JP2019122871A - 不整列時のマスターとスレーブと間の向きマッピング - Google Patents
不整列時のマスターとスレーブと間の向きマッピング Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 155
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
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- G—PHYSICS
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
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- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Veterinary Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
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- Ophthalmology & Optometry (AREA)
Abstract
Description
この出願は、2015年6月10日に出願された「MASTER-TO-SLAVE ORIENTATION MAPPING WHEN MISALIGNED」という名称の米国仮特許出願第62/173,844号の優先権及び利益を主張し、その全文を本明細書中に参照として援用する。
Claims (1)
- 追従モードに入る前に、アイフレーム内のマスターツールグリップの軸の向きとカメラフレーム内のスレーブ器具先端の対応する軸の向きとの間の相対的な向きを決定するステップと、
前記追従モードに入った後に、前記マスターツールグリップの前記軸の前記向きと前記スレーブ器具先端の前記対応する軸の前記向きとの間の向き不整列が、最大許容向き誤差よりも大きいか否かを決定するステップと、
該決定に応答して、
前記マスターツールグリップから命令を受信して前記スレーブ器具先端を移動させるステップであって、前記命令は、前記スレーブ器具先端の所望の向きを示す、ステップと、
前記スレーブ器具先端の前記所望の向きと前記相対的な向きとに基づいて新しいスレーブ向きを生成するステップと、
該新しいスレーブ向きに基づいて前記スレーブ器具先端を方向付けるステップとを含む、
方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562173844P | 2015-06-10 | 2015-06-10 | |
US62/173,844 | 2015-06-10 |
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JP2017556742A Division JP6552642B2 (ja) | 2015-06-10 | 2016-06-10 | 不整列時のマスターとスレーブと間の向きマッピング |
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Publication Number | Publication Date |
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JP2019122871A true JP2019122871A (ja) | 2019-07-25 |
JP6843180B2 JP6843180B2 (ja) | 2021-03-17 |
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JP2017556742A Active JP6552642B2 (ja) | 2015-06-10 | 2016-06-10 | 不整列時のマスターとスレーブと間の向きマッピング |
JP2019090638A Active JP6843180B2 (ja) | 2015-06-10 | 2019-05-13 | 不整列時のマスターとスレーブと間の向きマッピング |
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JP2017556742A Active JP6552642B2 (ja) | 2015-06-10 | 2016-06-10 | 不整列時のマスターとスレーブと間の向きマッピング |
Country Status (6)
Country | Link |
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US (3) | US10524871B2 (ja) |
EP (2) | EP3307198B1 (ja) |
JP (2) | JP6552642B2 (ja) |
KR (3) | KR102512881B1 (ja) |
CN (2) | CN113397709A (ja) |
WO (1) | WO2016201207A1 (ja) |
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