JP6255402B2 - 手術システムの動きを操作するためのファントム自由度 - Google Patents

手術システムの動きを操作するためのファントム自由度 Download PDF

Info

Publication number
JP6255402B2
JP6255402B2 JP2015527555A JP2015527555A JP6255402B2 JP 6255402 B2 JP6255402 B2 JP 6255402B2 JP 2015527555 A JP2015527555 A JP 2015527555A JP 2015527555 A JP2015527555 A JP 2015527555A JP 6255402 B2 JP6255402 B2 JP 6255402B2
Authority
JP
Japan
Prior art keywords
freedom
degrees
joint
manipulator
kinematic
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.)
Active
Application number
JP2015527555A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015534469A5 (https=
JP2015534469A (ja
Inventor
ヒンウィ，プッシュカー
ウォク ワイ オウ，サミュエル
ウォク ワイ オウ，サミュエル
エー ボニュー，レイモンド
エー ボニュー，レイモンド
ディオライティ，ニコラ
エム アワータッシュ，アージャン
エム アワータッシュ，アージャン
イー ケアドク，エイミー
イー ケアドク，エイミー
ターナー，マイケル
Original Assignee
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
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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 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, 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 filed Critical 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
Publication of JP2015534469A publication Critical patent/JP2015534469A/ja
Publication of JP2015534469A5 publication Critical patent/JP2015534469A5/ja
Application granted granted Critical
Publication of JP6255402B2 publication Critical patent/JP6255402B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (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)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2015527555A 2012-08-15 2013-08-14 手術システムの動きを操作するためのファントム自由度 Active JP6255402B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261683576P 2012-08-15 2012-08-15
US61/683,576 2012-08-15
PCT/US2013/054838 WO2014028558A1 (en) 2012-08-15 2013-08-14 Phantom degrees of freedom for manipulating the movement of surgical systems

Publications (3)

Publication Number Publication Date
JP2015534469A JP2015534469A (ja) 2015-12-03
JP2015534469A5 JP2015534469A5 (https=) 2016-09-29
JP6255402B2 true JP6255402B2 (ja) 2017-12-27

Family

ID=50100573

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015527555A Active JP6255402B2 (ja) 2012-08-15 2013-08-14 手術システムの動きを操作するためのファントム自由度

Country Status (6)

Country Link
US (2) US9295525B2 (https=)
EP (1) EP2884936A4 (https=)
JP (1) JP6255402B2 (https=)
KR (1) KR102186365B1 (https=)
CN (1) CN104736094B (https=)
WO (1) WO2014028558A1 (https=)

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9295525B2 (en) 1999-09-17 2016-03-29 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of surgical systems
US9308050B2 (en) 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
CN104736093B (zh) 2012-08-15 2018-06-05 直观外科手术操作公司 接头估测和控制中的假想自由度
JP2016512733A (ja) * 2013-03-15 2016-05-09 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 マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
US9283048B2 (en) * 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
WO2015107099A1 (en) 2014-01-15 2015-07-23 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US10039605B2 (en) 2014-02-11 2018-08-07 Globus Medical, Inc. Sterile handle for controlling a robotic surgical system from a sterile field
EP3134022B1 (en) * 2014-04-24 2018-01-10 KB Medical SA Surgical instrument holder for use with a robotic surgical system
WO2015193479A1 (en) 2014-06-19 2015-12-23 KB Medical SA Systems and methods for performing minimally invasive surgery
WO2016087539A2 (en) 2014-12-02 2016-06-09 KB Medical SA Robot assisted volume removal during surgery
WO2016131903A1 (en) 2015-02-18 2016-08-25 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
EP3261571B1 (en) 2015-02-25 2023-03-08 Mako Surgical Corporation Navigation systems and methods for reducing tracking interruptions during a surgical procedure
KR101700514B1 (ko) * 2015-06-30 2017-01-31 성균관대학교산학협력단 최소침습수술용 로봇 시스템
WO2017037127A1 (en) 2015-08-31 2017-03-09 KB Medical SA Robotic surgical systems and methods
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
JP2017146115A (ja) * 2016-02-15 2017-08-24 オムロン株式会社 演算装置、演算方法及び演算プログラム
CN108261243A (zh) * 2017-01-03 2018-07-10 上银科技股份有限公司 具有远端运动中心特性的机械手臂
WO2018144654A1 (en) * 2017-01-31 2018-08-09 Transenterix Surgical, Inc. Hydraulic instrument drive system for minimally invasive surgery
CN111096801A (zh) * 2018-10-09 2020-05-05 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
CN111096804A (zh) * 2018-10-09 2020-05-05 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
CN111096800A (zh) * 2018-10-09 2020-05-05 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
CN111096802A (zh) * 2018-10-09 2020-05-05 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
CN111096805A (zh) * 2018-10-09 2020-05-05 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
CN111012511B (zh) * 2018-10-09 2021-06-18 成都博恩思医学机器人有限公司 一种腹腔镜手术机器人的手术器械控制方法
JP2022510406A (ja) * 2018-12-06 2022-01-26 コヴィディエン リミテッド パートナーシップ ケーブル駆動エンドエフェクタの制御方法
WO2020131186A1 (en) * 2018-12-20 2020-06-25 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
KR102180907B1 (ko) * 2018-12-31 2020-11-19 울산과학기술원 임피던스 추정 로봇용 신체 연결 장치
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
GB2592862B (en) * 2019-10-22 2024-04-10 Cmr Surgical Ltd Console for controlling a robotic manipulator
EP4072793A1 (en) * 2019-12-09 2022-10-19 Covidien LP System for checking instrument state of a surgical robotic arm
US11382700B2 (en) * 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
WO2022046053A1 (en) 2020-08-27 2022-03-03 Verb Surgical Inc. Control of an endoscope by a surgical robot
KR102433707B1 (ko) * 2020-09-02 2022-08-22 윤삼열 수술용 보조로봇
IT202100003416A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare, sulla base di misura o rilevazione di accelerazioni, anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
US12023117B2 (en) * 2021-07-06 2024-07-02 Verb Surgical Inc. Projection of user interface pose command to reduced degree of freedom space for a surgical robot
KR20240038911A (ko) 2021-08-06 2024-03-26 주식회사 리브스메드 수술용 로봇 암
US12440289B2 (en) 2022-08-01 2025-10-14 Imperative Care, Inc. Method of priming an interventional device assembly
US12447317B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of priming concentrically stacked interventional devices
US12564414B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of supra-aortic access for a neurovascular procedure
US12419703B2 (en) 2022-08-01 2025-09-23 Imperative Care, Inc. Robotic drive system for achieving supra-aortic access
US20230048388A1 (en) 2021-08-12 2023-02-16 Imperative Care, Inc. Robotically driven interventional device
US12446979B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of performing a multi catheter robotic neurovascular procedure
US12564458B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of robotically driving a multi catheter assembly above the aortic arch
IT202100026186A1 (it) 2021-10-13 2023-04-13 Medical Microinstruments Inc Metodo di fabbricazione di una o più superfici di presa miniaturizzate per uno strumento chirurgico o microchirurgico, e strumento chirurgico miniaturizzato comprendente una o più superfici di presa
EP4534031A4 (en) 2022-05-27 2025-09-24 Livsmed Inc ROBOT ARM FOR SURGERY
US20240041480A1 (en) 2022-08-02 2024-02-08 Imperative Care, Inc. Multi catheter system with integrated fluidics management
JP2026500622A (ja) 2022-12-01 2026-01-08 インペラティブ ケア インコーポレイテッド ロボットカテーテル駆動システムのためのコントローラ
US12433702B2 (en) 2022-12-01 2025-10-07 Imperative Care, Inc. Telescoping drive table
US20240181208A1 (en) 2022-12-01 2024-06-06 Imperative Care, Inc. Anti-buckling telescoping segments
US12377206B2 (en) 2023-05-17 2025-08-05 Imperative Care, Inc. Fluidics control system for multi catheter stack
CN121586597A (zh) 2023-05-31 2026-02-27 因普瑞缇夫护理公司 通过无菌区域屏障的磁连接
USD1119865S1 (en) 2023-11-30 2026-03-24 Imperative Care, Inc. Controller
CN118288297B (zh) * 2024-06-06 2024-08-16 北京人形机器人创新中心有限公司 一种机器人的运动控制方法、系统、电子设备及存储介质
CN119970211B (zh) * 2025-04-15 2026-02-06 成都博恩思医学机器人有限公司 一种单关节柔性双极抓钳、系统及其控制方法和电子设备

Family Cites Families (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61146482A (ja) 1984-12-20 1986-07-04 工業技術院長 異構造異自由度バイラテラル・マスタスレイブ・マニピユレ−タの制御装置
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
EP1356781A3 (en) 1992-01-21 2013-07-24 SRI International Teleoperation surgical system
US5550953A (en) 1994-04-20 1996-08-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration On-line method and apparatus for coordinated mobility and manipulation of mobile robots
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
EP0699053B1 (en) 1993-05-14 1999-03-17 Sri International Surgical apparatus
SE9400579L (sv) 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
EP1015944B1 (en) 1997-09-19 2013-02-27 Massachusetts Institute Of Technology Surgical robotic apparatus
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6246200B1 (en) 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US6317651B1 (en) 1999-03-26 2001-11-13 Kuka Development Laboratories, Inc. Trajectory generation system
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9295525B2 (en) 1999-09-17 2016-03-29 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of surgical systems
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
US6668466B1 (en) * 2000-10-19 2003-12-30 Sandia Corporation Highly accurate articulated coordinate measuring machine
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
CA2447813C (en) * 2001-03-26 2009-06-30 Lb Medical Gmbh Method and device system for removing material or for working material
US7155316B2 (en) 2002-08-13 2006-12-26 Microbotics Corporation Microsurgical robot system
JP3934524B2 (ja) * 2002-10-09 2007-06-20 株式会社日立製作所 手術用マニピュレータ
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
DE602005005306T2 (de) 2005-05-31 2009-05-07 Honda Research Institute Europe Gmbh Steuerung der Bahn eines Greifers
US8100133B2 (en) 2005-06-30 2012-01-24 Intuitive Surgical Operations Indicator for tool state and communication in multi-arm robotic telesurgery and method of use
US7688016B2 (en) 2005-09-28 2010-03-30 Canadian Space Agency Robust impedance-matching of manipulators interacting with unknown environments
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US8469945B2 (en) * 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
ES2298051B2 (es) 2006-07-28 2009-03-16 Universidad De Malaga Sistema robotico de asistencia a la cirugia minimamente invasiva capaz de posicionar un instrumento quirurgico en respueta a las ordenes de un cirujano sin fijacion a la mesa de operaciones ni calibracion previa del punto de insercion.
WO2008052581A1 (en) * 2006-10-31 2008-05-08 Force Dimension S.A.R.L. Parallel kinematic structure
US20080108871A1 (en) 2006-11-06 2008-05-08 Mohr Catherine J Vacuum stabilized overtube for endoscopic surgery
JP5030639B2 (ja) 2007-03-29 2012-09-19 オリンパスメディカルシステムズ株式会社 内視鏡装置の処置具位置制御装置
DE102008041709A1 (de) 2008-08-29 2010-03-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Medizinischer Arbeitsplatz und Bedienvorrichtung zum manuellen Bewegen eines Roboterarms eines medizinischen Arbeitsplatzes
US9052710B1 (en) * 2009-03-20 2015-06-09 Exelis Inc. Manipulation control based upon mimic of human gestures
EP2421424A4 (en) * 2009-04-23 2014-02-19 Mst Medical Surgery Technologies Ltd SECONDARY SURGICAL ENDOSCOPE
ES2388029B1 (es) 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
CN102802551B (zh) 2009-05-29 2016-01-20 南洋理工大学 用于可曲式内窥镜术的机器人系统
US8746252B2 (en) 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
US9101379B2 (en) * 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
US9439556B2 (en) 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
JP5669590B2 (ja) * 2011-01-20 2015-02-12 オリンパス株式会社 マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ
WO2013018861A1 (ja) 2011-08-04 2013-02-07 オリンパス株式会社 医療用マニピュレータおよびその制御方法
EP2881064B1 (de) * 2012-04-27 2019-11-13 KUKA Deutschland GmbH Chirurgierobotersystem
JP6310455B2 (ja) * 2012-08-02 2018-04-11 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット遠隔運動中心のコントローラ定義
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
CN104736093B (zh) 2012-08-15 2018-06-05 直观外科手术操作公司 接头估测和控制中的假想自由度
CN104769326B (zh) 2012-09-07 2017-04-19 德纳有限公司 包括直接驱动模式的球型cvt
JP6159075B2 (ja) * 2012-11-01 2017-07-05 国立大学法人東京工業大学 鉗子マニピュレータ、および鉗子マニピュレータを備える鉗子システム

Also Published As

Publication number Publication date
EP2884936A4 (en) 2016-04-27
KR20150043429A (ko) 2015-04-22
KR102186365B1 (ko) 2020-12-03
US20140052151A1 (en) 2014-02-20
JP2015534469A (ja) 2015-12-03
WO2014028558A1 (en) 2014-02-20
US9295525B2 (en) 2016-03-29
US20160175061A1 (en) 2016-06-23
CN104736094A (zh) 2015-06-24
CN104736094B (zh) 2017-07-28
EP2884936A1 (en) 2015-06-24
US9949799B2 (en) 2018-04-24

Similar Documents

Publication Publication Date Title
JP6255402B2 (ja) 手術システムの動きを操作するためのファントム自由度
JP6255403B2 (ja) 関節推定及び制御におけるファントム自由度
JP6255401B2 (ja) 機械本体の動きを操作するためのファントム自由度
US12171517B2 (en) Inter-operative switching of tools in a robotic surgical system
US10561470B2 (en) Software configurable manipulator degrees of freedom

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160808

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160808

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170531

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170613

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170817

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20171114

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20171204

R150 Certificate of patent or registration of utility model

Ref document number: 6255402

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250