JP7208752B2 - 医療用観察システム、医療用観察装置、および制御方法 - Google Patents

医療用観察システム、医療用観察装置、および制御方法 Download PDF

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JP7208752B2
JP7208752B2 JP2018179644A JP2018179644A JP7208752B2 JP 7208752 B2 JP7208752 B2 JP 7208752B2 JP 2018179644 A JP2018179644 A JP 2018179644A JP 2018179644 A JP2018179644 A JP 2018179644A JP 7208752 B2 JP7208752 B2 JP 7208752B2
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Prior art keywords
axis
arm
rotation
medical observation
imaging device
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JP2020048729A (ja
JP2020048729A5 (https=
Inventor
憲志 廣瀬
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Sony Olympus Medical Solutions Inc
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Sony Olympus Medical Solutions Inc
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Priority to JP2018179644A priority Critical patent/JP7208752B2/ja
Priority to US16/575,394 priority patent/US11648082B2/en
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    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • A61B2090/504—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism with a counterweight
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
JP2018179644A 2018-09-26 2018-09-26 医療用観察システム、医療用観察装置、および制御方法 Active JP7208752B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018179644A JP7208752B2 (ja) 2018-09-26 2018-09-26 医療用観察システム、医療用観察装置、および制御方法
US16/575,394 US11648082B2 (en) 2018-09-26 2019-09-19 Medical holding device, and medical observation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018179644A JP7208752B2 (ja) 2018-09-26 2018-09-26 医療用観察システム、医療用観察装置、および制御方法

Publications (3)

Publication Number Publication Date
JP2020048729A JP2020048729A (ja) 2020-04-02
JP2020048729A5 JP2020048729A5 (https=) 2021-09-24
JP7208752B2 true JP7208752B2 (ja) 2023-01-19

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US (1) US11648082B2 (https=)
JP (1) JP7208752B2 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12059220B2 (en) * 2019-03-14 2024-08-13 Covidien Lp Robotic surgical systems and robotic arm carts thereof
WO2021187453A1 (ja) 2020-03-19 2021-09-23 三菱ケミカル株式会社 樹脂組成物、プリプレグ、成形品、及びプリプレグの製造方法
JP7795778B2 (ja) * 2022-03-18 2026-01-08 学校法人明治大学 検査装置
CN116327082A (zh) * 2023-03-30 2023-06-27 重庆金山医疗技术研究院有限公司 一种诊断装置及其五自由度机械助力臂

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001054889A (ja) 1999-08-20 2001-02-27 Denso Corp 組立用垂直多関節型ロボット
JP2010110878A (ja) 2008-11-10 2010-05-20 Toshiba Mach Co Ltd 多関節型ロボット装置およびその制御方法
JP2017512553A (ja) 2014-03-17 2017-05-25 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 逆運動学を用いた関節制限における制御の遠隔操作手術システム及び方法
WO2017169650A1 (ja) 2016-03-31 2017-10-05 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、映像移動補正方法及び医療用観察システム

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3585419B2 (ja) 2000-04-18 2004-11-04 川崎重工業株式会社 マスターアーム装置
EP2008605A1 (en) * 2007-06-25 2008-12-31 Universite Catholique De Louvain A hybrid manual-robotic system for controlling the position of an instrument
US9095362B2 (en) * 2010-11-15 2015-08-04 Intutitive Surgical Operations, Inc. Method for passively decoupling torque applied by a remote actuator into an independently rotating member
CN105338920B (zh) * 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法
WO2015046081A1 (ja) * 2013-09-24 2015-04-02 ソニー・オリンパスメディカルソリューションズ株式会社 医療用ロボットアーム装置、医療用ロボットアーム制御システム、医療用ロボットアーム制御方法及びプログラム
EP3135445B1 (en) * 2014-03-28 2021-04-28 Sony Corporation Robot arm device
US10485616B2 (en) * 2015-09-25 2019-11-26 Ethicon Llc Hybrid robotic surgery with power assisted motion
JP7034636B2 (ja) * 2017-09-07 2022-03-14 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、および医療用観察システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001054889A (ja) 1999-08-20 2001-02-27 Denso Corp 組立用垂直多関節型ロボット
JP2010110878A (ja) 2008-11-10 2010-05-20 Toshiba Mach Co Ltd 多関節型ロボット装置およびその制御方法
JP2017512553A (ja) 2014-03-17 2017-05-25 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 逆運動学を用いた関節制限における制御の遠隔操作手術システム及び方法
WO2017169650A1 (ja) 2016-03-31 2017-10-05 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、映像移動補正方法及び医療用観察システム

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JP2020048729A (ja) 2020-04-02
US20200093564A1 (en) 2020-03-26
US11648082B2 (en) 2023-05-16

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