JP5028219B2 - マニピュレータ装置および医療機器システム - Google Patents

マニピュレータ装置および医療機器システム Download PDF

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Publication number
JP5028219B2
JP5028219B2 JP2007282144A JP2007282144A JP5028219B2 JP 5028219 B2 JP5028219 B2 JP 5028219B2 JP 2007282144 A JP2007282144 A JP 2007282144A JP 2007282144 A JP2007282144 A JP 2007282144A JP 5028219 B2 JP5028219 B2 JP 5028219B2
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Prior art keywords
manipulator
joint
trajectory
joints
freedom
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Japanese (ja)
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JP2009107074A (ja
JP2009107074A5 (enExample
Inventor
義孝 梅本
和彦 高橋
徹緒 野波
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Olympus Medical Systems Corp
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Olympus Medical Systems Corp
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Priority to JP2007282144A priority Critical patent/JP5028219B2/ja
Priority to CN2008101749426A priority patent/CN101422901B/zh
Priority to EP08018811.3A priority patent/EP2058090B1/en
Priority to US12/260,437 priority patent/US8388605B2/en
Publication of JP2009107074A publication Critical patent/JP2009107074A/ja
Publication of JP2009107074A5 publication Critical patent/JP2009107074A5/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
    • 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
    • A61B34/30—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2007282144A 2007-10-30 2007-10-30 マニピュレータ装置および医療機器システム Active JP5028219B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2007282144A JP5028219B2 (ja) 2007-10-30 2007-10-30 マニピュレータ装置および医療機器システム
CN2008101749426A CN101422901B (zh) 2007-10-30 2008-10-24 机械手装置和医疗设备系统
EP08018811.3A EP2058090B1 (en) 2007-10-30 2008-10-28 Manipulator apparatus and medical device system
US12/260,437 US8388605B2 (en) 2007-10-30 2008-10-29 Manipulator apparatus and medical device system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007282144A JP5028219B2 (ja) 2007-10-30 2007-10-30 マニピュレータ装置および医療機器システム

Publications (3)

Publication Number Publication Date
JP2009107074A JP2009107074A (ja) 2009-05-21
JP2009107074A5 JP2009107074A5 (enExample) 2009-12-24
JP5028219B2 true JP5028219B2 (ja) 2012-09-19

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JP2007282144A Active JP5028219B2 (ja) 2007-10-30 2007-10-30 マニピュレータ装置および医療機器システム

Country Status (4)

Country Link
US (1) US8388605B2 (enExample)
EP (1) EP2058090B1 (enExample)
JP (1) JP5028219B2 (enExample)
CN (1) CN101422901B (enExample)

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Also Published As

Publication number Publication date
JP2009107074A (ja) 2009-05-21
EP2058090A2 (en) 2009-05-13
US8388605B2 (en) 2013-03-05
EP2058090A3 (en) 2017-09-06
CN101422901B (zh) 2011-12-14
CN101422901A (zh) 2009-05-06
US20090112316A1 (en) 2009-04-30
EP2058090B1 (en) 2019-01-02

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