JP2023519734A5 - - Google Patents

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Publication number
JP2023519734A5
JP2023519734A5 JP2022559765A JP2022559765A JP2023519734A5 JP 2023519734 A5 JP2023519734 A5 JP 2023519734A5 JP 2022559765 A JP2022559765 A JP 2022559765A JP 2022559765 A JP2022559765 A JP 2022559765A JP 2023519734 A5 JP2023519734 A5 JP 2023519734A5
Authority
JP
Japan
Prior art keywords
torque
force
control system
surgical
robot arm
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.)
Pending
Application number
JP2022559765A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023519734A (ja
Filing date
Publication date
Priority claimed from GB2004752.8A external-priority patent/GB2593739B/en
Application filed filed Critical
Publication of JP2023519734A publication Critical patent/JP2023519734A/ja
Publication of JP2023519734A5 publication Critical patent/JP2023519734A5/ja
Pending legal-status Critical Current

Links

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 JP2023519734A (ja) 2023-05-12
JP2023519734A5 true 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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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

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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
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
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
JP5242342B2 (ja) * 2008-10-31 2013-07-24 株式会社東芝 ロボット制御装置
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
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
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JP6540810B2 (ja) * 2015-08-10 2019-07-10 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
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GB2593740B (en) * 2020-03-31 2024-08-14 Cmr Surgical Ltd Control system of a surgical robot

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