JP7150413B2 - 多関節アームにおける分離クラッチ操作のためのシステム及び方法 - Google Patents

多関節アームにおける分離クラッチ操作のためのシステム及び方法 Download PDF

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JP7150413B2
JP7150413B2 JP2016556838A JP2016556838A JP7150413B2 JP 7150413 B2 JP7150413 B2 JP 7150413B2 JP 2016556838 A JP2016556838 A JP 2016556838A JP 2016556838 A JP2016556838 A JP 2016556838A JP 7150413 B2 JP7150413 B2 JP 7150413B2
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joint
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JP2017512534A5 (enExample
JP2017512534A (ja
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ミラー，ダニエル
スウォーアップ，ニティッシュ
ターナー，マイケル
エム アワータッシュ，アージャン
ジー グリフィス，ポール
ダブリュ モーア，ポール
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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
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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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A61B2018/00672—Sensing and controlling the application of energy using a threshold value lower
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A61B2018/00678—Sensing and controlling the application of energy using a threshold value upper
    • 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
    • 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
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation

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  • 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)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2016556838A 2014-03-17 2015-03-17 多関節アームにおける分離クラッチ操作のためのシステム及び方法 Active JP7150413B2 (ja)

Priority Applications (2)

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JP2021057649A JP7469245B2 (ja) 2014-03-17 2021-03-30 多関節アームにおける分離クラッチ操作のためのシステム及び方法
JP2023023469A JP7694888B2 (ja) 2014-03-17 2023-02-17 多関節アームにおける分離クラッチ操作のためのシステム及び方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954120P 2014-03-17 2014-03-17
US61/954,120 2014-03-17
PCT/US2015/021074 WO2015142930A1 (en) 2014-03-17 2015-03-17 System and method for breakaway clutching in an articulated arm

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JP2021057649A Division JP7469245B2 (ja) 2014-03-17 2021-03-30 多関節アームにおける分離クラッチ操作のためのシステム及び方法

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JP2017512534A JP2017512534A (ja) 2017-05-25
JP2017512534A5 JP2017512534A5 (enExample) 2018-04-19
JP7150413B2 true JP7150413B2 (ja) 2022-10-11

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JP2021057649A Active JP7469245B2 (ja) 2014-03-17 2021-03-30 多関節アームにおける分離クラッチ操作のためのシステム及び方法
JP2023023469A Active JP7694888B2 (ja) 2014-03-17 2023-02-17 多関節アームにおける分離クラッチ操作のためのシステム及び方法

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JP2023023469A Active JP7694888B2 (ja) 2014-03-17 2023-02-17 多関節アームにおける分離クラッチ操作のためのシステム及び方法

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US (7) US10034717B2 (enExample)
EP (4) EP4631461A2 (enExample)
JP (3) JP7150413B2 (enExample)
KR (3) KR102378585B1 (enExample)
CN (2) CN111839737B (enExample)
WO (1) WO2015142930A1 (enExample)

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