программирования робота
US20130085510A1 (en) 2011-09-30 2013-04-04 Ethicon Endo-Surgery, Inc. Robot-mounted surgical tables
FI125658B (fi) 2011-10-12 2015-12-31 Merivaara Oy Menetelmä leikkauspöydän ohjaamiseksi kannettavalla laitteella
WO2013063522A2 (en) 2011-10-26 2013-05-02 Reid Robert Cyrus Surgical instrument motor pack latch
US9089466B2 (en) 2011-12-20 2015-07-28 Safer Care, LLC Apparatus and methods for orienting or moving surfaces
US8464720B1 (en) 2012-01-10 2013-06-18 Alessio Pigazzi Method of securing a patient onto an operating table when the patient is in the trendelenburg position and apparatus therefor including a kit
DE102012104253B4 (de) * 2012-01-13 2016-07-28 Robert Bosch Automotive Steering Gmbh Verfahren und Vorrichtung zur Kompensation von Strörungen in einem elektrischen Lenksystem
DE102012003479A1 (de) 2012-02-21 2013-08-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Ausführen eines Manipulatorprozesses
DE102012008812A1 (de) * 2012-04-25 2013-10-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Röntgenquelle mit Modul und Detektor für optische Strahlung
WO2013163458A2 (en) 2012-04-25 2013-10-31 Innovative System Solutions, Inc Apparatus, system and method for tensioning an emergency brake system
US10039473B2 (en) 2012-05-14 2018-08-07 Intuitive Surgical Operations, Inc. Systems and methods for navigation based on ordered sensor records
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
CN104334109B (zh) 2012-06-01 2017-06-23 直观外科手术操作公司 用于使用零空间的外科手术操纵器的命令的重新配置的系统和方法
CN111513852B (zh) 2012-06-01 2023-11-03 直观外科手术操作公司 硬件受限的远程中心机器人操纵器的冗余轴线和自由度
WO2013181503A1 (en) 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
DE102012209594B3 (de) 2012-06-06 2013-06-06 Leica Microsystems (Schweiz) Ag Stativ
CN102715924B (zh) 2012-06-15 2014-08-13 中国人民解放军第四军医大学 一种可全方位调整手术切口的拉钩装置
EP2863827B1 (en) 2012-06-21 2022-11-16 Globus Medical, Inc. Surgical robot platform
US9642606B2 (en) 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9936863B2 (en) 2012-06-27 2018-04-10 Camplex, Inc. Optical assembly providing a surgical microscope view for a surgical visualization system
US9326788B2 (en) 2012-06-29 2016-05-03 Ethicon Endo-Surgery, Llc Lockout mechanism for use with robotic electrosurgical device
CN102727312A (zh) 2012-07-03 2012-10-17 张春霖 基于体外标志物的手术机器人骨骼基准确定方法
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
WO2014022786A2 (en) 2012-08-03 2014-02-06 Stryker Corporation Systems and methods for robotic surgery
KR102255642B1 (ko) 2012-08-15 2021-05-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 암의 수동식 운동에 의해 제어되는 이동가능한 수술용 장착 플랫폼
KR102145801B1 (ko) * 2012-08-15 2020-08-28 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 장착 플랫폼의 사용자 개시 브레이크-어웨이 클러칭
EA027466B1 (ru) 2012-11-13 2017-07-31 Общество с ограниченной ответственностью "Эйдос-Медицина" Гибридный медицинский тренажер лапароскопии
CN103027818B (zh) 2012-11-29 2015-04-15 天津大学 近距离粒子植入机器人连床式自动控制手术台
WO2014093367A1 (en) 2012-12-10 2014-06-19 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
DE202014000027U1 (de) 2013-01-09 2014-01-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgieroboter
DE102013002818A1 (de) 2013-02-19 2014-08-21 Rg Mechatronics Gmbh Haltevorrichtung für ein chirurgisches Instrument und eine Schleuse sowie Verfahren zum Betreiben eines Roboters mit einer solchen Haltevorrichtung
JP5716769B2 (ja) 2013-02-21 2015-05-13 株式会社安川電機 ロボットシミュレータ、ロボット教示装置およびロボット教示方法
US9702349B2 (en) * 2013-03-15 2017-07-11 ClearMotion, Inc. Active vehicle suspension system
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
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
BR112015023547B8 (pt) * 2013-03-15 2022-09-27 Synaptive Medical Inc Montagem de braço automatizado para uso usado durante um procedimento médico sobre uma parte anatômica
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
WO2015135057A1 (en) * 2014-03-14 2015-09-17 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
CN105120788B (zh) 2013-03-15 2018-10-16 直观外科手术操作公司 用于管理多个零空间目标和饱和sli行为的系统和方法
US9339212B2 (en) 2013-03-18 2016-05-17 Orthosensor Inc Bone cutting system for alignment relative to a mechanical axis
KR20140126473A (ko) 2013-04-23 2014-10-31 삼성전자주식회사 마커 및 이를 이용한 수술 도구 포즈 추정 방법
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
JP5746308B2 (ja) 2013-11-26 2015-07-08 ファナック株式会社 ブレーキ落下量を低減する機能を備えたサーボ制御装置
DE102013020697B4 (de) 2013-12-04 2023-07-06 Kuka Roboter Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
CN103720514B (zh) 2013-12-13 2016-03-23 北京柏惠维康科技有限公司 针对手术空间的医疗外科机器人的参数优化方法
WO2015142943A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for maintaining a tool pose
JP6619748B2 (ja) 2014-03-17 2019-12-11 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 遠隔手術台位置合わせのための方法及び装置
US10258414B2 (en) 2014-03-17 2019-04-16 Intuitive Surgical Operations, Inc. Methods and devices for table pose tracking using fudicial markers
EP3673859B1 (en) 2014-03-17 2024-01-03 Intuitive Surgical Operations, Inc. Automatic push-out to avoid range of motion limits
EP3682837B1 (en) * 2014-03-17 2023-09-27 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
KR102375479B1 (ko) 2014-03-17 2022-03-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법
KR102781726B1 (ko) 2014-10-27 2025-03-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
JP6682512B2 (ja) 2014-10-27 2020-04-15 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 一体化された手術台のシステム及び方法
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
KR102799097B1 (ko) 2014-10-27 2025-04-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
US10272569B2 (en) * 2014-10-27 2019-04-30 Intuitive Surgical Operations, Inc. System and method for instrument disturbance compensation
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
CN110236853B (zh) 2014-10-27 2021-06-04 直观外科手术操作公司 用于配准到手术台的系统及方法
WO2016069989A1 (en) 2014-10-30 2016-05-06 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
WO2016069998A1 (en) 2014-10-30 2016-05-06 Intuitive Surgical Operations, Inc. System and method for articulated arm stabilization
JP6056838B2 (ja) 2014-11-28 2017-01-11 株式会社安川電機 ブレーキ診断装置及びブレーキ診断方法
US10258419B2 (en) 2015-09-25 2019-04-16 Ethicon Llc Methods for hybrid robotic laparoscopic surgery
US11166770B2 (en) 2016-09-19 2021-11-09 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
EP3515349B1 (en) 2016-09-19 2024-09-04 Intuitive Surgical Operations, Inc. Positioning indicator system for a remotely controllable arm and related methods
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
EP3740150A4 (en) 2018-01-17 2021-11-03 Auris Health, Inc. SURGICAL ROBOTIC SYSTEMS WITH ENHANCED ROBOTIC ARMS
EP3813716B1 (en) 2018-09-26 2025-04-16 Auris Health, Inc. Systems and instruments for suction and irrigation

Similar Documents

Publication Publication Date Title
JP2017533795A5 (cg-RX-API-DMAC7.html)
EP3078459B1 (en) Robot controlling method, robot apparatus, program and recording medium
KR101305617B1 (ko) 착용식 로봇의 양중제어방법 및 양중제어시스템
JP2017537751A5 (cg-RX-API-DMAC7.html)
JP6108860B2 (ja) ロボットシステム及びロボットシステムの制御方法
JP2015030078A5 (ja) ロボット装置、ロボット制御方法、ロボット制御プログラム及びロボット装置を用いた部品の製造方法
JP6773098B2 (ja) ロボットシステム及びロボット制御方法
EP4599785A3 (en) System for instrument disturbance compensation
JP7774437B2 (ja) モーションキャプチャを介したロボットカメラ制御
JP2016198828A5 (cg-RX-API-DMAC7.html)
JP2013146793A5 (ja) ロボット制御装置、ロボットシステム、ロボット制御方法及びロボット
WO2014065744A4 (en) Method and system for determination of at least one property of a joint
JP2017513539A5 (cg-RX-API-DMAC7.html)
JP2014210326A5 (cg-RX-API-DMAC7.html)
JP2015030086A5 (ja) ロボット制御方法、ロボットシステム、プログラム、記録媒体及び部品の製造方法
JP2019014030A5 (ja) ロボットの制御装置、ロボットシステム、並びに、カメラの校正方法
WO2019116891A1 (ja) ロボットシステム及びロボット制御方法
JP2016035543A5 (cg-RX-API-DMAC7.html)
JP6410174B2 (ja) 移動ロボット
JP6630050B2 (ja) 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
JP5752565B2 (ja) ロボットアーム
KR20170025440A (ko) 보조력 계산 방법 및 장치
JP2012024882A5 (cg-RX-API-DMAC7.html)
JP2015150676A (ja) ロボット装置、ロボット制御方法及びプログラム、並びに記録媒体
JP2019202374A (ja) ハンドおよびハンドシステム