JP7369789B2 - 手術ロボット、手術システム及び制御方法 - Google Patents

手術ロボット、手術システム及び制御方法 Download PDF

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Publication number
JP7369789B2
JP7369789B2 JP2021562746A JP2021562746A JP7369789B2 JP 7369789 B2 JP7369789 B2 JP 7369789B2 JP 2021562746 A JP2021562746 A JP 2021562746A JP 2021562746 A JP2021562746 A JP 2021562746A JP 7369789 B2 JP7369789 B2 JP 7369789B2
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Japan
Prior art keywords
base
arm
robot
link
plane
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Japanese (ja)
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JPWO2021112228A1 (https=
JPWO2021112228A5 (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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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2021562746A 2019-12-05 2020-12-04 手術ロボット、手術システム及び制御方法 Active JP7369789B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019220692 2019-12-05
JP2019220692 2019-12-05
PCT/JP2020/045269 WO2021112228A1 (ja) 2019-12-05 2020-12-04 手術ロボット、手術システム及び制御方法

Publications (3)

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JPWO2021112228A1 JPWO2021112228A1 (https=) 2021-06-10
JPWO2021112228A5 JPWO2021112228A5 (https=) 2022-08-04
JP7369789B2 true JP7369789B2 (ja) 2023-10-26

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JP2021562746A Active JP7369789B2 (ja) 2019-12-05 2020-12-04 手術ロボット、手術システム及び制御方法

Country Status (4)

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US (2) US12161437B2 (https=)
EP (1) EP4070919A4 (https=)
JP (1) JP7369789B2 (https=)
WO (1) WO2021112228A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7393383B2 (ja) * 2021-05-24 2023-12-06 川崎重工業株式会社 手術支援ロボットおよび多関節ロボットの作動方法
CN114145781B (zh) * 2021-12-16 2025-04-18 北京智愈医疗科技有限公司 一种经腔道超声检查系统
CN116965934A (zh) * 2022-12-02 2023-10-31 深圳康诺思腾科技有限公司 机械臂、关节结构和手术机器人
WO2025209274A1 (zh) * 2024-04-03 2025-10-09 深圳康诺思腾科技有限公司 患旁操作设备、手术机器人及外科医疗系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170020615A1 (en) 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
JP2017104453A (ja) 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
JP2019529051A (ja) 2016-09-28 2019-10-17 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボットシステム

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08107898A (ja) 1994-10-12 1996-04-30 Olympus Optical Co Ltd 手術用マニピュレータ
JP6411999B2 (ja) * 2012-06-01 2018-10-24 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 手術器具マニピュレータの態様
EP3119314B1 (en) * 2014-03-17 2020-05-06 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
EP3868326B1 (en) * 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
JP6800058B2 (ja) * 2017-03-23 2020-12-16 株式会社メディカロイド 患者載置用テーブルの移動方法
AU2019441247A1 (en) * 2019-04-15 2021-10-14 Covidien Lp System and method for aligning a surgical robotic arm

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170020615A1 (en) 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
JP2017104453A (ja) 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
JP2019529051A (ja) 2016-09-28 2019-10-17 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボットシステム

Also Published As

Publication number Publication date
US20250041008A1 (en) 2025-02-06
WO2021112228A1 (ja) 2021-06-10
JPWO2021112228A1 (https=) 2021-06-10
EP4070919A4 (en) 2023-12-27
US12161437B2 (en) 2024-12-10
EP4070919A1 (en) 2022-10-12
US20230012535A1 (en) 2023-01-19

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