JP2023542706A - ロボットアームを位置合わせするための触覚フィードバック - Google Patents

ロボットアームを位置合わせするための触覚フィードバック Download PDF

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Publication number
JP2023542706A
JP2023542706A JP2023519034A JP2023519034A JP2023542706A JP 2023542706 A JP2023542706 A JP 2023542706A JP 2023519034 A JP2023519034 A JP 2023519034A JP 2023519034 A JP2023519034 A JP 2023519034A JP 2023542706 A JP2023542706 A JP 2023542706A
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Prior art keywords
alignment
robotic arm
resistance
arm
manual movement
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Pending
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JP2023519034A
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Japanese (ja)
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JP2023542706A5 (https=
Inventor
ホ・ミンエン
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オーリス ヘルス インコーポレイテッド
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Priority claimed from PCT/IB2021/058612 external-priority patent/WO2022064369A1/en
Publication of JP2023542706A publication Critical patent/JP2023542706A/ja
Publication of JP2023542706A5 publication Critical patent/JP2023542706A5/ja
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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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/37—Leader-follower 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39121—Two manipulators operate on same object
    • 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
    • G05B2219/40191—Autonomous manipulation, computer assists operator during manipulation
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
JP2023519034A 2020-09-25 2021-09-21 ロボットアームを位置合わせするための触覚フィードバック Pending JP2023542706A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063083664P 2020-09-25 2020-09-25
US63/083,664 2020-09-25
PCT/IB2021/058612 WO2022064369A1 (en) 2020-09-25 2021-09-21 Haptic feedback for aligning robotic arms

Publications (2)

Publication Number Publication Date
JP2023542706A true JP2023542706A (ja) 2023-10-11
JP2023542706A5 JP2023542706A5 (https=) 2024-09-04

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JP2023519034A Pending JP2023542706A (ja) 2020-09-25 2021-09-21 ロボットアームを位置合わせするための触覚フィードバック

Country Status (5)

Country Link
US (1) US12220193B2 (https=)
EP (1) EP4216860A4 (https=)
JP (1) JP2023542706A (https=)
KR (1) KR20230074229A (https=)
CN (1) CN116234515A (https=)

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US20250065494A1 (en) * 2022-01-21 2025-02-27 Kinova Inc. System for teaching a robotic arm
DE102022118388B4 (de) * 2022-07-22 2024-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgiesystem für die minimalinvasive robotische Chirurgie
EP4389049A1 (en) * 2022-12-22 2024-06-26 Ecential Robotics Robotic trajectory axis adjustment interface
WO2024191393A1 (en) * 2023-03-10 2024-09-19 Elmed Elektroni̇k Ve Medi̇kal Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ FLEXIBLE URETEROSCOPE (fURS) HAPTIC FEEDBACK MECHANISM FOR A ROBOTIC-ASSISTED RETROGRADE INTRA RENAL SURGICAL (RA-RIRS) SYSTEM AND ASSOCIATED METHOD(S) THEREOF
CN117140517A (zh) * 2023-09-14 2023-12-01 广东奥普特科技股份有限公司 一种高精度的机械臂自动手眼标定方法及系统

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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
US20150366624A1 (en) * 2014-06-19 2015-12-24 KB Medical SA Systems and methods for performing minimally invasive surgery
US20180078320A1 (en) * 2015-03-17 2018-03-22 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

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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
US7747311B2 (en) * 2002-03-06 2010-06-29 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
KR101671825B1 (ko) * 2009-10-01 2016-11-02 마코 서지컬 코포레이션 보철 부품의 위치 선정 및／또는 수술 도구의 이동 제한용 수술 시스템
US9092698B2 (en) * 2012-06-21 2015-07-28 Rethink Robotics, Inc. Vision-guided robots and methods of training them
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US10695134B2 (en) 2016-08-25 2020-06-30 Verily Life Sciences Llc Motion execution of a robotic system
CN111417354B (zh) * 2016-10-25 2023-12-12 莫比乌斯成像公司 用于机器人辅助手术的方法及系统
JP2018198750A (ja) * 2017-05-26 2018-12-20 ソニー株式会社 医療用システム、医療用支持アームの制御装置、および医療用支持アームの制御方法
CN110996826B (zh) * 2017-07-27 2023-04-25 直观外科手术操作公司 医疗装置手柄
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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
US20150366624A1 (en) * 2014-06-19 2015-12-24 KB Medical SA Systems and methods for performing minimally invasive surgery
US20180078320A1 (en) * 2015-03-17 2018-03-22 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
WO2019074670A1 (en) * 2017-10-10 2019-04-18 Auris Health, Inc. SURGICAL ROBOTIC ARM ADMISSION CONTROL

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Publication number Publication date
CN116234515A (zh) 2023-06-06
KR20230074229A (ko) 2023-05-26
US20220096183A1 (en) 2022-03-31
EP4216860A4 (en) 2024-10-09
US12220193B2 (en) 2025-02-11
EP4216860A1 (en) 2023-08-02

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