JP7550513B2 - 依存外科用ロボットアームの自動動き制御 - Google Patents

依存外科用ロボットアームの自動動き制御 Download PDF

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Publication number
JP7550513B2
JP7550513B2 JP2019530000A JP2019530000A JP7550513B2 JP 7550513 B2 JP7550513 B2 JP 7550513B2 JP 2019530000 A JP2019530000 A JP 2019530000A JP 2019530000 A JP2019530000 A JP 2019530000A JP 7550513 B2 JP7550513 B2 JP 7550513B2
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Prior art keywords
dependent
independent
robot arm
coordinate space
motion
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JP2019530000A
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English (en)
Japanese (ja)
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JP2020510455A5 (enExample
JP2020510455A (ja
Inventor
アレクサンドラ ポポヴィッチ
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Koninklijke Philips NV
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Koninklijke Philips NV
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Priority to JP2024003310A priority Critical patent/JP2024045226A/ja
Priority to JP2024121139A priority patent/JP2024156769A/ja
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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
    • A61B34/32—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
    • A61B34/70—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39212—Select between autonomous or teleoperation control
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39389—Laparoscopic surgery, camera on center of operated part, view around, scale

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (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)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2019530000A 2016-12-07 2017-12-06 依存外科用ロボットアームの自動動き制御 Active JP7550513B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024003310A JP2024045226A (ja) 2016-12-07 2024-01-12 依存外科用ロボットアームの自動動き制御
JP2024121139A JP2024156769A (ja) 2016-12-07 2024-07-26 依存外科用ロボットアームの自動動き制御

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430997P 2016-12-07 2016-12-07
US62/430,997 2016-12-07
PCT/EP2017/081652 WO2018104376A1 (en) 2016-12-07 2017-12-06 Automatic motion control of a dependent surgical robotic arm

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2024003310A Division JP2024045226A (ja) 2016-12-07 2024-01-12 依存外科用ロボットアームの自動動き制御
JP2024121139A Division JP2024156769A (ja) 2016-12-07 2024-07-26 依存外科用ロボットアームの自動動き制御

Publications (3)

Publication Number Publication Date
JP2020510455A JP2020510455A (ja) 2020-04-09
JP2020510455A5 JP2020510455A5 (enExample) 2021-01-21
JP7550513B2 true JP7550513B2 (ja) 2024-09-13

Family

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Family Applications (3)

Application Number Title Priority Date Filing Date
JP2019530000A Active JP7550513B2 (ja) 2016-12-07 2017-12-06 依存外科用ロボットアームの自動動き制御
JP2024003310A Pending JP2024045226A (ja) 2016-12-07 2024-01-12 依存外科用ロボットアームの自動動き制御
JP2024121139A Pending JP2024156769A (ja) 2016-12-07 2024-07-26 依存外科用ロボットアームの自動動き制御

Family Applications After (2)

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JP2024003310A Pending JP2024045226A (ja) 2016-12-07 2024-01-12 依存外科用ロボットアームの自動動き制御
JP2024121139A Pending JP2024156769A (ja) 2016-12-07 2024-07-26 依存外科用ロボットアームの自動動き制御

Country Status (5)

Country Link
US (2) US11344379B2 (enExample)
EP (1) EP3551116A1 (enExample)
JP (3) JP7550513B2 (enExample)
CN (1) CN110072483B (enExample)
WO (1) WO2018104376A1 (enExample)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210260759A1 (en) * 2018-06-15 2021-08-26 Universal Robots A/S Estimation of payload attached to a robot arm
JP2022502119A (ja) 2018-10-15 2022-01-11 メイザー ロボティックス リミテッド 汎用マルチアームロボット外科用システム
CN114423372A (zh) * 2019-09-19 2022-04-29 奥瑞斯健康公司 机器人工具的协调运动
WO2022037209A1 (zh) 2020-08-19 2022-02-24 北京术锐技术有限公司 机器人系统及其控制方法
CN114073586B (zh) * 2020-08-19 2025-09-16 北京术锐机器人股份有限公司 机器人系统以及控制方法
CN114073585B (zh) * 2020-08-19 2025-09-16 北京术锐机器人股份有限公司 机器人系统以及控制方法
JP2023533919A (ja) * 2020-08-19 2023-08-07 北京術鋭機器人股▲ふん▼有限公司 ロボットシステムおよび制御方法
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
CN114378819B (zh) * 2022-01-18 2022-07-26 上海健康医学院 一种消化内镜微创手术机器人主从手控制方法和装置
JP2024136832A (ja) * 2023-03-24 2024-10-04 本田技研工業株式会社 操作制御装置、操作制御システム、操作制御方法、およびプログラム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011206312A (ja) 2010-03-30 2011-10-20 Terumo Corp 医療用ロボットシステム
US20120265071A1 (en) 2011-03-22 2012-10-18 Kuka Laboratories Gmbh Medical Workstation
US20130331644A1 (en) 2010-12-10 2013-12-12 Abhilash Pandya Intelligent autonomous camera control for robotics with medical, military, and space applications
WO2014114551A1 (de) 2013-01-22 2014-07-31 Rg Mechatronics Gmbh Robotersystem und verfahren zum steuern eines robotersystems für die minimal invasive chirurgie
WO2016054256A1 (en) 2014-09-30 2016-04-07 Auris Surgical Robotics, Inc Configurable robotic surgical system with virtual rail and flexible endoscope

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8551114B2 (en) 2006-11-06 2013-10-08 Human Robotics S.A. De C.V. Robotic surgical device
EP2244784A2 (en) 2008-01-30 2010-11-03 The Trustees of Columbia University in the City of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
US8340820B2 (en) * 2010-02-26 2012-12-25 Agilent Technologies, Inc. Robot arm and method of controlling robot arm to avoid collisions
US9770828B2 (en) 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
US10945796B2 (en) * 2014-02-12 2021-03-16 Koninklijke Philips N.V. Robotic control of surgical instrument visibility
JP6486380B2 (ja) * 2014-03-17 2019-03-20 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 手術用セットアップ構造の劣駆動ジョイントの運動を制御する方法
US10335116B2 (en) 2014-04-17 2019-07-02 The Johns Hopkins University Robot assisted ultrasound system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011206312A (ja) 2010-03-30 2011-10-20 Terumo Corp 医療用ロボットシステム
US20130331644A1 (en) 2010-12-10 2013-12-12 Abhilash Pandya Intelligent autonomous camera control for robotics with medical, military, and space applications
US20120265071A1 (en) 2011-03-22 2012-10-18 Kuka Laboratories Gmbh Medical Workstation
WO2014114551A1 (de) 2013-01-22 2014-07-31 Rg Mechatronics Gmbh Robotersystem und verfahren zum steuern eines robotersystems für die minimal invasive chirurgie
WO2016054256A1 (en) 2014-09-30 2016-04-07 Auris Surgical Robotics, Inc Configurable robotic surgical system with virtual rail and flexible endoscope

Also Published As

Publication number Publication date
JP2024156769A (ja) 2024-11-06
WO2018104376A1 (en) 2018-06-14
CN110072483B (zh) 2022-11-22
CN110072483A (zh) 2019-07-30
JP2020510455A (ja) 2020-04-09
EP3551116A1 (en) 2019-10-16
US12396811B2 (en) 2025-08-26
US20220280252A1 (en) 2022-09-08
JP2024045226A (ja) 2024-04-02
US20190307519A1 (en) 2019-10-10
US11344379B2 (en) 2022-05-31

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