JP7402894B2 - 外科手術システム及び外科手術マニピュレータアームの制御方法 - Google Patents

外科手術システム及び外科手術マニピュレータアームの制御方法 Download PDF

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JP7402894B2
JP7402894B2 JP2021562727A JP2021562727A JP7402894B2 JP 7402894 B2 JP7402894 B2 JP 7402894B2 JP 2021562727 A JP2021562727 A JP 2021562727A JP 2021562727 A JP2021562727 A JP 2021562727A JP 7402894 B2 JP7402894 B2 JP 7402894B2
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arm
joint
rotation axis
surgical
line
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JPWO2021112193A5 (https=
JPWO2021112193A1 (https=
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剛史 東條
信恭 下村
哲夫 一居
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Medicaroid Corp
Kawasaki Motors Ltd
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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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2021562727A 2019-12-05 2020-12-03 外科手術システム及び外科手術マニピュレータアームの制御方法 Active JP7402894B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019220284 2019-12-05
JP2019220284 2019-12-05
PCT/JP2020/045098 WO2021112193A1 (ja) 2019-12-05 2020-12-03 外科手術システム及び外科手術マニピュレータアームの制御方法

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JPWO2021112193A1 JPWO2021112193A1 (https=) 2021-06-10
JPWO2021112193A5 JPWO2021112193A5 (https=) 2022-08-04
JP7402894B2 true JP7402894B2 (ja) 2023-12-21

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Country Status (4)

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US (1) US12324639B2 (https=)
EP (1) EP4070754A4 (https=)
JP (1) JP7402894B2 (https=)
WO (1) WO2021112193A1 (https=)

Cited By (2)

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WO2025206298A1 (ja) * 2024-03-28 2025-10-02 川崎重工業株式会社 手術ロボットシステムおよびその制御方法
WO2025206297A1 (ja) * 2024-03-28 2025-10-02 川崎重工業株式会社 手術ロボットシステムおよびその制御方法

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WO2021112193A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法
CN114098952A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098951A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098957A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098992A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
JP2024022305A (ja) * 2022-08-05 2024-02-16 川崎重工業株式会社 手術支援ロボット

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JP2018020004A (ja) 2016-08-05 2018-02-08 株式会社メディカロイド 医療用器具把持機構
WO2019128494A1 (zh) 2017-12-27 2019-07-04 微创（上海）医疗机器人有限公司 手术机器人终端

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WO2021112193A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法

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JP2017104452A (ja) 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体
WO2017179624A1 (ja) 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
JP2018020004A (ja) 2016-08-05 2018-02-08 株式会社メディカロイド 医療用器具把持機構
WO2019128494A1 (zh) 2017-12-27 2019-07-04 微创（上海）医疗机器人有限公司 手术机器人终端

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* Cited by examiner, † Cited by third party
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WO2025206298A1 (ja) * 2024-03-28 2025-10-02 川崎重工業株式会社 手術ロボットシステムおよびその制御方法
WO2025206297A1 (ja) * 2024-03-28 2025-10-02 川崎重工業株式会社 手術ロボットシステムおよびその制御方法

Also Published As

Publication number Publication date
EP4070754A4 (en) 2024-01-17
JPWO2021112193A1 (https=) 2021-06-10
EP4070754A1 (en) 2022-10-12
US20230000572A1 (en) 2023-01-05
US12324639B2 (en) 2025-06-10
WO2021112193A1 (ja) 2021-06-10

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