JP7132922B2 - ロボット制御のための画像誘導モーションスケーリング - Google Patents

ロボット制御のための画像誘導モーションスケーリング Download PDF

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JP7132922B2
JP7132922B2 JP2019530072A JP2019530072A JP7132922B2 JP 7132922 B2 JP7132922 B2 JP 7132922B2 JP 2019530072 A JP2019530072 A JP 2019530072A JP 2019530072 A JP2019530072 A JP 2019530072A JP 7132922 B2 JP7132922 B2 JP 7132922B2
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motion
scale
surgical
image
surgical robotic
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アレクサンドラ ポポヴィッチ
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Koninklijke Philips NV
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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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • 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)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
JP2019530072A 2016-12-07 2017-12-05 ロボット制御のための画像誘導モーションスケーリング Active JP7132922B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430994P 2016-12-07 2016-12-07
US62/430,994 2016-12-07
PCT/EP2017/081423 WO2018104252A1 (en) 2016-12-07 2017-12-05 Image guided motion scaling for robot control

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JP2020500620A JP2020500620A (ja) 2020-01-16
JP2020500620A5 JP2020500620A5 (enExample) 2021-01-21
JP7132922B2 true JP7132922B2 (ja) 2022-09-07

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US (2) US11213364B2 (enExample)
EP (1) EP3551117B1 (enExample)
JP (1) JP7132922B2 (enExample)
CN (1) CN110049742B (enExample)
WO (1) WO2018104252A1 (enExample)

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US11832996B2 (en) 2019-12-30 2023-12-05 Cilag Gmbh International Analyzing surgical trends by a surgical system
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US12070287B2 (en) 2020-12-30 2024-08-27 Cilag Gmbh International Robotic surgical tools having dual articulation drives
US12239404B2 (en) 2020-12-30 2025-03-04 Cilag Gmbh International Torque-based transition between operating gears
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
IT202200006332A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare, tramite diminuzione di velocità o potenza impartita, un dispositivo slave comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, e relativo sistema robotico
IT202200006338A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare un dispositivo slave, comandato da un dispositivo master movimentabile da un operatore in un sistema robotico per teleoperazione medica o chirurgica, in prossimità di limiti di movimento del dispositivo slave, e relativo sistema robotico
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Also Published As

Publication number Publication date
CN110049742A (zh) 2019-07-23
JP2020500620A (ja) 2020-01-16
EP3551117B1 (en) 2024-06-05
US20220096189A1 (en) 2022-03-31
EP3551117A1 (en) 2019-10-16
US12171520B2 (en) 2024-12-24
US11213364B2 (en) 2022-01-04
CN110049742B (zh) 2023-01-03
US20190307524A1 (en) 2019-10-10
WO2018104252A1 (en) 2018-06-14

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