JP7260666B2 - 手術システム、手術支援ロボット及びその制御方法 - Google Patents

手術システム、手術支援ロボット及びその制御方法 Download PDF

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Publication number
JP7260666B2
JP7260666B2 JP2021562747A JP2021562747A JP7260666B2 JP 7260666 B2 JP7260666 B2 JP 7260666B2 JP 2021562747 A JP2021562747 A JP 2021562747A JP 2021562747 A JP2021562747 A JP 2021562747A JP 7260666 B2 JP7260666 B2 JP 7260666B2
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Japan
Prior art keywords
surgical instrument
manipulator
displacement amount
surgical
joint
Prior art date
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JP2021562747A
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English (en)
Japanese (ja)
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JPWO2021112229A5 (https=
JPWO2021112229A1 (https=
Inventor
剛史 東條
信恭 下村
哲夫 一居
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medicaroid Corp
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
Medicaroid Corp
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Application filed by Kawasaki Jukogyo KK, Medicaroid Corp filed Critical Kawasaki Jukogyo KK
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Priority to JP2023062049A priority Critical patent/JP7521172B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (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)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2021562747A 2019-12-05 2020-12-04 手術システム、手術支援ロボット及びその制御方法 Active JP7260666B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023062049A JP7521172B2 (ja) 2019-12-05 2023-04-06 手術システム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019220758 2019-12-05
JP2019220758 2019-12-05
PCT/JP2020/045270 WO2021112229A1 (ja) 2019-12-05 2020-12-04 手術支援ロボット及びその制御方法

Related Child Applications (1)

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JP2023062049A Division JP7521172B2 (ja) 2019-12-05 2023-04-06 手術システム

Publications (3)

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JPWO2021112229A1 JPWO2021112229A1 (https=) 2021-06-10
JPWO2021112229A5 JPWO2021112229A5 (https=) 2022-06-02
JP7260666B2 true JP7260666B2 (ja) 2023-04-18

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JP2021562747A Active JP7260666B2 (ja) 2019-12-05 2020-12-04 手術システム、手術支援ロボット及びその制御方法
JP2023062049A Active JP7521172B2 (ja) 2019-12-05 2023-04-06 手術システム

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JP2023062049A Active JP7521172B2 (ja) 2019-12-05 2023-04-06 手術システム

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US (2) US12245832B2 (https=)
EP (1) EP4070918A4 (https=)
JP (2) JP7260666B2 (https=)
WO (1) WO2021112229A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10058395B2 (en) * 2014-08-01 2018-08-28 Intuitive Surgical Operations, Inc. Active and semi-active damping in a telesurgical system
WO2022100479A1 (zh) * 2020-11-10 2022-05-19 重庆金山医疗机器人有限公司 手术机器人及手术机器人系统
WO2025024562A1 (en) * 2023-07-24 2025-01-30 Intuitive Surgical Operations, Inc. Reach assist motion for computer-assisted systems
CN120269586A (zh) * 2024-01-08 2025-07-08 武汉联影智融医疗科技有限公司 手术机器人的摆位系统、方法、计算机设备和存储介质
CN118121313B (zh) * 2024-03-05 2024-11-15 首都医科大学附属北京天坛医院 低温常压等离子体脑胶质瘤手术机器人治疗装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015502198A (ja) 2011-11-11 2015-01-22 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 複数の有関節器具をエントリーガイドに向かって連係して後退させる方法及びシステム
JP2016512733A (ja) 2013-03-15 2016-05-09 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 マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
WO2017179629A1 (ja) 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システム
WO2018109851A1 (ja) 2016-12-14 2018-06-21 オリンパス株式会社 医療用マニピュレータシステム
JP2019522537A (ja) 2016-07-01 2019-08-15 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 コンピュータ支援医療システム及び方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9096033B2 (en) * 2007-06-13 2015-08-04 Intuitive Surgical Operations, Inc. Surgical system instrument sterile adapter
GB0908368D0 (en) * 2009-05-15 2009-06-24 Univ Leuven Kath Adjustable remote center of motion positioner
JP6021484B2 (ja) 2011-08-04 2016-11-09 オリンパス株式会社 医療用マニピュレータ
EP2969403B1 (en) 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
WO2015142786A1 (en) * 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Constant force spring with active bias
DE102016111737A1 (de) * 2016-06-27 2017-12-28 avateramedical GmBH Instrumententrägervorrichtung für einen Manipulator eines robotischen Operationssystems
CN110325093B (zh) * 2017-02-28 2022-04-08 索尼公司 医疗用臂系统、控制装置与控制方法
DE112018001058B4 (de) * 2017-02-28 2020-12-03 Sony Corporation Medizinisches tragarmsystem und steuervorrichtung
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US11369443B2 (en) * 2019-06-27 2022-06-28 Cilag Gmbh International Method of using a surgical modular robotic assembly

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015502198A (ja) 2011-11-11 2015-01-22 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 複数の有関節器具をエントリーガイドに向かって連係して後退させる方法及びシステム
JP2016512733A (ja) 2013-03-15 2016-05-09 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 マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
WO2017179629A1 (ja) 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システム
JP2019522537A (ja) 2016-07-01 2019-08-15 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 コンピュータ支援医療システム及び方法
WO2018109851A1 (ja) 2016-12-14 2018-06-21 オリンパス株式会社 医療用マニピュレータシステム

Also Published As

Publication number Publication date
JP7521172B2 (ja) 2024-07-24
EP4070918A1 (en) 2022-10-12
JP2023089083A (ja) 2023-06-27
WO2021112229A1 (ja) 2021-06-10
US20250152285A1 (en) 2025-05-15
US20230014033A1 (en) 2023-01-19
EP4070918A4 (en) 2024-01-03
US12245832B2 (en) 2025-03-11
JPWO2021112229A1 (https=) 2021-06-10

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