JP6368710B2 - ゼロ空間を使用したマニピュレータアームと患者との衝突回避 - Google Patents

ゼロ空間を使用したマニピュレータアームと患者との衝突回避 Download PDF

Info

Publication number
JP6368710B2
JP6368710B2 JP2015515224A JP2015515224A JP6368710B2 JP 6368710 B2 JP6368710 B2 JP 6368710B2 JP 2015515224 A JP2015515224 A JP 2015515224A JP 2015515224 A JP2015515224 A JP 2015515224A JP 6368710 B2 JP6368710 B2 JP 6368710B2
Authority
JP
Japan
Prior art keywords
joint
manipulator arm
avoidance
end effector
manipulator
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
JP2015515224A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015521084A (ja
JP2015521084A5 (enExample
Inventor
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
ヒンウィ，プッシュカー
マイケル シェナ，ブルース
マイケル シェナ，ブルース
エル デヴェンジェンゾ，ローマン
エル デヴェンジェンゾ，ローマン
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 JP2015521084A publication Critical patent/JP2015521084A/ja
Publication of JP2015521084A5 publication Critical patent/JP2015521084A5/ja
Application granted granted Critical
Publication of JP6368710B2 publication Critical patent/JP6368710B2/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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • 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
    • 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
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision
    • 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
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40471—Using gradient method
    • 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
    • G05B2219/40492—Model manipulator by spheres for collision avoidance
    • 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
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2015515224A 2012-06-01 2013-05-31 ゼロ空間を使用したマニピュレータアームと患者との衝突回避 Active JP6368710B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261654755P 2012-06-01 2012-06-01
US61/654,755 2012-06-01
PCT/US2013/043557 WO2013181503A1 (en) 2012-06-01 2013-05-31 Manipulator arm-to-patient collision avoidance using a null-space

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018129585A Division JP6691578B2 (ja) 2012-06-01 2018-07-09 ゼロ空間を使用したマニピュレータアームと患者との衝突回避

Publications (3)

Publication Number Publication Date
JP2015521084A JP2015521084A (ja) 2015-07-27
JP2015521084A5 JP2015521084A5 (enExample) 2016-07-21
JP6368710B2 true JP6368710B2 (ja) 2018-08-01

Family

ID=49671146

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2015515224A Active JP6368710B2 (ja) 2012-06-01 2013-05-31 ゼロ空間を使用したマニピュレータアームと患者との衝突回避
JP2018129585A Active JP6691578B2 (ja) 2012-06-01 2018-07-09 ゼロ空間を使用したマニピュレータアームと患者との衝突回避

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2018129585A Active JP6691578B2 (ja) 2012-06-01 2018-07-09 ゼロ空間を使用したマニピュレータアームと患者との衝突回避

Country Status (6)

Country Link
US (3) US9492235B2 (enExample)
EP (1) EP2854688B1 (enExample)
JP (2) JP6368710B2 (enExample)
KR (1) KR102145236B1 (enExample)
CN (2) CN104334110B (enExample)
WO (1) WO2013181503A1 (enExample)

Families Citing this family (264)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
WO2012131660A1 (en) 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system for spinal and other surgeries
JP6291484B2 (ja) * 2012-06-01 2018-03-14 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 ゼロ空間を使用して手術用マニピュレータの命令された再構成を取るためのシステム及び方法
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US10646280B2 (en) 2012-06-21 2020-05-12 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
EP2863827B1 (en) 2012-06-21 2022-11-16 Globus Medical, Inc. Surgical robot platform
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US20150032164A1 (en) 2012-06-21 2015-01-29 Globus Medical, Inc. Methods for Performing Invasive Medical Procedures Using a Surgical Robot
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US10842461B2 (en) 2012-06-21 2020-11-24 Globus Medical, Inc. Systems and methods of checking registrations for surgical systems
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US12329593B2 (en) 2012-06-21 2025-06-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US12446981B2 (en) 2012-06-21 2025-10-21 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12310683B2 (en) 2012-06-21 2025-05-27 Globus Medical, Inc. Surgical tool systems and method
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US8983662B2 (en) 2012-08-03 2015-03-17 Toyota Motor Engineering & Manufacturing North America, Inc. Robots comprising projectors for projecting images on identified projection surfaces
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
CN112932672B (zh) 2012-08-03 2024-09-03 史赛克公司 用于机器人外科手术的系统和方法
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
CN108524001B (zh) 2012-08-15 2021-06-29 直观外科手术操作公司 利用零空间取消关节运动的系统
JP2016516487A (ja) 2013-03-15 2016-06-09 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 ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
KR102214811B1 (ko) 2013-03-15 2021-02-10 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 매니퓰레이터 조인트 운동을 비등방적으로 증폭시키기 위해 영공간을 이용하는 시스템 및 방법
EP2969405B1 (en) 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. Systems for facilitating access to edges of cartesian-coordinate space using the null space
JP6109001B2 (ja) * 2013-07-26 2017-04-05 オリンパス株式会社 医療用システムおよびその作動方法
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
WO2015121311A1 (en) 2014-02-11 2015-08-20 KB Medical SA Sterile handle for controlling a robotic surgical system from a sterile field
KR102327850B1 (ko) * 2014-02-20 2021-11-17 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 아암의 수동 움직임에 의해 제어된 수술용 장착 플랫폼의 제한된 이동
KR102327948B1 (ko) * 2014-03-17 2021-11-17 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격 조종 의료 시스템을 위한 구조적 조절 시스템 및 방법
KR102869641B1 (ko) 2014-03-17 2025-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 툴 포즈를 유지하는 시스템 및 방법
WO2015162256A1 (en) 2014-04-24 2015-10-29 KB Medical SA Surgical instrument holder for use with a robotic surgical system
EP3157446B1 (en) 2014-06-19 2018-08-15 KB Medical SA Systems for performing minimally invasive surgery
US10357257B2 (en) 2014-07-14 2019-07-23 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
US10765438B2 (en) 2014-07-14 2020-09-08 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
US9259838B1 (en) 2014-07-24 2016-02-16 Google Inc. Systems and methods for ground plane estimation
US10058395B2 (en) 2014-08-01 2018-08-28 Intuitive Surgical Operations, Inc. Active and semi-active damping in a telesurgical system
EP3193768A4 (en) 2014-09-17 2018-05-09 Intuitive Surgical Operations, Inc. Systems and methods for utilizing augmented jacobian to control manipulator joint movement
JP6524631B2 (ja) * 2014-09-30 2019-06-05 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
KR102480765B1 (ko) 2014-10-27 2022-12-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
EP3212149B1 (en) 2014-10-27 2025-06-18 Intuitive Surgical Operations, Inc. System for integrated surgical table
KR102707904B1 (ko) 2014-10-27 2024-09-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기기 교란 보상을 위한 시스템 및 방법
CN107072746B (zh) 2014-10-27 2020-06-09 直观外科手术操作公司 用于集成手术台图标的系统和方法
EP4631460A2 (en) 2014-10-27 2025-10-15 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
US10617479B2 (en) 2014-10-27 2020-04-14 Intuitive Surgical Operations, Inc. System and method for integrated surgical table motion
EP3912610B1 (en) 2014-10-27 2023-03-15 Intuitive Surgical Operations, Inc. System for registering to a surgical table
US11103316B2 (en) 2014-12-02 2021-08-31 Globus Medical Inc. Robot assisted volume removal during surgery
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10555782B2 (en) 2015-02-18 2020-02-11 Globus Medical, Inc. Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
JP6748088B2 (ja) 2015-02-25 2020-08-26 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
EP3285652B1 (en) * 2015-04-21 2018-12-05 Koninklijke Philips N.V. An adjustable arm for a patient monitoring device
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
KR101656488B1 (ko) * 2015-07-08 2016-09-09 연세대학교 산학협력단 정위적 방사선 치료장치의 충돌방지 시스템
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
CN105055028B (zh) * 2015-08-19 2017-08-25 哈尔滨工业大学 一种微创外科手术机器人远心定位执行机构及设计方法
EP3344179B1 (en) 2015-08-31 2021-06-30 KB Medical SA Robotic surgical systems
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
CN107053252B (zh) * 2015-10-30 2021-07-16 精工爱普生株式会社 机器人
KR101734241B1 (ko) * 2015-12-10 2017-05-11 현대자동차 주식회사 트렁크 리드 힌지 지능형 로더유닛
WO2017123329A1 (en) * 2016-01-15 2017-07-20 Solomon David Belu Novel vessel systems and methods relating thereto
JP6827041B2 (ja) * 2016-01-20 2021-02-10 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 医療デバイスの再配置可能なアームにおける運動偏差の急速な停止及び回復のためのシステム及び方法
JP6157786B1 (ja) * 2016-01-22 2017-07-05 オリンパス株式会社 医療用マニピュレータシステム
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
KR102730736B1 (ko) * 2016-02-26 2024-11-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가상 경계를 이용하는 충돌 회피 시스템 및 방법
US20210212777A1 (en) * 2016-03-04 2021-07-15 Covidien Lp Inverse kinematic control systems for robotic surgical system
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
US10213916B2 (en) * 2016-03-23 2019-02-26 Seiko Epson Corporation Control apparatus and robot system
JP6686644B2 (ja) * 2016-04-06 2020-04-22 セイコーエプソン株式会社 ロボットおよびロボットシステム
EP3241518B1 (en) 2016-04-11 2024-10-23 Globus Medical, Inc Surgical tool systems
JP6787688B2 (ja) * 2016-05-16 2020-11-18 オークマ株式会社 工作機械
DE102016111737A1 (de) * 2016-06-27 2017-12-28 avateramedical GmBH Instrumententrägervorrichtung für einen Manipulator eines robotischen Operationssystems
JP7022709B2 (ja) * 2016-07-01 2022-02-18 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 コンピュータ支援医療システム及び方法
KR101675775B1 (ko) * 2016-07-27 2016-11-14 연세대학교 산학협력단 정위적 방사선 치료장치의 충돌방지 시스템
US10390895B2 (en) 2016-08-16 2019-08-27 Ethicon Llc Control of advancement rate and application force based on measured forces
US10531929B2 (en) * 2016-08-16 2020-01-14 Ethicon Llc Control of robotic arm motion based on sensed load on cutting tool
US10709511B2 (en) 2016-08-16 2020-07-14 Ethicon Llc Control of jaw or clamp arm closure in concert with advancement of device
DE102016216839A1 (de) 2016-09-06 2018-03-08 Siemens Aktiengesellschaft Verfahren zum Austragen von Füllmaterial aus einem in einem Bauteil vorhandenen Hohlraum und Mittel zur Durchführung dieses Verfahrens
EP4382263A3 (en) * 2016-09-19 2024-08-21 Intuitive Surgical Operations, Inc. Positioning indicator system for a remotely controllable arm and related methods
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
US11039893B2 (en) 2016-10-21 2021-06-22 Globus Medical, Inc. Robotic surgical systems
US11202682B2 (en) 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
EP3360502A3 (en) 2017-01-18 2018-10-31 KB Medical SA Robotic navigation of robotic surgical systems
EP3351202B1 (en) 2017-01-18 2021-09-08 KB Medical SA Universal instrument guide for robotic surgical systems
JP7583513B2 (ja) 2017-01-18 2024-11-14 ケービー メディカル エスアー ロボット外科用システムのための汎用器具ガイド、外科用器具システム
US10919153B2 (en) * 2017-03-06 2021-02-16 Canon Kabushiki Kaisha Teaching method for teaching operations to a plurality of robots and teaching system used therefor
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
US20180289432A1 (en) 2017-04-05 2018-10-11 Kb Medical, Sa Robotic surgical systems for preparing holes in bone tissue and methods of their use
CN107028579B (zh) * 2017-05-25 2019-04-23 杭州妙手机器人有限公司 腹腔镜设备的绕点移动机构
CN107041786A (zh) * 2017-05-25 2017-08-15 杭州妙手机器人有限公司 一种腹腔镜设备
CN107009363A (zh) * 2017-06-09 2017-08-04 微创（上海）医疗机器人有限公司 医疗机器人及其控制方法
US10675094B2 (en) 2017-07-21 2020-06-09 Globus Medical Inc. Robot surgical platform
JP6634169B2 (ja) 2017-09-01 2020-01-22 コー・ヤング・テクノロジー・インコーポレーテッド 医療用アームアセンブリ
EP3678576A4 (en) * 2017-09-05 2021-05-12 Covidien LP CONTROL ARM WITH DOUBLE ENCODERS FOR SURGICAL ROBOTIC SYSTEM
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US11357548B2 (en) 2017-11-09 2022-06-14 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
CN108210076B (zh) * 2018-01-02 2019-02-19 谭晓莉 一种腹腔镜手术中使用的手术器械定位组件
RU2711486C2 (ru) * 2018-01-09 2020-01-17 Александр Андреевич Никитин Манипулятор
RU2710699C2 (ru) * 2018-01-09 2020-01-09 Александр Андреевич Никитин Манипулятор
JP7463277B2 (ja) * 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド 改善されたロボットアームを有する外科用ロボットシステム
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
GB2571319B (en) * 2018-02-23 2022-11-23 Cmr Surgical Ltd Concurrent control of an end effector in a master-slave robotic system using multiple input devices
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
JP6936282B2 (ja) * 2018-06-28 2021-09-15 グローバス メディカル インコーポレイティッド ロボットアームの衝突を回避するための手術用ロボットの制御
RU2693963C1 (ru) * 2018-07-24 2019-07-08 Александр Андреевич Никитин Манипулятор
TWI695765B (zh) 2018-07-31 2020-06-11 國立臺灣大學 機械手臂
CN109159122B (zh) * 2018-09-12 2021-01-01 浙江工业大学 采用椭圆型终态神经网络的冗余机器人重复运动规划方法
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
CN109223182B (zh) * 2018-11-21 2021-06-11 天津工业大学 一种用于微创手术机器人远程中心运动的钢带传动机构
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
CN109620410B (zh) * 2018-12-04 2021-01-26 微创（上海）医疗机器人有限公司 机械臂防碰撞的方法及系统、医疗机器人
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
CN113164204B (zh) * 2018-12-06 2023-11-07 柯惠Lp公司 控制缆线驱动末端执行器的方法
CN111374770A (zh) * 2018-12-29 2020-07-07 深圳市达科为智能医学有限公司 医疗机器人之俯仰机械臂
EP3905980A2 (en) * 2019-01-05 2021-11-10 Distalmotion SA Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CN111521532B (zh) * 2019-02-01 2023-02-10 中国石油天然气股份有限公司 一种致密储层含气饱和度的测定方法
CN113453642B (zh) 2019-02-22 2025-06-03 奥瑞斯健康公司 具有用于可调式臂支撑件的机动臂的外科平台
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US12048501B2 (en) 2019-04-03 2024-07-30 Canon Medical Systems Corporation Medical image diagnosis apparatus, surgery assistance robot apparatus, surgery assistance robot controlling apparatus, and controlling method
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11278361B2 (en) 2019-05-21 2022-03-22 Verb Surgical Inc. Sensors for touch-free control of surgical robotic systems
US11504193B2 (en) * 2019-05-21 2022-11-22 Verb Surgical Inc. Proximity sensors for surgical robotic arm manipulation
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
CN114269279A (zh) * 2019-08-02 2022-04-01 奥瑞斯健康公司 用于调节医疗规程中的远程中心距离的系统和方法
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US12396692B2 (en) 2019-09-24 2025-08-26 Globus Medical, Inc. Compound curve cable chain
EP4034349A1 (en) * 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US12329391B2 (en) 2019-09-27 2025-06-17 Globus Medical, Inc. Systems and methods for robot-assisted knee arthroplasty surgery
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US12408929B2 (en) 2019-09-27 2025-09-09 Globus Medical, Inc. Systems and methods for navigating a pin guide driver
WO2021067438A1 (en) * 2019-09-30 2021-04-08 Mako Surgical Corp. Systems and methods for guiding movement of a tool
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
GB2588629B (en) 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
CN110916801B (zh) * 2019-11-08 2022-07-15 上海交通大学 一种可实现高精度定位和姿态调整的手术机器人机械臂
WO2021101564A1 (en) * 2019-11-22 2021-05-27 Edda Technology, Inc. A deterministic robot path planning method for obstacle avoidance
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US12133772B2 (en) 2019-12-10 2024-11-05 Globus Medical, Inc. Augmented reality headset for navigated robotic surgery
US12220176B2 (en) 2019-12-10 2025-02-11 Globus Medical, Inc. Extended reality instrument interaction zone for navigated robotic
CN110897659B (zh) * 2019-12-11 2021-03-16 山东大学 一种模块化可实现单孔与多孔转换的手术机器人
US12064189B2 (en) 2019-12-13 2024-08-20 Globus Medical, Inc. Navigated instrument for use in robotic guided surgery
CN111227940B (zh) * 2020-01-23 2021-11-30 诺创智能医疗科技(杭州)有限公司 手术机械臂及手术机器人
CN111227944B (zh) * 2020-01-23 2021-11-30 诺创智能医疗科技(杭州)有限公司 手术机械臂及手术机器人
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
JP7375587B2 (ja) * 2020-02-05 2023-11-08 株式会社デンソー 軌道生成装置、多リンクシステム、及び軌道生成方法
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
JP6875690B1 (ja) * 2020-02-12 2021-05-26 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
US12414752B2 (en) 2020-02-17 2025-09-16 Globus Medical, Inc. System and method of determining optimal 3-dimensional position and orientation of imaging device for imaging patient bones
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
EP4125689A4 (en) * 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US12070276B2 (en) 2020-06-09 2024-08-27 Globus Medical Inc. Surgical object tracking in visible light via fiducial seeding and synthetic image registration
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
WO2022003485A1 (en) * 2020-06-29 2022-01-06 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
CN111823258B (zh) * 2020-07-16 2022-09-02 吉林大学 一种剪切波弹性成像检测机械臂
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
JP7753345B2 (ja) * 2020-09-02 2025-10-14 オーリス ヘルス インコーポレイテッド ロボット衝突の境界の判定
WO2022049491A1 (en) 2020-09-02 2022-03-10 Auris Health, Inc. Robotic collision boundary determination
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
CN116249498A (zh) * 2020-09-30 2023-06-09 奥瑞斯健康公司 基于非接触信息的外科机器人中的碰撞避免
CN116322551A (zh) * 2020-09-30 2023-06-23 奥瑞斯健康公司 基于接触信息检测的外科机器人中的碰撞避免
US12076091B2 (en) 2020-10-27 2024-09-03 Globus Medical, Inc. Robotic navigational system
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
WO2022104771A1 (zh) * 2020-11-23 2022-05-27 诺创智能医疗科技(杭州)有限公司 手术机器人
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
WO2022144639A1 (en) * 2020-12-30 2022-07-07 Auris Health, Inc. Systems and methods for unified null space motion control
KR20230126729A (ko) * 2020-12-30 2023-08-30 아우리스 헬스, 인코포레이티드 로봇 아암의 접촉 감지 및 접촉 반응의 시스템 및 방법
US12070286B2 (en) 2021-01-08 2024-08-27 Globus Medical, Inc System and method for ligament balancing with robotic assistance
CN112828359B (zh) * 2021-01-27 2022-02-01 华中科技大学 基于势场法多约束的机器人铣削加工姿态规划方法和系统
JP7742229B2 (ja) 2021-02-05 2025-09-19 川崎重工業株式会社 手術支援ロボット、手術支援システムおよびプログラム
KR102280337B1 (ko) 2021-02-23 2021-07-21 정규성 수술 기구 및 내시경 조정장치
CN117062579A (zh) * 2021-03-26 2023-11-14 奥瑞斯健康公司 用于规程设置的术中调整的系统和方法
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
US12178523B2 (en) 2021-04-19 2024-12-31 Globus Medical, Inc. Computer assisted surgical navigation system for spine procedures
CN113451791B (zh) * 2021-05-22 2024-01-05 深圳市越疆科技股份有限公司 检测电路板与电极的连接结构、电子皮肤、外壳及机械臂
US12458454B2 (en) 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US12484969B2 (en) 2021-07-06 2025-12-02 Globdus Medical Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US12082896B2 (en) * 2021-08-04 2024-09-10 Pixee Medical Surgical navigation system on wearable computer combining augmented reality and robotics
CN113334390B (zh) * 2021-08-06 2021-11-09 成都博恩思医学机器人有限公司 一种机械臂的控制方法、系统、机器人及存储介质
US12201375B2 (en) 2021-09-16 2025-01-21 Globus Medical Inc. Extended reality systems for visualizing and controlling operating room equipment
US12184636B2 (en) 2021-10-04 2024-12-31 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12238087B2 (en) 2021-10-04 2025-02-25 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
CN113813048B (zh) * 2021-10-12 2023-05-12 中南大学 手术机器人的四自由度远端运动中心机构
US12444045B2 (en) 2021-10-20 2025-10-14 Globus Medical, Inc. Interpolation of medical images
JP2024543764A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
TWI876759B (zh) 2021-11-30 2025-03-11 美商安督奎斯特機器人公司 機器人手術系統及其控制模組
KR20240152820A (ko) 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 제어 의료 기기용 힘 전달 시스템
KR20240153547A (ko) 2021-11-30 2024-10-23 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 배리어 드레이프 어댑터
JP2024543776A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 使い捨てエンドエフェクタ
KR20240144087A (ko) 2021-11-30 2024-10-02 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 조종 가능한 오버튜브 조립체
US20230165639A1 (en) 2021-12-01 2023-06-01 Globus Medical, Inc. Extended reality systems with three-dimensional visualizations of medical image scan slices
CN114288025B (zh) * 2021-12-14 2024-03-15 苏州微创畅行机器人有限公司 骨科机器人
US11918304B2 (en) 2021-12-20 2024-03-05 Globus Medical, Inc Flat panel registration fixture and method of using same
US12103480B2 (en) 2022-03-18 2024-10-01 Globus Medical Inc. Omni-wheel cable pusher
US12048493B2 (en) 2022-03-31 2024-07-30 Globus Medical, Inc. Camera tracking system identifying phantom markers during computer assisted surgery navigation
US12394086B2 (en) 2022-05-10 2025-08-19 Globus Medical, Inc. Accuracy check and automatic calibration of tracked instruments
JP2025519155A (ja) 2022-05-24 2025-06-24 ノア メディカル コーポレーション ロボット内視鏡のセルフアライメント及び調整のためのシステム及び方法
US12161427B2 (en) 2022-06-08 2024-12-10 Globus Medical, Inc. Surgical navigation system with flat panel registration fixture
US20240020840A1 (en) 2022-07-15 2024-01-18 Globus Medical, Inc. REGISTRATION OF 3D and 2D IMAGES FOR SURGICAL NAVIGATION AND ROBOTIC GUIDANCE WITHOUT USING RADIOPAQUE FIDUCIALS IN THE IMAGES
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
CN115363767B (zh) * 2022-09-15 2025-09-30 武汉库柏特科技有限公司 穿刺手术机器人碰撞检测方法、装置、设备及存储介质
US12318150B2 (en) 2022-10-11 2025-06-03 Globus Medical Inc. Camera tracking system for computer assisted surgery navigation
CN118058840A (zh) * 2022-11-24 2024-05-24 瑞龙诺赋(上海)医疗科技有限公司 一种用于手术机器人的机械臂及手术机器人
KR20240178743A (ko) * 2023-06-23 2024-12-31 주식회사 리브스메드 수술용 장치를 구동하는 방법 및 장치
CN117731398B (zh) * 2023-10-17 2025-12-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种机械臂碰撞判断方法及装置
JP2025152919A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 手術ロボットシステムおよびその制御方法
CN119283046B (zh) * 2024-12-12 2025-03-21 湖南大学 一种冗余机械臂运动控制方法、计算机设备和存储介质
CN119770172B (zh) * 2024-12-24 2025-10-10 上海导向医疗系统有限公司 碰撞检测的方法及装置、导航定位系统、计算机程序产品

Family Cites Families (93)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3920972A (en) 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
US4063073A (en) 1974-11-29 1977-12-13 Strayer Larry G Computer system to prevent collision between moving objects such as aircraft moving from one sector to another
US4028533A (en) 1974-12-31 1977-06-07 Techno-Venture Co., Ltd. Robot movable in a group
SE456048B (sv) 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
US5430543A (en) 1984-12-26 1995-07-04 Rockwell International Corporation Ring laser gyro detector lens system
US5159249A (en) 1989-05-16 1992-10-27 Dalila Megherbi Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design
JPH03178788A (ja) 1989-12-06 1991-08-02 Hitachi Ltd マニピュレータの制御方法
US4999553A (en) 1989-12-28 1991-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for configuration control of redundant robots
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
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
ATE155059T1 (de) 1992-01-21 1997-07-15 Stanford Res Inst Int Teleoperateursystem und verfahren mit teleanwesenheit
US5350355A (en) 1992-02-14 1994-09-27 Automated Medical Instruments, Inc. Automated surgical instrument
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
US5737500A (en) 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US5430643A (en) * 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
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
US5513100A (en) 1993-06-10 1996-04-30 The University Of British Columbia Velocity controller with force feedback stiffness control
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
JPH07241790A (ja) * 1994-03-08 1995-09-19 Fujitsu Ltd ロボットの衝突防止方法
US5623582A (en) 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
US5710870A (en) 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
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
US5987726A (en) 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
US5823980A (en) 1996-09-20 1998-10-20 Kopfer; Rudolph J. Collapsible tactile support for body joints
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6098260A (en) 1996-12-13 2000-08-08 Mcdonnell Douglas Corporation Rivet fastening system for radial fuselage joints
US5908458A (en) 1997-02-06 1999-06-01 Carnegie Mellon Technical Transfer Automated system and method for control of movement using parameterized scripts
EP2362284B1 (en) * 1997-09-19 2015-05-20 Massachusetts Institute Of Technology Robotic apparatus
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US20030065311A1 (en) 1997-12-30 2003-04-03 Yulun Wang Method and apparatus for performing minimally invasive cardiac procedures
WO2002051329A1 (en) 2000-12-21 2002-07-04 Endovia Medical Inc Tendon actuated articulated members for a telemanipulator system
US6692485B1 (en) 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US6246200B1 (en) 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6468265B1 (en) 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
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
US7594912B2 (en) * 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP3339840B2 (ja) 1999-09-28 2002-10-28 タツモ株式会社 水平多関節型産業用ロボット及びその制御方法
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
JP3473834B2 (ja) 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
US6377011B1 (en) 2000-01-26 2002-04-23 Massachusetts Institute Of Technology Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus
US6379073B1 (en) 2000-04-03 2002-04-30 Wafermasters Incorporated Adjustable joint for a positionable arm
US6645196B1 (en) 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
EP1193438B1 (de) 2000-09-28 2006-11-15 Leica Microsystems Schweiz AG Stativ
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
US7035716B2 (en) 2001-01-29 2006-04-25 The Acrobot Company Limited Active-constraint robots
US7607440B2 (en) 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
JP3643867B2 (ja) 2001-07-23 2005-04-27 独立行政法人情報通信研究機構 マニピュレータの制御方法
US6587750B2 (en) 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
JP2003159674A (ja) 2001-11-21 2003-06-03 Sony Corp ロボット装置、ロボット装置の外力検出方法及びロボット装置の外力検出プログラム、並びにロボット装置の外力検出のためのキャリブレーション方法及びロボット装置の外力検出のためのキャリブレーションプログラム
JP2003236787A (ja) 2002-02-18 2003-08-26 Kawasaki Heavy Ind Ltd 駆動制御方法および駆動制御装置
AU2003218010A1 (en) 2002-03-06 2003-09-22 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
US6678582B2 (en) 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
DE10231630A1 (de) 2002-07-12 2004-01-29 Brainlab Ag System zur Patientenpositionierung für die Strahlentherapie/Radiochirurgie basierend auf einer stereoskopischen Röntgenanlage
EP2070487B1 (en) 2002-08-13 2014-03-05 NeuroArm Surgical, Ltd. Microsurgical robot system
JP2004094399A (ja) * 2002-08-29 2004-03-25 Mitsubishi Heavy Ind Ltd 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム
US20040186484A1 (en) 2003-01-29 2004-09-23 Edwin Ryan Small gauge surgical instrument with support device
WO2005018734A2 (en) 2003-08-12 2005-03-03 Loma Linda University Medical Center Patient positioning system for radiation therapy system
US7173265B2 (en) 2003-08-12 2007-02-06 Loma Linda University Medical Center Modular patient support system
JP2005329476A (ja) * 2004-05-18 2005-12-02 Keio Gijuku 操作部材の制御方法および装置
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US9789608B2 (en) * 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
DE102005023165A1 (de) 2005-05-19 2006-11-23 Siemens Ag Medizinisches Bildgebungssystem mit einem um einen Patienten verfahrbaren Teil und Kollisionsschutzverfahren
JP2007029232A (ja) * 2005-07-25 2007-02-08 Hitachi Medical Corp 内視鏡手術操作支援システム
GB0521281D0 (en) 2005-10-19 2005-11-30 Acrobat Company The Ltd hybrid constrant mechanism
DE102005054575B3 (de) * 2005-11-16 2007-04-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Regelung eines Roboterarms sowie Roboter zur Durchführung des Verfahrens
US8467904B2 (en) 2005-12-22 2013-06-18 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems
US8162926B2 (en) 2006-01-25 2012-04-24 Intuitive Surgical Operations Inc. Robotic arm with five-bar spherical linkage
US7379533B2 (en) 2006-03-10 2008-05-27 Siemens Medical Solutions Usa, Inc. Collision resolution in x-ray imaging systems
US20110288560A1 (en) * 2006-08-01 2011-11-24 Shaul Shohat System and method for telesurgery
DE102006037564C5 (de) 2006-08-10 2010-09-23 Siemens Ag Verfahren zur Röntgenbildaufzeichnung mit einem robotergeführten C-Bogen-System sowie Aufzeichnungsvorrichtung zur Röntgenbildaufzeichnung
EP1972415B1 (en) 2007-03-23 2019-01-02 Honda Research Institute Europe GmbH Robots with collision avoidance functionality
DE102007021769B4 (de) 2007-05-09 2015-06-25 Siemens Aktiengesellschaft Angiographiegerät und zugehöriges Aufnahmeverfahren mit einem Mechansimus zur Kollisionsvermeidung
US8852208B2 (en) * 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US8792964B2 (en) 2008-03-12 2014-07-29 Siemens Aktiengesellschaft Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device
US7843158B2 (en) 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
US20090297011A1 (en) 2008-05-28 2009-12-03 Thomas Brunner Method for obtaining a 3d (ct) image using a c-arm x-ray imaging system via rotational acquisition about a selectable 3d acquisition axis
DE102009006417B4 (de) 2009-01-28 2016-10-06 Siemens Healthcare Gmbh Überwachung eines medizinischen Gerätes
JP5483252B2 (ja) * 2009-09-29 2014-05-07 株式会社モリタ東京製作所 歯科用照明装置
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
KR101145243B1 (ko) * 2010-03-31 2012-05-24 한국과학기술연구원 다관절 매니퓰레이터의 위치센서를 이용한 제한 공간 산출 방법
EP2785267B1 (en) 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space

Also Published As

Publication number Publication date
CN107595392B (zh) 2020-11-27
US10194997B2 (en) 2019-02-05
WO2013181503A1 (en) 2013-12-05
CN104334110A (zh) 2015-02-04
CN107595392A (zh) 2018-01-19
EP2854688A4 (en) 2016-02-17
US20170296277A1 (en) 2017-10-19
US9492235B2 (en) 2016-11-15
JP2018158155A (ja) 2018-10-11
US9757203B2 (en) 2017-09-12
JP6691578B2 (ja) 2020-04-28
KR102145236B1 (ko) 2020-08-18
KR20150023359A (ko) 2015-03-05
JP2015521084A (ja) 2015-07-27
CN104334110B (zh) 2017-10-03
EP2854688B1 (en) 2022-08-17
EP2854688A1 (en) 2015-04-08
US20130325029A1 (en) 2013-12-05
US20170056117A1 (en) 2017-03-02

Similar Documents

Publication Publication Date Title
JP6691578B2 (ja) ゼロ空間を使用したマニピュレータアームと患者との衝突回避
JP7384612B2 (ja) ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
JP6475804B2 (ja) ゼロ空間を使用した関節運動の相殺のためのシステム及び方法
EP2854687B1 (en) Systems for avoiding collisions between manipulator arms using a null-space
JP6637529B2 (ja) ゼロ空間を使用して手術用マニピュレータの命令された再構成を取るためのシステム及び方法
JP6421171B2 (ja) ゼロ空間を使用する経路を追従するためのシステム及び方法
CN110772323B (zh) 用于利用增广雅可比矩阵控制操纵器接头移动的系统和方法
JP6423853B2 (ja) ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
JP2016512733A (ja) 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
JP2016514493A (ja) ゼロ空間を使用してデカルト座標空間の端へのアクセスを容易にするためのシステム及び方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160530

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160530

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170606

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170808

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180123

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180410

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: 20180626

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180709

R150 Certificate of patent or registration of utility model

Ref document number: 6368710

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