JP2020535883A - ロボットアームの境界を示すロボットシステム - Google Patents

ロボットアームの境界を示すロボットシステム Download PDF

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Publication number
JP2020535883A
JP2020535883A JP2020518522A JP2020518522A JP2020535883A JP 2020535883 A JP2020535883 A JP 2020535883A JP 2020518522 A JP2020518522 A JP 2020518522A JP 2020518522 A JP2020518522 A JP 2020518522A JP 2020535883 A JP2020535883 A JP 2020535883A
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Prior art keywords
robot arm
movement
stroke length
arm
robot
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Pending
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JP2020518522A
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Japanese (ja)
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JP2020535883A5 (https=
Inventor
ホ，ミンヤン
ポール ヌーナン，デヴィッド
ポール ヌーナン，デヴィッド
チャン，シューユン
ジアン，アレン
Original Assignee
オーリス ヘルス インコーポレイテッド
オーリス ヘルス インコーポレイテッド
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Publication of JP2020535883A publication Critical patent/JP2020535883A/ja
Publication of JP2020535883A5 publication Critical patent/JP2020535883A5/ja
Priority to JP2023075640A priority Critical patent/JP7782857B2/ja
Priority to JP2025110389A priority patent/JP2025133812A/ja
Pending legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
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    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • B25J9/1697—Vision controlled systems
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A—HUMAN NECESSITIES
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    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
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    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
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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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
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    • A61B2217/005—Auxiliary appliance with suction drainage system
    • A—HUMAN NECESSITIES
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    • A61B2217/00—General characteristics of surgical instruments
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    • A61B2217/007—Auxiliary appliance with irrigation system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
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    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G—PHYSICS
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45123—Electrogoniometer, neuronavigator, medical robot used by surgeon to operate

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
JP2020518522A 2017-10-05 2018-09-26 ロボットアームの境界を示すロボットシステム Pending JP2020535883A (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023075640A JP7782857B2 (ja) 2017-10-05 2023-05-01 ロボットアームの境界を示すロボットシステム
JP2025110389A JP2025133812A (ja) 2017-10-05 2025-06-30 ロボットアームの境界を示すロボットシステム

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201762568733P 2017-10-05 2017-10-05
US62/568,733 2017-10-05
US16/141,755 2018-09-25
US16/141,755 US10464209B2 (en) 2017-10-05 2018-09-25 Robotic system with indication of boundary for robotic arm
PCT/US2018/052984 WO2019070482A1 (en) 2017-10-05 2018-09-26 ROBOTIC SYSTEM WITH LIMIT INDICATION FOR ROBOTIC ARM

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023075640A Division JP7782857B2 (ja) 2017-10-05 2023-05-01 ロボットアームの境界を示すロボットシステム

Publications (2)

Publication Number Publication Date
JP2020535883A true JP2020535883A (ja) 2020-12-10
JP2020535883A5 JP2020535883A5 (https=) 2021-11-04

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ID=65993781

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2020518522A Pending JP2020535883A (ja) 2017-10-05 2018-09-26 ロボットアームの境界を示すロボットシステム
JP2023075640A Active JP7782857B2 (ja) 2017-10-05 2023-05-01 ロボットアームの境界を示すロボットシステム
JP2025110389A Pending JP2025133812A (ja) 2017-10-05 2025-06-30 ロボットアームの境界を示すロボットシステム

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2023075640A Active JP7782857B2 (ja) 2017-10-05 2023-05-01 ロボットアームの境界を示すロボットシステム
JP2025110389A Pending JP2025133812A (ja) 2017-10-05 2025-06-30 ロボットアームの境界を示すロボットシステム

Country Status (7)

Country Link
US (3) US10464209B2 (https=)
EP (1) EP3691556B1 (https=)
JP (3) JP2020535883A (https=)
KR (1) KR102564587B1 (https=)
CN (1) CN111343942B (https=)
AU (2) AU2018345516B2 (https=)
WO (1) WO2019070482A1 (https=)

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