JP6164964B2 - 医療用システムおよびその制御方法 - Google Patents

医療用システムおよびその制御方法 Download PDF

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Publication number
JP6164964B2
JP6164964B2 JP2013155885A JP2013155885A JP6164964B2 JP 6164964 B2 JP6164964 B2 JP 6164964B2 JP 2013155885 A JP2013155885 A JP 2013155885A JP 2013155885 A JP2013155885 A JP 2013155885A JP 6164964 B2 JP6164964 B2 JP 6164964B2
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Japan
Prior art keywords
arm
control mode
slave arm
joint
slave
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JP2013155885A
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English (en)
Japanese (ja)
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JP2015024036A5 (OSRAM
JP2015024036A (ja
Inventor
量平 小川
量平 小川
岸　宏亮
宏亮 岸
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Olympus Corp
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Olympus Corp
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Priority to JP2013155885A priority Critical patent/JP6164964B2/ja
Priority to PCT/JP2014/069260 priority patent/WO2015012241A1/ja
Priority to CN201480041664.0A priority patent/CN105407827B/zh
Priority to EP14829493.7A priority patent/EP3025672A4/en
Publication of JP2015024036A publication Critical patent/JP2015024036A/ja
Priority to US15/000,648 priority patent/US10155315B2/en
Publication of JP2015024036A5 publication Critical patent/JP2015024036A5/ja
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Publication of JP6164964B2 publication Critical patent/JP6164964B2/ja
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    • 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
    • B25J9/1679—Programme 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
    • A61B34/30—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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo 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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2013155885A 2013-07-26 2013-07-26 医療用システムおよびその制御方法 Active JP6164964B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2013155885A JP6164964B2 (ja) 2013-07-26 2013-07-26 医療用システムおよびその制御方法
PCT/JP2014/069260 WO2015012241A1 (ja) 2013-07-26 2014-07-18 医療用システムおよびその制御方法
CN201480041664.0A CN105407827B (zh) 2013-07-26 2014-07-18 医疗用系统及其控制方法
EP14829493.7A EP3025672A4 (en) 2013-07-26 2014-07-18 Medical system and control method for same
US15/000,648 US10155315B2 (en) 2013-07-26 2016-01-19 Medical system and method for controlling the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013155885A JP6164964B2 (ja) 2013-07-26 2013-07-26 医療用システムおよびその制御方法

Publications (3)

Publication Number Publication Date
JP2015024036A JP2015024036A (ja) 2015-02-05
JP2015024036A5 JP2015024036A5 (OSRAM) 2016-02-18
JP6164964B2 true JP6164964B2 (ja) 2017-07-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013155885A Active JP6164964B2 (ja) 2013-07-26 2013-07-26 医療用システムおよびその制御方法

Country Status (5)

Country Link
US (1) US10155315B2 (OSRAM)
EP (1) EP3025672A4 (OSRAM)
JP (1) JP6164964B2 (OSRAM)
CN (1) CN105407827B (OSRAM)
WO (1) WO2015012241A1 (OSRAM)

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Also Published As

Publication number Publication date
WO2015012241A1 (ja) 2015-01-29
US10155315B2 (en) 2018-12-18
EP3025672A4 (en) 2017-01-04
CN105407827B (zh) 2018-08-17
US20160135909A1 (en) 2016-05-19
EP3025672A1 (en) 2016-06-01
JP2015024036A (ja) 2015-02-05
CN105407827A (zh) 2016-03-16

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