JP2023519734A - 外科手術ロボットの制御システム - Google Patents

外科手術ロボットの制御システム Download PDF

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Publication number
JP2023519734A
JP2023519734A JP2022559765A JP2022559765A JP2023519734A JP 2023519734 A JP2023519734 A JP 2023519734A JP 2022559765 A JP2022559765 A JP 2022559765A JP 2022559765 A JP2022559765 A JP 2022559765A JP 2023519734 A JP2023519734 A JP 2023519734A
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JP
Japan
Prior art keywords
torque
force
control system
robotic arm
surgical
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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.)
Pending
Application number
JP2022559765A
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English (en)
Japanese (ja)
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JP2023519734A5 (enExample
Inventor
モットラム・エドワード・ジョン
タッカー・エドワード・ジェームズ・ワイルデイン
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CMR Surgical Ltd
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CMR Surgical Ltd
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Publication date
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of JP2023519734A publication Critical patent/JP2023519734A/ja
Publication of JP2023519734A5 publication Critical patent/JP2023519734A5/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
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • 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
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40174—Robot teleoperation through internet
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (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)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2022559765A 2020-03-31 2021-03-29 外科手術ロボットの制御システム Pending JP2023519734A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2004752.8 2020-03-31
GB2004752.8A GB2593739B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
PCT/GB2021/050768 WO2021198664A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Publications (2)

Publication Number Publication Date
JP2023519734A true JP2023519734A (ja) 2023-05-12
JP2023519734A5 JP2023519734A5 (enExample) 2024-03-18

Family

ID=70553238

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022559765A Pending JP2023519734A (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) US20230150128A1 (enExample)
EP (1) EP4125679A1 (enExample)
JP (1) JP2023519734A (enExample)
CN (1) CN115334995A (enExample)
GB (1) GB2593739B (enExample)
WO (1) WO2021198664A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113084828B (zh) * 2021-04-02 2022-11-11 上海电气集团股份有限公司 一种运动控制方法、装置、设备和存储介质
CN115957006B (zh) * 2021-10-09 2026-03-31 术锐(上海)科技有限公司 基于姿态确定可形变机械臂的外部受力的方法及机器人系统
DE102022200943B3 (de) * 2022-01-28 2023-05-11 Kuka Deutschland Gmbh Steuern eines Teleroboters
CN118900753A (zh) * 2022-02-03 2024-11-05 株式会社安川电机 机器人系统以及传感方法
CN114469354B (zh) * 2022-04-13 2022-06-24 深圳市爱博医疗机器人有限公司 一种介入手术机器人从端初始化方法和可读存储介质
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system
CN117653343B (zh) * 2023-11-13 2024-12-17 北京长木谷医疗科技股份有限公司 一种手术机器人智能动力控制方法及装置
CN120245007B (zh) * 2025-06-04 2025-08-26 首都医科大学附属北京积水潭医院 一种手术机器人术中患者侧力估计方法
CN121403417B (zh) * 2025-12-30 2026-04-21 知行机器人科技（苏州）有限公司 一种基于深度学习的机器人精密力控方法及系统

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4054984B2 (ja) * 2001-12-20 2008-03-05 株式会社安川電機 ロボットの制御装置および制御方法
JP2010105138A (ja) * 2008-10-31 2010-05-13 Toshiba Corp ロボット制御装置
JP2011517419A (ja) * 2008-03-31 2011-06-09 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 手術用ロボット設定アームにおける力とトルクの感知
JP2013132747A (ja) * 2011-12-23 2013-07-08 Samsung Electronics Co Ltd 手術ロボット及びその制御方法
WO2017026045A1 (ja) * 2015-08-10 2017-02-16 富士通株式会社 ハンド力覚計測装置、ハンド力覚計測方法、及びハンド力覚計測プログラム
JP2017512553A (ja) * 2014-03-17 2017-05-25 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 逆運動学を用いた関節制限における制御の遠隔操作手術システム及び方法
US20180008359A1 (en) * 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
US20190202066A1 (en) * 2017-12-31 2019-07-04 Transenterix Surgical, Inc. Force based gesture control of a robotic surgical manipulator
JP2020536755A (ja) * 2017-10-10 2020-12-17 オーリス ヘルス インコーポレイテッド 手術ロボットアームのアドミッタンス制御

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US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
WO2007111749A2 (en) * 2005-12-20 2007-10-04 Intuitive Surgical, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
WO2014152418A1 (en) * 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
EP3868326B1 (en) * 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
US10327849B2 (en) * 2015-11-11 2019-06-25 Mako Surgical Corp. Robotic system and method for backdriving the same
WO2020001742A1 (en) * 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator
DE202019102430U1 (de) * 2019-04-30 2019-06-05 Franka Emika Gmbh Ermittlung eines externen Kraftwinders durch Drehmomentsensoren eines Robotermanipulators
WO2021044297A1 (en) * 2019-09-03 2021-03-11 Auris Health, Inc. Electromagnetic distortion detection and compensation
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GB2592404B (en) * 2020-02-27 2023-02-15 Dyson Technology Ltd Robotic device
GB2593738B (en) * 2020-03-31 2024-08-14 Cmr Surgical Ltd Control system of a surgical robot
GB2593740B (en) * 2020-03-31 2024-08-14 Cmr Surgical Ltd Control system of a surgical robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4054984B2 (ja) * 2001-12-20 2008-03-05 株式会社安川電機 ロボットの制御装置および制御方法
JP2011517419A (ja) * 2008-03-31 2011-06-09 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 手術用ロボット設定アームにおける力とトルクの感知
JP2010105138A (ja) * 2008-10-31 2010-05-13 Toshiba Corp ロボット制御装置
JP2013132747A (ja) * 2011-12-23 2013-07-08 Samsung Electronics Co Ltd 手術ロボット及びその制御方法
JP2017512553A (ja) * 2014-03-17 2017-05-25 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 逆運動学を用いた関節制限における制御の遠隔操作手術システム及び方法
US20180008359A1 (en) * 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
WO2017026045A1 (ja) * 2015-08-10 2017-02-16 富士通株式会社 ハンド力覚計測装置、ハンド力覚計測方法、及びハンド力覚計測プログラム
JP2020536755A (ja) * 2017-10-10 2020-12-17 オーリス ヘルス インコーポレイテッド 手術ロボットアームのアドミッタンス制御
US20190202066A1 (en) * 2017-12-31 2019-07-04 Transenterix Surgical, Inc. Force based gesture control of a robotic surgical manipulator

Also Published As

Publication number Publication date
CN115334995A (zh) 2022-11-11
GB202004752D0 (en) 2020-05-13
EP4125679A1 (en) 2023-02-08
US20230150128A1 (en) 2023-05-18
GB2593739A (en) 2021-10-06
GB2593739B (en) 2024-09-18
WO2021198664A1 (en) 2021-10-07

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