JP6393319B2 - 物体と相互作用するシステム及び方法 - Google Patents

物体と相互作用するシステム及び方法 Download PDF

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Publication number
JP6393319B2
JP6393319B2 JP2016519742A JP2016519742A JP6393319B2 JP 6393319 B2 JP6393319 B2 JP 6393319B2 JP 2016519742 A JP2016519742 A JP 2016519742A JP 2016519742 A JP2016519742 A JP 2016519742A JP 6393319 B2 JP6393319 B2 JP 6393319B2
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Japan
Prior art keywords
frequency
control mode
position control
tool
difference
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JP2016519742A
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English (en)
Japanese (ja)
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JP2016538893A (ja
JP2016538893A5 (enExample
Inventor
マラコウスキー，ドナルド・ダブリュー
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Stryker Corp
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Stryker Corp
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Publication of JP2016538893A5 publication Critical patent/JP2016538893A5/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
    • 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
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • 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)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)
JP2016519742A 2013-10-04 2014-10-03 物体と相互作用するシステム及び方法 Active JP6393319B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361886838P 2013-10-04 2013-10-04
US61/886,838 2013-10-04
PCT/US2014/059005 WO2015051233A1 (en) 2013-10-04 2014-10-03 System and method for interacting with an object

Publications (3)

Publication Number Publication Date
JP2016538893A JP2016538893A (ja) 2016-12-15
JP2016538893A5 JP2016538893A5 (enExample) 2017-11-02
JP6393319B2 true JP6393319B2 (ja) 2018-09-19

Family

ID=51830621

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016519742A Active JP6393319B2 (ja) 2013-10-04 2014-10-03 物体と相互作用するシステム及び方法

Country Status (8)

Country Link
US (1) US9339346B2 (enExample)
EP (1) EP3052042B1 (enExample)
JP (1) JP6393319B2 (enExample)
KR (1) KR102303657B1 (enExample)
CN (1) CN105592818B (enExample)
AU (1) AU2014329381B2 (enExample)
CA (1) CA2924820A1 (enExample)
WO (1) WO2015051233A1 (enExample)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2016264199B2 (en) 2015-05-19 2020-10-29 Mako Surgical Corp. System and method for manipulating an anatomy
US9687982B1 (en) * 2015-05-27 2017-06-27 X Development Llc Adapting programming of a robot and/or control of the robot based on one or more parameters of an end effector of the robot
US10583557B2 (en) * 2017-02-10 2020-03-10 GM Global Technology Operations LLC Redundant underactuated robot with multi-mode control framework
CN107536643A (zh) * 2017-08-18 2018-01-05 北京航空航天大学 一种前交叉韧带重建的增强现实手术导航系统
JP7334499B2 (ja) * 2019-06-27 2023-08-29 ソニーグループ株式会社 手術支援システム、制御装置及び制御方法
CN112767560A (zh) * 2020-12-30 2021-05-07 华南理工大学 一种机器人生产系统三维仿真模型的位姿调整方法
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US12178418B2 (en) 2021-03-31 2024-12-31 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12167900B2 (en) 2021-03-31 2024-12-17 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
CA3212211A1 (en) 2021-03-31 2022-10-06 David Paul Noonan Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US11839442B1 (en) 2023-01-09 2023-12-12 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US12370001B2 (en) 2023-01-09 2025-07-29 Moon Surgical Sas Co-manipulation surgical system having automated user override detection
WO2025174937A1 (en) * 2024-02-13 2025-08-21 Mako Surgical Corp. System and method for performing robot registration using free-form path

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
US9867669B2 (en) * 2008-12-31 2018-01-16 Intuitive Surgical Operations, Inc. Configuration marker design and detection for instrument tracking
US9526587B2 (en) * 2008-12-31 2016-12-27 Intuitive Surgical Operations, Inc. Fiducial marker design and detection for locating surgical instrument in images
CN101448468B (zh) * 2006-05-19 2011-10-12 马科外科公司 用于验证外科手术装置的校准的系统和方法
KR101499271B1 (ko) * 2007-04-13 2015-03-05 나이키 이노베이트 씨.브이. 단일형 시각 시험 센터
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
CA2840397A1 (en) * 2011-06-27 2013-04-11 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
WO2013016251A2 (en) 2011-07-28 2013-01-31 Alouani Ali T Image guided surgery trackers using multiple asynchronous sensors

Also Published As

Publication number Publication date
JP2016538893A (ja) 2016-12-15
KR20160067110A (ko) 2016-06-13
CN105592818B (zh) 2017-11-03
AU2014329381B2 (en) 2019-05-23
US9339346B2 (en) 2016-05-17
CN105592818A (zh) 2016-05-18
EP3052042A1 (en) 2016-08-10
CA2924820A1 (en) 2015-04-09
AU2014329381A1 (en) 2016-04-14
US20150100161A1 (en) 2015-04-09
WO2015051233A1 (en) 2015-04-09
KR102303657B1 (ko) 2021-09-23
EP3052042B1 (en) 2019-11-27

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Publication Publication Date Title
JP6393319B2 (ja) 物体と相互作用するシステム及び方法
US12144565B2 (en) Optical and non-optical sensor tracking of a robotically controlled instrument

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