JP2019502462A5 - - Google Patents
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- JP2019502462A5 JP2019502462A5 JP2018533939A JP2018533939A JP2019502462A5 JP 2019502462 A5 JP2019502462 A5 JP 2019502462A5 JP 2018533939 A JP2018533939 A JP 2018533939A JP 2018533939 A JP2018533939 A JP 2018533939A JP 2019502462 A5 JP2019502462 A5 JP 2019502462A5
- Authority
- JP
- Japan
- Prior art keywords
- robot
- image
- reference object
- end effector
- captured image
- 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
Links
- 239000012636 effector Substances 0.000 claims 28
- 238000003384 imaging method Methods 0.000 claims 7
- 238000003780 insertion Methods 0.000 claims 6
- 230000037431 insertion Effects 0.000 claims 6
- 238000000034 method Methods 0.000 claims 5
- 230000003287 optical effect Effects 0.000 claims 1
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562272737P | 2015-12-30 | 2015-12-30 | |
| US62/272,737 | 2015-12-30 | ||
| PCT/IB2016/057863 WO2017115227A1 (en) | 2015-12-30 | 2016-12-21 | Image based robot guidance |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019502462A JP2019502462A (ja) | 2019-01-31 |
| JP2019502462A5 true JP2019502462A5 (https=) | 2020-02-06 |
| JP6912481B2 JP6912481B2 (ja) | 2021-08-04 |
Family
ID=57838433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018533939A Expired - Fee Related JP6912481B2 (ja) | 2015-12-30 | 2016-12-21 | 画像ベースのロボット誘導 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20200261155A1 (https=) |
| EP (1) | EP3397187A1 (https=) |
| JP (1) | JP6912481B2 (https=) |
| CN (1) | CN108601626A (https=) |
| WO (1) | WO2017115227A1 (https=) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4613232A3 (en) | 2016-09-16 | 2025-12-03 | Zimmer, Inc. | Augmented reality surgical technique guidance |
| US11033341B2 (en) | 2017-05-10 | 2021-06-15 | Mako Surgical Corp. | Robotic spine surgery system and methods |
| EP3621545B1 (en) | 2017-05-10 | 2024-02-21 | MAKO Surgical Corp. | Robotic spine surgery system |
| US11432877B2 (en) * | 2017-08-02 | 2022-09-06 | Medtech S.A. | Surgical field camera system that only uses images from cameras with an unobstructed sight line for tracking |
| WO2019148428A1 (en) * | 2018-02-01 | 2019-08-08 | Abb Schweiz Ag | Vision-based operation for robot |
| CN109223176B (zh) * | 2018-10-26 | 2021-06-25 | 中南大学湘雅三医院 | 一种手术规划系统 |
| EP3930615A1 (en) | 2019-02-28 | 2022-01-05 | Koninklijke Philips N.V. | Feedforward continuous positioning control of end-effectors |
| EP3824839A1 (en) | 2019-11-19 | 2021-05-26 | Koninklijke Philips N.V. | Robotic positioning of a device |
| KR102278149B1 (ko) * | 2020-01-08 | 2021-07-16 | 최홍희 | 의료용 다목적 레이저 포인팅장치 |
| RU2753118C2 (ru) * | 2020-01-09 | 2021-08-11 | Федеральное государственное автономное образовательное учреждение высшего образования "Севастопольский государственный университет" | Роботизированная система для удержания и перемещения хирургического инструмента при проведении лапароскопических операций |
| US20230139402A1 (en) * | 2020-02-24 | 2023-05-04 | Intuitive Surgical Operations, Inc. | Systems and methods for registration feature integrity checking |
| KR20220159392A (ko) | 2020-03-27 | 2022-12-02 | 마코 서지컬 코포레이션 | 햅틱 인터페이스를 이용한 로봇 척추 수술 시스템 및 방법 |
| CN119367155A (zh) * | 2020-04-10 | 2025-01-28 | 川崎重工业株式会社 | 医疗用移动体系统及其运行方法 |
| CN112932669B (zh) * | 2021-01-18 | 2024-03-15 | 广州市微眸医疗器械有限公司 | 一种执行视网膜层防渗漏隧道的机械臂控制方法 |
| WO2022165753A1 (zh) * | 2021-02-05 | 2022-08-11 | 中国科学院深圳先进技术研究院 | 一种用于眼睑翻开的软体装置及方法 |
| CN113687627B (zh) * | 2021-08-18 | 2022-08-19 | 太仓中科信息技术研究院 | 一种基于摄像机器人的目标跟踪方法 |
| CN113766083B (zh) * | 2021-09-09 | 2024-05-14 | 思看科技(杭州)股份有限公司 | 跟踪式扫描系统的参数配置方法、电子装置和存储介质 |
| AU2023278867A1 (en) | 2022-06-03 | 2025-01-09 | Mako Surgical Corp. | Surgical robotic system with compliance mechanism |
| CN115194760B (zh) * | 2022-06-07 | 2025-02-07 | 西安电子科技大学 | 一种多自由度嫁接机器人的时序运动控制方法与系统 |
| CN115192092B (zh) * | 2022-07-04 | 2024-06-25 | 合肥工业大学 | 面向体内柔性动态环境的机器人自主活检取样方法 |
| CN117103286B (zh) * | 2023-10-25 | 2024-03-19 | 杭州汇萃智能科技有限公司 | 一种机械手手眼标定方法、系统和可读存储介质 |
| CN118766505A (zh) * | 2024-08-23 | 2024-10-15 | 合肥工业大学 | 用于腹部超声检测的rcm装置及机器人 |
| CN119344872B (zh) * | 2024-12-03 | 2025-11-14 | 北京瞳沐医疗科技有限公司 | 眼底手术机器人远心不动点标定方法、系统、介质及设备 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6187018B1 (en) * | 1999-10-27 | 2001-02-13 | Z-Kat, Inc. | Auto positioner |
| EP1450683A4 (en) * | 2001-11-08 | 2009-11-11 | Univ Johns Hopkins Med | SYSTEM AND METHOD FOR ROBOTIC OBJECT CONTROL UNDER PICTURE SERVO CONTROL ON FLUOROSCOPY BASE |
| JP5341884B2 (ja) * | 2007-06-12 | 2013-11-13 | コーニンクレッカ フィリップス エヌ ヴェ | 画像ガイドされる治療 |
| US20110071541A1 (en) * | 2009-09-23 | 2011-03-24 | Intuitive Surgical, Inc. | Curved cannula |
| US8934003B2 (en) | 2010-01-08 | 2015-01-13 | Koninklijkle Philips N.V. | Uncalibrated visual servoing using real-time velocity optimization |
| CN102711650B (zh) | 2010-01-13 | 2015-04-01 | 皇家飞利浦电子股份有限公司 | 用于内窥镜手术的基于图像整合的配准和导航 |
| DE102010029275A1 (de) * | 2010-05-25 | 2011-12-01 | Siemens Aktiengesellschaft | Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar |
| US9615886B2 (en) | 2010-09-15 | 2017-04-11 | Koninklijke Philips N.V. | Robotic control of an endoscope from blood vessel tree images |
| KR20140090374A (ko) * | 2013-01-08 | 2014-07-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇 및 그 제어 방법 |
| GB201303917D0 (en) * | 2013-03-05 | 2013-04-17 | Ezono Ag | System for image guided procedure |
| JP6881979B2 (ja) * | 2014-02-04 | 2021-06-02 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | ロボットシステムのための光源を用いる遠隔運動中心の定義 |
| KR102237597B1 (ko) * | 2014-02-18 | 2021-04-07 | 삼성전자주식회사 | 수술 로봇용 마스터 장치 및 그 제어 방법 |
| DE102014209368A1 (de) * | 2014-05-16 | 2015-11-19 | Siemens Aktiengesellschaft | Magnetresonanztomographie-System und Verfahren zur Unterstützung einer Person bei der Positionierung eines medizinischen Instruments für eine perkutane Intervention |
-
2016
- 2016-12-21 JP JP2018533939A patent/JP6912481B2/ja not_active Expired - Fee Related
- 2016-12-21 EP EP16828779.5A patent/EP3397187A1/en not_active Withdrawn
- 2016-12-21 WO PCT/IB2016/057863 patent/WO2017115227A1/en not_active Ceased
- 2016-12-21 CN CN201680080556.3A patent/CN108601626A/zh active Pending
- 2016-12-21 US US16/066,079 patent/US20200261155A1/en not_active Abandoned
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