JP6255403B2 - 関節推定及び制御におけるファントム自由度 - Google Patents

関節推定及び制御におけるファントム自由度 Download PDF

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Publication number
JP6255403B2
JP6255403B2 JP2015527557A JP2015527557A JP6255403B2 JP 6255403 B2 JP6255403 B2 JP 6255403B2 JP 2015527557 A JP2015527557 A JP 2015527557A JP 2015527557 A JP2015527557 A JP 2015527557A JP 6255403 B2 JP6255403 B2 JP 6255403B2
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freedom
degrees
joint
manipulator assembly
control
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Japanese (ja)
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JP2015533525A (ja
JP2015533525A5 (https=
Inventor
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
ヒンウィ，プッシュカー
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
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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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • 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
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist
    • 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
    • Y10S901/30—End effector
    • Y10S901/41—Tool

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2015527557A 2012-08-15 2013-08-14 関節推定及び制御におけるファントム自由度 Active JP6255403B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261683607P 2012-08-15 2012-08-15
US61/683,607 2012-08-15
PCT/US2013/054845 WO2014028563A1 (en) 2012-08-15 2013-08-14 Phantom degrees of freedom in joint estimation and control

Publications (3)

Publication Number Publication Date
JP2015533525A JP2015533525A (ja) 2015-11-26
JP2015533525A5 JP2015533525A5 (https=) 2016-09-29
JP6255403B2 true JP6255403B2 (ja) 2017-12-27

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US (3) US9259280B2 (https=)
EP (1) EP2884935B1 (https=)
JP (1) JP6255403B2 (https=)
KR (1) KR102146796B1 (https=)
CN (1) CN104736093B (https=)
WO (1) WO2014028563A1 (https=)

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US10052167B2 (en) 2018-08-21
US9585726B2 (en) 2017-03-07
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US20170143437A1 (en) 2017-05-25
JP2015533525A (ja) 2015-11-26
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US9259280B2 (en) 2016-02-16
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