JP2022530755A5 - - Google Patents

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Publication number
JP2022530755A5
JP2022530755A5 JP2021560920A JP2021560920A JP2022530755A5 JP 2022530755 A5 JP2022530755 A5 JP 2022530755A5 JP 2021560920 A JP2021560920 A JP 2021560920A JP 2021560920 A JP2021560920 A JP 2021560920A JP 2022530755 A5 JP2022530755 A5 JP 2022530755A5
Authority
JP
Japan
Prior art keywords
torque
robot arm
control system
surgical
torque state
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
JP2021560920A
Other languages
English (en)
Japanese (ja)
Other versions
JP7340619B2 (ja
JP2022530755A (ja
Filing date
Publication date
Priority claimed from GB2004753.6A external-priority patent/GB2593740B/en
Application filed filed Critical
Publication of JP2022530755A publication Critical patent/JP2022530755A/ja
Publication of JP2022530755A5 publication Critical patent/JP2022530755A5/ja
Application granted granted Critical
Publication of JP7340619B2 publication Critical patent/JP7340619B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2021560920A 2020-03-31 2021-03-29 外科手術ロボットの制御システム Active JP7340619B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2004753.6A GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
GB2004753.6 2020-03-31
PCT/GB2021/050766 WO2021198662A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Publications (3)

Publication Number Publication Date
JP2022530755A JP2022530755A (ja) 2022-07-01
JP2022530755A5 true JP2022530755A5 (enExample) 2023-05-15
JP7340619B2 JP7340619B2 (ja) 2023-09-07

Family

ID=70553222

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021560920A Active JP7340619B2 (ja) 2020-03-31 2021-03-29 外科手術ロボットの制御システム

Country Status (6)

Country Link
US (1) US20230172676A1 (enExample)
EP (1) EP4125678A1 (enExample)
JP (1) JP7340619B2 (enExample)
CN (1) CN115334996A (enExample)
GB (1) GB2593740B (enExample)
WO (1) WO2021198662A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2575113B (en) 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
TWI883313B (zh) * 2021-03-31 2025-05-11 日商發那科股份有限公司 算出作用在機器人裝置或工件上之外力的容許值的計算裝置及機器人的控制裝置
CN119328754B (zh) * 2024-11-04 2025-04-15 浙江大学 基于可操作度自适应优化的移动机械臂协调运动控制方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111889A (ja) * 1991-10-23 1993-05-07 Fanuc Ltd 制御方式可変型ロボツト制御方式
US6304954B1 (en) * 1998-04-20 2001-10-16 Rise Technology Company Executing multiple instructions in multi-pipelined processor by dynamically switching memory ports of fewer number than the pipeline
US9084623B2 (en) * 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
EP3232975B1 (en) 2014-12-16 2020-07-15 Intuitive Surgical Operations, Inc. Ureter detection using waveband-selective imaging
GB2534558B (en) 2015-01-21 2020-12-30 Cmr Surgical Ltd Robot tool retraction
WO2016152046A1 (en) * 2015-03-23 2016-09-29 Sony Corporation Medical support arm device and method of controlling medical support arm device
JP2016179168A (ja) 2015-03-23 2016-10-13 ソニー株式会社 医療用支持アーム装置、医療用支持アーム装置の制御方法及び医療用観察装置
US10327849B2 (en) * 2015-11-11 2019-06-25 Mako Surgical Corp. Robotic system and method for backdriving the same
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
WO2020001742A1 (en) * 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator
GB2575113B (en) * 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms

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