JP2017538456A5 - - Google Patents

Download PDF

Info

Publication number
JP2017538456A5
JP2017538456A5 JP2017518205A JP2017518205A JP2017538456A5 JP 2017538456 A5 JP2017538456 A5 JP 2017538456A5 JP 2017518205 A JP2017518205 A JP 2017518205A JP 2017518205 A JP2017518205 A JP 2017518205A JP 2017538456 A5 JP2017538456 A5 JP 2017538456A5
Authority
JP
Japan
Prior art keywords
brake
brakes
release
medical device
predetermined time
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
JP2017518205A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017538456A (ja
JP6644061B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2015/057671 external-priority patent/WO2016069661A1/en
Publication of JP2017538456A publication Critical patent/JP2017538456A/ja
Publication of JP2017538456A5 publication Critical patent/JP2017538456A5/ja
Application granted granted Critical
Publication of JP6644061B2 publication Critical patent/JP6644061B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2017518205A 2014-10-27 2015-10-27 能動的ブレーキ解放制御装置を備える医療デバイス Active JP6644061B2 (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
US201562134225P 2015-03-17 2015-03-17
US62/134,225 2015-03-17
PCT/US2015/057671 WO2016069661A1 (en) 2014-10-27 2015-10-27 Medical device with active brake release control

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020000627A Division JP7235684B2 (ja) 2014-10-27 2020-01-07 能動的ブレーキ解放制御装置を備える医療デバイス

Publications (3)

Publication Number Publication Date
JP2017538456A JP2017538456A (ja) 2017-12-28
JP2017538456A5 true JP2017538456A5 (https=) 2018-12-06
JP6644061B2 JP6644061B2 (ja) 2020-02-12

Family

ID=55858279

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2017518205A Active JP6644061B2 (ja) 2014-10-27 2015-10-27 能動的ブレーキ解放制御装置を備える医療デバイス
JP2020000627A Active JP7235684B2 (ja) 2014-10-27 2020-01-07 能動的ブレーキ解放制御装置を備える医療デバイス
JP2021200710A Active JP7361751B2 (ja) 2014-10-27 2021-12-10 能動的ブレーキ解放制御装置を備える医療デバイス

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2020000627A Active JP7235684B2 (ja) 2014-10-27 2020-01-07 能動的ブレーキ解放制御装置を備える医療デバイス
JP2021200710A Active JP7361751B2 (ja) 2014-10-27 2021-12-10 能動的ブレーキ解放制御装置を備える医療デバイス

Country Status (6)

Country Link
US (3) US10405944B2 (https=)
EP (2) EP3212107B1 (https=)
JP (3) JP6644061B2 (https=)
KR (3) KR102655083B1 (https=)
CN (2) CN107072727B (https=)
WO (1) WO2016069661A1 (https=)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
JP6676061B2 (ja) 2014-10-27 2020-04-08 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 統合された手術台運動のためのシステム及び方法
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
US10603135B2 (en) * 2014-10-30 2020-03-31 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
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
CN107414840B (zh) * 2017-09-25 2023-11-07 常州机电职业技术学院 旋臂机械手控制方法及装置
US10034721B1 (en) * 2017-09-27 2018-07-31 Verb Surgical Inc. Robotic arm cart having shock absorbing mechanisms and uses therefor
GB2571319B (en) * 2018-02-23 2022-11-23 Cmr Surgical Ltd Concurrent control of an end effector in a master-slave robotic system using multiple input devices
US11116591B2 (en) 2018-10-30 2021-09-14 Titan Medical Inc. Hand controller apparatus including ergonomic features for a robotic surgery system
US10426561B1 (en) 2018-10-30 2019-10-01 Titan Medical Inc. Hand controller apparatus for detecting input position in a robotic surgery system
CN111374777B (zh) * 2018-12-29 2024-09-17 达科为(深圳)医疗设备有限公司 用于胸腹腔微创手术的主从式机器人系统及配置方法
US11203120B1 (en) * 2019-02-06 2021-12-21 Intrinsic Innovation Llc Mobile robotics frame system
US10939970B2 (en) * 2019-05-22 2021-03-09 Titan Medical Inc. Robotic surgery system
JP7487479B2 (ja) * 2020-01-23 2024-05-21 セイコーエプソン株式会社 移動ロボットの制御方法
JP6754150B1 (ja) 2020-02-12 2020-09-09 リバーフィールド株式会社 手術用ロボット
GB2593741B (en) * 2020-03-31 2024-05-15 Cmr Surgical Ltd Configuring a surgical robotic system
US12329471B2 (en) * 2020-06-03 2025-06-17 Covidien Lp Surgical robotic system user interfaces
AU2021356662A1 (en) 2020-10-07 2023-06-15 Canary Medical Switzerland Ag Providing medical devices with sensing functionality
USD988352S1 (en) * 2021-08-19 2023-06-06 Covidien Lp Display screen with graphical user interface for surgeon console
WO2023023178A1 (en) * 2021-08-20 2023-02-23 Titan Medical Inc. Robotic surgery system
CN117653354B (zh) * 2022-08-31 2026-04-03 上海微创医疗机器人(集团)股份有限公司 操作臂回收控制方法、装置及操作设备
US12440291B2 (en) 2022-12-27 2025-10-14 Conavi Medical Inc. Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
WO2025054220A1 (en) * 2023-09-06 2025-03-13 Intuitive Surgical Operations, Inc. Robotic surgical manipulator system

Family Cites Families (210)

* 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
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
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
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
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
US5994864A (en) * 1995-09-11 1999-11-30 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
EP1029418A2 (en) 1997-11-07 2000-08-23 Hill-Rom, Inc. Communication and data entry device
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
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
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
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
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US9345544B2 (en) 1999-09-17 2016-05-24 Intuitive Surgical Operations, Inc. Systems and methods for avoiding collisions between manipulator arms using a null-space
US6471167B1 (en) 2000-03-31 2002-10-29 Poly Vac, Inc. Surgical tray support system
ATE315762T1 (de) 2000-04-25 2006-02-15 Moeller Wedel Gmbh Stativ mit einem operationsmikroskop
CA2426453A1 (en) 2000-08-08 2002-02-14 Sdgi Holdings, Inc. (D/B/A Medtronic Sofamor Danek, 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
JP2003299674A (ja) 2002-04-12 2003-10-21 Masasuke Shiraishi 手術台装置
WO2003086718A1 (en) * 2002-04-12 2003-10-23 Mitsubishi Denki Kabushiki Kaisha Robot
CA2437286C (en) 2002-08-13 2008-04-29 Garnette Roy Sutherland 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
US7860550B2 (en) 2004-04-06 2010-12-28 Accuray, Inc. Patient positioning assembly
US8160205B2 (en) 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US7979157B2 (en) 2004-07-23 2011-07-12 Mcmaster University 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
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
GB0516276D0 (en) 2005-08-08 2005-09-14 Crampton Stephen Robust cmm arm with exoskeleton
US9119610B2 (en) 2005-08-10 2015-09-01 Joel M. Matta Medical table having controlled movement and method of use
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
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
AU2007254159B2 (en) 2006-05-19 2013-07-04 Mako Surgical Corp. System and method for verifying calibration of a surgical device
EP2030169B1 (en) 2006-05-24 2018-12-19 Koninklijke Philips N.V. Coordinate system registration
CN2910169Y (zh) 2006-05-24 2007-06-13 上海健医实业有限公司 自动手术台
EP2038712B2 (en) 2006-06-13 2019-08-28 Intuitive Surgical Operations, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
US20080064927A1 (en) 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
US8551076B2 (en) 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
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
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
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
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
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
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
US9096033B2 (en) 2007-06-13 2015-08-04 Intuitive Surgical Operations, Inc. Surgical system instrument sterile adapter
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
WO2008151446A1 (en) 2007-06-15 2008-12-18 Orthosoft 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
JP5365524B2 (ja) 2007-12-07 2013-12-11 株式会社安川電機 ロボット動作規制方法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
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
US8986480B2 (en) * 2008-04-18 2015-03-24 Pirelli Tyre S.P.A. Process and apparatus for assembling tyres
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
EP2323578B1 (en) 2008-08-18 2018-10-03 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
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
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
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
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
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
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
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
US8912746B2 (en) 2011-10-26 2014-12-16 Intuitive Surgical Operations, Inc. Surgical instrument motor pack latch
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
DE102012003479A1 (de) * 2012-02-21 2013-08-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Ausführen eines Manipulatorprozesses
WO2013163458A2 (en) * 2012-04-25 2013-10-31 Innovative System Solutions, Inc Apparatus, system and method for tensioning an emergency brake system
CN104334110B (zh) 2012-06-01 2017-10-03 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
EP2854690B1 (en) 2012-06-01 2020-04-01 Intuitive Surgical Operations, Inc. Systems for commanded reconfiguration of a surgical manipulator using the 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
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
CA2879414A1 (en) 2012-08-03 2014-02-06 Stryker Corporation Systems and methods for robotic surgery
CN104717935B (zh) 2012-08-15 2018-04-06 直观外科手术操作公司 利用零空间取消关节运动的系统
EP3789164B1 (en) 2012-08-15 2024-07-31 Intuitive Surgical Operations, Inc. Movable surgical mounting platform controlled by manual motion of robotic arms
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
US20160098943A1 (en) 2012-11-13 2016-04-07 Eidos-Medicina Ltd Hybrid medical laparoscopic simulator
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
CN110279427B (zh) 2012-12-10 2024-01-16 直观外科手术操作公司 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免
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
US9668768B2 (en) 2013-03-15 2017-06-06 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
EP2969403B1 (en) 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
US9827054B2 (en) 2014-03-14 2017-11-28 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
JP2016512733A (ja) 2013-03-15 2016-05-09 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 マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
CN105338920B (zh) 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法
WO2014146119A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space
US9408557B2 (en) 2013-03-18 2016-08-09 Orthosensor Inc. System and method to change a contact point of the muscular-skeletal system
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
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
KR102270705B1 (ko) 2013-12-06 2021-06-29 삼성전자주식회사 유기 광전 소자 및 이미지 센서
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
EP3868326B1 (en) 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
EP3119337B1 (en) 2014-03-17 2024-05-15 Intuitive Surgical Operations, Inc. Methods and devices for tele-surgical table registration
EP3610820B1 (en) 2014-03-17 2023-08-02 Intuitive Surgical Operations, Inc. Methods and devices for table pose tracking using fiducial markers
EP3119314B1 (en) 2014-03-17 2020-05-06 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
WO2015142801A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods of controlling motion of under-actuated joints in a surgical set-up structure
WO2015142786A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Constant force spring with active bias
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
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
JP6676061B2 (ja) 2014-10-27 2020-04-08 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 統合された手術台運動のためのシステム及び方法
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
US10603135B2 (en) 2014-10-30 2020-03-31 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
US10376324B2 (en) 2014-10-30 2019-08-13 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
KR20240135866A (ko) 2016-09-19 2024-09-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격으로 제어가능한 아암을 위한 위치결정 표시장치 시스템 및 관련 방법
WO2018052795A1 (en) 2016-09-19 2018-03-22 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
JP7463277B2 (ja) 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド 改善されたロボットアームを有する外科用ロボットシステム
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation

Similar Documents

Publication Publication Date Title
JP2017538456A5 (https=)
EP3216392A4 (en) Brain disease diagnosis assistance system, brain disease diagnosis assistance method, and program
EP4233768A3 (en) Device and machine readable medium executing a method of recentering end effectors and input controls
JP2017191457A5 (ja) 医用レポート作成装置、およびその制御方法、医用レポート作成システム、プログラム
JP2015512828A5 (https=)
EP4477178A3 (en) Medical device with active brake release control
TWD169825S (zh) 車玩具
WO2015088863A3 (en) Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
WO2015127102A3 (en) Systems and methods for gravity-assisted cardiopulmonary resuscitation
JP2017523079A5 (https=)
JP2017124744A5 (https=)
EP3308706A4 (en) Biosensor and method for forming same and glucose control system, method for forming the glucose control system, and method for controlling glucose thereby
EP3043875A4 (en) Method to determine body&#39;s physiological response to physical exercise for assessing readiness and to provide feedback, and system for implementing the method
JP2015520667A5 (https=)
JP2018184433A5 (https=)
Kim et al. A design of bilateral teleoperation systems using composite adaptive controller
JP2016110042A5 (https=)
JP2017013559A5 (https=)
JP2019047960A5 (https=)
JP2016537603A5 (https=)
WO2016131986A3 (de) Verfahren und vorrichtung zur ansteuerung eines simulators
TWD175772S (zh) 汽車用方向盤
Velasco-Villa et al. Discrete-time synchronization strategy for input time-delay mobile robots
JP2015047164A5 (https=)
WO2015023496A3 (en) System and method for controlling respective braking pressures at wheels on a vehicle