JP2020500620A5 - - Google Patents

Download PDF

Info

Publication number
JP2020500620A5
JP2020500620A5 JP2019530072A JP2019530072A JP2020500620A5 JP 2020500620 A5 JP2020500620 A5 JP 2020500620A5 JP 2019530072 A JP2019530072 A JP 2019530072A JP 2019530072 A JP2019530072 A JP 2019530072A JP 2020500620 A5 JP2020500620 A5 JP 2020500620A5
Authority
JP
Japan
Prior art keywords
surgical robot
motion
image
scale
motion scale
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
JP2019530072A
Other languages
English (en)
Japanese (ja)
Other versions
JP7132922B2 (ja
JP2020500620A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/EP2017/081423 external-priority patent/WO2018104252A1/en
Publication of JP2020500620A publication Critical patent/JP2020500620A/ja
Publication of JP2020500620A5 publication Critical patent/JP2020500620A5/ja
Application granted granted Critical
Publication of JP7132922B2 publication Critical patent/JP7132922B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2019530072A 2016-12-07 2017-12-05 ロボット制御のための画像誘導モーションスケーリング Active JP7132922B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430994P 2016-12-07 2016-12-07
US62/430,994 2016-12-07
PCT/EP2017/081423 WO2018104252A1 (en) 2016-12-07 2017-12-05 Image guided motion scaling for robot control

Publications (3)

Publication Number Publication Date
JP2020500620A JP2020500620A (ja) 2020-01-16
JP2020500620A5 true JP2020500620A5 (cg-RX-API-DMAC7.html) 2021-01-21
JP7132922B2 JP7132922B2 (ja) 2022-09-07

Family

ID=60954988

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019530072A Active JP7132922B2 (ja) 2016-12-07 2017-12-05 ロボット制御のための画像誘導モーションスケーリング

Country Status (5)

Country Link
US (2) US11213364B2 (cg-RX-API-DMAC7.html)
EP (1) EP3551117B1 (cg-RX-API-DMAC7.html)
JP (1) JP7132922B2 (cg-RX-API-DMAC7.html)
CN (1) CN110049742B (cg-RX-API-DMAC7.html)
WO (1) WO2018104252A1 (cg-RX-API-DMAC7.html)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7746073B2 (ja) * 2021-08-31 2025-09-30 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
WO2019050878A2 (en) * 2017-09-06 2019-03-14 Covidien Lp SCALE OF LIMITS OF SURGICAL ROBOTS
US20200015899A1 (en) 2018-07-16 2020-01-16 Ethicon Llc Surgical visualization with proximity tracking features
US11666401B2 (en) 2019-03-15 2023-06-06 Cilag Gmbh International Input controls for robotic surgery
US11490981B2 (en) 2019-03-15 2022-11-08 Cilag Gmbh International Robotic surgical controls having feedback capabilities
US11690690B2 (en) 2019-03-15 2023-07-04 Cilag Gmbh International Segmented control inputs for surgical robotic systems
US12257013B2 (en) * 2019-03-15 2025-03-25 Cilag Gmbh International Robotic surgical systems with mechanisms for scaling camera magnification according to proximity of surgical tool to tissue
US11583350B2 (en) 2019-03-15 2023-02-21 Cilag Gmbh International Jaw coordination of robotic surgical controls
US11284957B2 (en) 2019-03-15 2022-03-29 Cilag Gmbh International Robotic surgical controls with force feedback
US11992282B2 (en) 2019-03-15 2024-05-28 Cilag Gmbh International Motion capture controls for robotic surgery
US11471229B2 (en) 2019-03-15 2022-10-18 Cilag Gmbh International Robotic surgical systems with selectively lockable end effectors
US11213361B2 (en) * 2019-03-15 2022-01-04 Cilag Gmbh International Robotic surgical systems with mechanisms for scaling surgical tool motion according to tissue proximity
JP2020163522A (ja) 2019-03-29 2020-10-08 ソニー株式会社 制御装置及びマスタスレーブシステム
US11832996B2 (en) 2019-12-30 2023-12-05 Cilag Gmbh International Analyzing surgical trends by a surgical system
US11284963B2 (en) 2019-12-30 2022-03-29 Cilag Gmbh International Method of using imaging devices in surgery
US12207881B2 (en) 2019-12-30 2025-01-28 Cilag Gmbh International Surgical systems correlating visualization data and powered surgical instrument data
US12002571B2 (en) 2019-12-30 2024-06-04 Cilag Gmbh International Dynamic surgical visualization systems
US11648060B2 (en) 2019-12-30 2023-05-16 Cilag Gmbh International Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ
US11219501B2 (en) 2019-12-30 2022-01-11 Cilag Gmbh International Visualization systems using structured light
US11776144B2 (en) 2019-12-30 2023-10-03 Cilag Gmbh International System and method for determining, adjusting, and managing resection margin about a subject tissue
US12053223B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Adaptive surgical system control according to surgical smoke particulate characteristics
US12453592B2 (en) 2019-12-30 2025-10-28 Cilag Gmbh International Adaptive surgical system control according to surgical smoke cloud characteristics
US11759283B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto
US11896442B2 (en) 2019-12-30 2024-02-13 Cilag Gmbh International Surgical systems for proposing and corroborating organ portion removals
US11744667B2 (en) 2019-12-30 2023-09-05 Cilag Gmbh International Adaptive visualization by a surgical system
CN112155613B (zh) * 2020-09-14 2021-10-22 武汉联影智融医疗科技有限公司 一种微创医疗手术设备
US12070287B2 (en) 2020-12-30 2024-08-27 Cilag Gmbh International Robotic surgical tools having dual articulation drives
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
US12059170B2 (en) 2020-12-30 2024-08-13 Cilag Gmbh International Surgical tool with tool-based translation and lock for the same
US12239404B2 (en) 2020-12-30 2025-03-04 Cilag Gmbh International Torque-based transition between operating gears
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
IT202200006338A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare un dispositivo slave, comandato da un dispositivo master movimentabile da un operatore in un sistema robotico per teleoperazione medica o chirurgica, in prossimità di limiti di movimento del dispositivo slave, e relativo sistema robotico
IT202200006332A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare, tramite diminuzione di velocità o potenza impartita, un dispositivo slave comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, e relativo sistema robotico
US12137904B2 (en) 2022-06-15 2024-11-12 Cilag Gmbh International Impact mechanism for grasp clamp fire
GB2625105B (en) * 2022-12-06 2025-05-28 Cmr Surgical Ltd Control system for a surgical robotic system

Family Cites Families (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5382885A (en) 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6468265B1 (en) * 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US8944070B2 (en) * 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US20190090967A1 (en) * 1999-12-14 2019-03-28 Intuitive Surgical Operations, Inc. Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device
US7198630B2 (en) * 2002-12-17 2007-04-03 Kenneth I. Lipow Method and apparatus for controlling a surgical robot to mimic, harmonize and enhance the natural neurophysiological behavior of a surgeon
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US9867669B2 (en) * 2008-12-31 2018-01-16 Intuitive Surgical Operations, Inc. Configuration marker design and detection for instrument tracking
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US8079950B2 (en) 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
EP2139422B1 (en) * 2007-03-26 2016-10-26 Hansen Medical, Inc. Robotic catheter systems and methods
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
WO2009097539A2 (en) * 2008-01-30 2009-08-06 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
US8155479B2 (en) * 2008-03-28 2012-04-10 Intuitive Surgical Operations Inc. Automated panning and digital zooming for robotic surgical systems
CN104605928B (zh) * 2009-05-08 2018-01-05 圣犹达医疗用品国际控股有限公司 用于在基于导管的消融治疗中控制损伤尺寸的系统
US9888973B2 (en) * 2010-03-31 2018-02-13 St. Jude Medical, Atrial Fibrillation Division, Inc. Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems
WO2012035492A1 (en) 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
KR20120068597A (ko) 2010-12-17 2012-06-27 주식회사 이턴 수술 로봇 시스템 및 적응 제어 방법
US8918215B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
KR101802464B1 (ko) 2011-08-03 2017-11-28 주식회사 미래컴퍼니 수술용 로봇의 마스터 암 구조 및 수술용 마스터 로봇의 제어방법
JP5841451B2 (ja) 2011-08-04 2016-01-13 オリンパス株式会社 手術器具およびその制御方法
US20140347353A1 (en) 2011-12-21 2014-11-27 Koninklijke Philips N.V. Overlay and motion compensation of structures from volumetric modalities onto video of an uncalibrated endoscope
US8880223B2 (en) * 2012-07-16 2014-11-04 Florida Institute for Human & Maching Cognition Anthro-centric multisensory interface for sensory augmentation of telesurgery
KR102307790B1 (ko) 2013-02-04 2021-09-30 칠드런스 내셔널 메디컬 센터 하이브리드 제어 수술 로봇 시스템
CN105188594B (zh) * 2013-05-09 2021-02-09 皇家飞利浦有限公司 根据解剖特征对内窥镜的机器人控制
WO2015175278A1 (en) * 2014-05-15 2015-11-19 Covidien Lp Systems and methods for controlling a camera position in a surgical robotic system
JP6615871B2 (ja) * 2014-08-22 2019-12-04 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 適応入力マッピングのためのシステム及び方法
JP2017529907A (ja) 2014-09-29 2017-10-12 コヴィディエン リミテッド パートナーシップ ロボット外科手術システムの制御のための動的入力スケーリング
US10154239B2 (en) * 2014-12-30 2018-12-11 Onpoint Medical, Inc. Image-guided surgery with surface reconstruction and augmented reality visualization
US10695142B2 (en) 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
CN104622585B (zh) * 2015-03-13 2016-07-20 中国科学院重庆绿色智能技术研究院 一种腹腔镜微创手术机器人主从同构式遥操作主手
US20160314717A1 (en) * 2015-04-27 2016-10-27 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station coupled to remote surgeon trainee and instructor stations and associated methods
CA2997965C (en) * 2015-10-14 2021-04-27 Surgical Theater LLC Augmented reality surgical navigation
US12390287B2 (en) * 2015-10-16 2025-08-19 Medical Microinstruments, Inc. Surgical tool for robotic surgery and robotic surgical assembly
ITUB20155057A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia

Similar Documents

Publication Publication Date Title
JP2020500620A5 (cg-RX-API-DMAC7.html)
JP2020510455A5 (cg-RX-API-DMAC7.html)
JP2019523664A5 (cg-RX-API-DMAC7.html)
KR101639066B1 (ko) 가상 공간에 형성된 가상 모델을 제어하는 방법 및 시스템
JP6530759B2 (ja) 動的な仮想の衝突対象物についてのシステム及び方法
JP4490997B2 (ja) 移動ロボット
JP2010524548A5 (cg-RX-API-DMAC7.html)
CN110072483B (zh) 对依赖性外科手术机器人臂的自动运动控制
Luo et al. Real time human motion imitation of anthropomorphic dual arm robot based on Cartesian impedance control
JP2020500620A (ja) ロボット制御のための画像誘導モーションスケーリング
JP2020502630A5 (cg-RX-API-DMAC7.html)
JP2019530506A5 (cg-RX-API-DMAC7.html)
Tavasoli et al. Two-time scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam
Kim et al. A novel tip-positioning control of a magnetically steerable guidewire in sharply curved blood vessel for percutaneous coronary intervention
JP2019516146A (ja) ロボットの障害物回避制御システム、方法、ロボット及び記憶媒体
JP2014203463A5 (cg-RX-API-DMAC7.html)
JP2016524487A5 (cg-RX-API-DMAC7.html)
JP2022060201A (ja) モーションキャプチャを介したロボットカメラ制御
JP2023066840A5 (cg-RX-API-DMAC7.html)
JP5776486B2 (ja) ロボット制御装置、その制御方法及びプログラム
CN112975939A (zh) 一种协作型机械臂的动态轨迹规划方法
US20220101477A1 (en) Visual Interface And Communications Techniques For Use With Robots
JP2020512126A5 (cg-RX-API-DMAC7.html)
JP2015058492A (ja) 制御装置、ロボットシステム、ロボット、ロボット動作情報生成方法及びプログラム
US20200258357A1 (en) Phase computing device, phase computing method, haptic presentation system, and program