JP6535653B2 - 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 - Google Patents

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 Download PDF

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JP6535653B2
JP6535653B2 JP2016502606A JP2016502606A JP6535653B2 JP 6535653 B2 JP6535653 B2 JP 6535653B2 JP 2016502606 A JP2016502606 A JP 2016502606A JP 2016502606 A JP2016502606 A JP 2016502606A JP 6535653 B2 JP6535653 B2 JP 6535653B2
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joint
joints
motion
space
end effector
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JP2016514493A (ja
JP2016514493A5 (enExample
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アワータッシュ，アージャン
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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
    • A61B34/30—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
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • 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
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • 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
    • G05B2219/40474—Using potential fields

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
JP2016502606A 2013-03-15 2014-03-18 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 Active JP6535653B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361800381P 2013-03-15 2013-03-15
US61/800,381 2013-03-15
PCT/US2014/031103 WO2014146119A1 (en) 2013-03-15 2014-03-18 Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space

Publications (3)

Publication Number Publication Date
JP2016514493A JP2016514493A (ja) 2016-05-23
JP2016514493A5 JP2016514493A5 (enExample) 2017-04-06
JP6535653B2 true JP6535653B2 (ja) 2019-06-26

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US (2) US9375284B2 (enExample)
EP (1) EP2969405B1 (enExample)
JP (1) JP6535653B2 (enExample)
KR (1) KR102214809B1 (enExample)
CN (1) CN105050526B (enExample)
WO (1) WO2014146119A1 (enExample)

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JP6535653B2 (ja) 2013-03-15 2019-06-26 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

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US20140276954A1 (en) 2014-09-18
JP2016514493A (ja) 2016-05-23
CN105050526B (zh) 2018-06-01
EP2969405A1 (en) 2016-01-20
KR102214809B1 (ko) 2021-02-10
CN105050526A (zh) 2015-11-11
US9375284B2 (en) 2016-06-28
KR20150133756A (ko) 2015-11-30
WO2014146119A1 (en) 2014-09-18
EP2969405B1 (en) 2022-08-24
US9844415B2 (en) 2017-12-19
US20160302875A1 (en) 2016-10-20

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