JP2022524743A - 外科手術ロボットアームの移動制御 - Google Patents

外科手術ロボットアームの移動制御 Download PDF

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Publication number
JP2022524743A
JP2022524743A JP2021552229A JP2021552229A JP2022524743A JP 2022524743 A JP2022524743 A JP 2022524743A JP 2021552229 A JP2021552229 A JP 2021552229A JP 2021552229 A JP2021552229 A JP 2021552229A JP 2022524743 A JP2022524743 A JP 2022524743A
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Japan
Prior art keywords
joint
robot arm
surgical robot
arm
surgical
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Pending
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JP2021552229A
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English (en)
Japanese (ja)
Inventor
ヘアーズ・ルーク・デイビット・ロナルド
ロバーツ・ポール・クリストファー
ヴィーチ・グラハム・ジョン
ディーン・ゴードン・トーマス
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CMR Surgical Ltd
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CMR Surgical Ltd
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Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of JP2022524743A publication Critical patent/JP2022524743A/ja
Priority to JP2023170217A priority Critical patent/JP2023175889A/ja
Pending legal-status Critical Current

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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
    • 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
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2021552229A 2020-02-25 2021-02-16 外科手術ロボットアームの移動制御 Pending JP2022524743A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023170217A JP2023175889A (ja) 2020-02-25 2023-09-29 外科手術ロボットアームの移動制御

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2002643.1A GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm
GB2002643.1 2020-02-25
PCT/GB2021/050369 WO2021170973A1 (en) 2020-02-25 2021-02-16 Controlling movement of a surgical robot arm

Related Child Applications (1)

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JP2023170217A Division JP2023175889A (ja) 2020-02-25 2023-09-29 外科手術ロボットアームの移動制御

Publications (1)

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JP2022524743A true JP2022524743A (ja) 2022-05-10

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JP2021552229A Pending JP2022524743A (ja) 2020-02-25 2021-02-16 外科手術ロボットアームの移動制御
JP2023170217A Withdrawn JP2023175889A (ja) 2020-02-25 2023-09-29 外科手術ロボットアームの移動制御

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US (2) US11826116B2 (enExample)
EP (1) EP4110220B1 (enExample)
JP (2) JP2022524743A (enExample)
AU (2) AU2021225384B2 (enExample)
BR (1) BR112022016806A2 (enExample)
CL (1) CL2022002318A1 (enExample)
GB (2) GB2592378B (enExample)
WO (1) WO2021170973A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114010318B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种内镜手术器械输送装置、控制方法及机器人系统
US20230092980A1 (en) * 2021-09-22 2023-03-23 Covidien Lp Surgical robotic system setup
CN115462906B (zh) * 2022-09-29 2025-12-23 武汉联影智融医疗科技有限公司 末端器械及手术器械
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system

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JP2010075719A (ja) * 2001-04-20 2010-04-08 Power Medical Interventions Llc イメージング装置
US20100234857A1 (en) * 1998-11-20 2010-09-16 Intuitve Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
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JP2012157744A (ja) * 2005-12-30 2012-08-23 Intuitive Surgical Inc モジュール式力センサ
JP2012171088A (ja) * 2011-02-24 2012-09-10 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
US20140276951A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Software Configurable Manipulator Degrees of Freedom
JP2016083581A (ja) * 2005-12-30 2016-05-19 インテュイティブ サージカル インコーポレイテッド 手術器具のための力およびトルクセンサー
JP2016515405A (ja) * 2013-03-15 2016-05-30 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 ゼロ空間を使用する経路を追従するためのシステム及び方法
US20170020614A1 (en) * 2015-07-22 2017-01-26 Cambridge Medical Robotics Limited Drive mechanisms for robot arms
WO2018162921A1 (en) * 2017-03-10 2018-09-13 Cmr Surgical Limited Controlling a surgical instrument
WO2019204013A1 (en) * 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement

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US20020138082A1 (en) * 1998-02-24 2002-09-26 Brock David L. Surgical instrument
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US20080125794A1 (en) * 1998-02-24 2008-05-29 Hansen Medical, Inc. Surgical instrument
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US8527094B2 (en) * 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
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
US10188471B2 (en) * 1999-09-17 2019-01-29 Intuitive Surgical Operations, Inc. Tele-operative surgical systems and methods of control at joint limits using inverse kinematics
US9510911B2 (en) * 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
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
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8224484B2 (en) * 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
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
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CN106030683B (zh) * 2013-12-20 2020-10-30 直观外科手术操作公司 用于医疗程序培训的模拟器系统
JP6660302B2 (ja) * 2014-03-17 2020-03-11 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 基準目標に合わせるシステム及び方法
KR102374441B1 (ko) * 2014-03-17 2022-03-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法
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US20100234857A1 (en) * 1998-11-20 2010-09-16 Intuitve Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
JP2010075719A (ja) * 2001-04-20 2010-04-08 Power Medical Interventions Llc イメージング装置
JP2016083581A (ja) * 2005-12-30 2016-05-19 インテュイティブ サージカル インコーポレイテッド 手術器具のための力およびトルクセンサー
JP2012157744A (ja) * 2005-12-30 2012-08-23 Intuitive Surgical Inc モジュール式力センサ
US20120191247A1 (en) * 2011-01-20 2012-07-26 Olympus Corporation Master-slave manipulator and medical master-slave manipulator
JP2012148379A (ja) * 2011-01-20 2012-08-09 Olympus Corp マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ
JP2012171088A (ja) * 2011-02-24 2012-09-10 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
US20140276951A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Software Configurable Manipulator Degrees of Freedom
JP2016515405A (ja) * 2013-03-15 2016-05-30 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 ゼロ空間を使用する経路を追従するためのシステム及び方法
JP2016518877A (ja) * 2013-03-15 2016-06-30 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 ソフトウェア構成可能なマニピュレータ自由度
US20170020614A1 (en) * 2015-07-22 2017-01-26 Cambridge Medical Robotics Limited Drive mechanisms for robot arms
JP2018527200A (ja) * 2015-07-22 2018-09-20 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ ロボットアーム
WO2018162921A1 (en) * 2017-03-10 2018-09-13 Cmr Surgical Limited Controlling a surgical instrument
JP2020510489A (ja) * 2017-03-10 2020-04-09 シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 外科用器具の制御
WO2019204013A1 (en) * 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement

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Publication number Publication date
CN115151214A (zh) 2022-10-04
US11826116B2 (en) 2023-11-28
CL2022002318A1 (es) 2023-04-10
US12295685B2 (en) 2025-05-13
GB202002643D0 (en) 2020-04-08
WO2021170973A1 (en) 2021-09-02
GB2592378A (en) 2021-09-01
GB2592378B (en) 2024-04-03
GB2624133A (en) 2024-05-08
AU2021225384A1 (en) 2022-09-29
AU2021225384B2 (en) 2023-12-21
EP4110220A1 (en) 2023-01-04
AU2024201458A1 (en) 2024-03-21
GB2624133B (en) 2024-12-25
BR112022016806A2 (pt) 2022-10-11
JP2023175889A (ja) 2023-12-12
US20240050176A1 (en) 2024-02-15
US20210259792A1 (en) 2021-08-26
EP4110220B1 (en) 2025-06-25

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