JP7340619B2 - 外科手術ロボットの制御システム - Google Patents

外科手術ロボットの制御システム Download PDF

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Publication number
JP7340619B2
JP7340619B2 JP2021560920A JP2021560920A JP7340619B2 JP 7340619 B2 JP7340619 B2 JP 7340619B2 JP 2021560920 A JP2021560920 A JP 2021560920A JP 2021560920 A JP2021560920 A JP 2021560920A JP 7340619 B2 JP7340619 B2 JP 7340619B2
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Japan
Prior art keywords
torque
control system
robotic arm
surgical
robot arm
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JP2021560920A
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English (en)
Japanese (ja)
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JP2022530755A5 (enExample
JP2022530755A (ja
Inventor
モットラム・エドワード・ジョン
ヴィーチ・グラハム・ジョン
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CMR Surgical Ltd
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CMR Surgical Ltd
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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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2021560920A 2020-03-31 2021-03-29 外科手術ロボットの制御システム Active JP7340619B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB2004753.6A GB2593740B (en) 2020-03-31 2020-03-31 Control system of a surgical robot
GB2004753.6 2020-03-31
PCT/GB2021/050766 WO2021198662A1 (en) 2020-03-31 2021-03-29 Control system of a surgical robot

Publications (3)

Publication Number Publication Date
JP2022530755A JP2022530755A (ja) 2022-07-01
JP2022530755A5 JP2022530755A5 (enExample) 2023-05-15
JP7340619B2 true JP7340619B2 (ja) 2023-09-07

Family

ID=70553222

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021560920A Active JP7340619B2 (ja) 2020-03-31 2021-03-29 外科手術ロボットの制御システム

Country Status (6)

Country Link
US (1) US20230172676A1 (enExample)
EP (1) EP4125678A1 (enExample)
JP (1) JP7340619B2 (enExample)
CN (1) CN115334996A (enExample)
GB (1) GB2593740B (enExample)
WO (1) WO2021198662A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2575113B (en) 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms
GB2593739B (en) * 2020-03-31 2024-09-18 Cmr Surgical Ltd Control system of a surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
TWI883313B (zh) * 2021-03-31 2025-05-11 日商發那科股份有限公司 算出作用在機器人裝置或工件上之外力的容許值的計算裝置及機器人的控制裝置
CN119328754B (zh) * 2024-11-04 2025-04-15 浙江大学 基于可操作度自适应优化的移动机械臂协调运动控制方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013132747A (ja) 2011-12-23 2013-07-08 Samsung Electronics Co Ltd 手術ロボット及びその制御方法
JP2016179168A (ja) 2015-03-23 2016-10-13 ソニー株式会社 医療用支持アーム装置、医療用支持アーム装置の制御方法及び医療用観察装置
US20180008359A1 (en) 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
JP2018500095A (ja) 2014-12-16 2018-01-11 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 波長帯選択による画像化を用いた尿管検出
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
JP2019500925A (ja) 2015-11-11 2019-01-17 マコ サージカル コーポレーション ロボットシステム及びロボットシステムをバックドライブする方法
WO2020001742A1 (en) 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05111889A (ja) * 1991-10-23 1993-05-07 Fanuc Ltd 制御方式可変型ロボツト制御方式
US6304954B1 (en) * 1998-04-20 2001-10-16 Rise Technology Company Executing multiple instructions in multi-pipelined processor by dynamically switching memory ports of fewer number than the pipeline
US9084623B2 (en) * 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
DE102013010290A1 (de) * 2013-06-19 2014-12-24 Kuka Laboratories Gmbh Überwachen eines kinematisch redundanten Roboters
WO2016152046A1 (en) * 2015-03-23 2016-09-29 Sony Corporation Medical support arm device and method of controlling medical support arm device
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
GB2575113B (en) * 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013132747A (ja) 2011-12-23 2013-07-08 Samsung Electronics Co Ltd 手術ロボット及びその制御方法
JP2018500095A (ja) 2014-12-16 2018-01-11 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 波長帯選択による画像化を用いた尿管検出
US20180008359A1 (en) 2015-01-21 2018-01-11 Cambridge Medical Robotics Limited Robot tool retraction
JP2016179168A (ja) 2015-03-23 2016-10-13 ソニー株式会社 医療用支持アーム装置、医療用支持アーム装置の制御方法及び医療用観察装置
JP2019500925A (ja) 2015-11-11 2019-01-17 マコ サージカル コーポレーション ロボットシステム及びロボットシステムをバックドライブする方法
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
WO2020001742A1 (en) 2018-06-26 2020-01-02 Franka Emika Gmbh Device for controlling a robot manipulator

Also Published As

Publication number Publication date
EP4125678A1 (en) 2023-02-08
GB2593740B (en) 2024-08-14
US20230172676A1 (en) 2023-06-08
WO2021198662A1 (en) 2021-10-07
GB2593740A (en) 2021-10-06
JP2022530755A (ja) 2022-07-01
CN115334996A (zh) 2022-11-11
GB202004753D0 (en) 2020-05-13

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