JP7625593B2 - 外科用ロボットアームの関節空間速度の調節 - Google Patents

外科用ロボットアームの関節空間速度の調節 Download PDF

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JP7625593B2
JP7625593B2 JP2022523939A JP2022523939A JP7625593B2 JP 7625593 B2 JP7625593 B2 JP 7625593B2 JP 2022523939 A JP2022523939 A JP 2022523939A JP 2022523939 A JP2022523939 A JP 2022523939A JP 7625593 B2 JP7625593 B2 JP 7625593B2
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new
joint space
joint
space velocity
surgical robotic
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JP2023510997A (ja
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ユ・ハオラン
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Verb Surgical Inc
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Verb Surgical Inc
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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
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Urology & Nephrology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022523939A 2019-10-24 2019-11-18 外科用ロボットアームの関節空間速度の調節 Active JP7625593B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/663,277 US11229494B2 (en) 2019-10-24 2019-10-24 Regulating joint space velocity of a surgical robotic arm
US16/663,277 2019-10-24
PCT/US2019/062059 WO2021080626A1 (en) 2019-10-24 2019-11-18 Regulating joint space velocity of a surgical robotic arm

Publications (3)

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JP2023510997A JP2023510997A (ja) 2023-03-16
JP2023510997A5 JP2023510997A5 (https=) 2024-10-09
JP7625593B2 true JP7625593B2 (ja) 2025-02-03

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Country Link
US (3) US11229494B2 (https=)
EP (1) EP4048182A4 (https=)
JP (1) JP7625593B2 (https=)
KR (1) KR102871586B1 (https=)
CN (1) CN114599302A (https=)
WO (1) WO2021080626A1 (https=)

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US11229494B2 (en) * 2019-10-24 2022-01-25 Verb Surgical Inc. Regulating joint space velocity of a surgical robotic arm
US12046363B2 (en) 2021-07-02 2024-07-23 Verb Surgical Inc. Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system
US12023117B2 (en) 2021-07-06 2024-07-02 Verb Surgical Inc. Projection of user interface pose command to reduced degree of freedom space for a surgical robot
US12076099B2 (en) 2021-07-06 2024-09-03 Verb Surgical Inc. Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
US12440289B2 (en) 2022-08-01 2025-10-14 Imperative Care, Inc. Method of priming an interventional device assembly
US12419703B2 (en) 2022-08-01 2025-09-23 Imperative Care, Inc. Robotic drive system for achieving supra-aortic access
US20230048388A1 (en) 2021-08-12 2023-02-16 Imperative Care, Inc. Robotically driven interventional device
US12447317B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of priming concentrically stacked interventional devices
US12446979B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of performing a multi catheter robotic neurovascular procedure
US12564458B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of robotically driving a multi catheter assembly above the aortic arch
US12564414B2 (en) 2022-08-01 2026-03-03 Imperative Care, Inc. Method of supra-aortic access for a neurovascular procedure
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
US20240041480A1 (en) 2022-08-02 2024-02-08 Imperative Care, Inc. Multi catheter system with integrated fluidics management
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JP2026500623A (ja) 2022-12-01 2026-01-08 インペラティブ ケア インコーポレイテッド ロボットカテーテル駆動システムのための座屈防止デバイス
CN120916725A (zh) 2022-12-01 2025-11-07 因普瑞缇夫护理公司 用于机器人化导管驱动系统的控制器
US20240366291A1 (en) 2023-01-20 2024-11-07 Panacea Spine, LLC Pain treatment using wanding of percutaneous surgical probe over sensory nerve
DE112024000615T5 (de) * 2023-01-23 2025-11-20 Massachusetts Institute Of Technology Steuerungsverfahren und schnittstellen zum steuern von maschinen
US12377206B2 (en) 2023-05-17 2025-08-05 Imperative Care, Inc. Fluidics control system for multi catheter stack
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CN119326513B (zh) * 2024-12-03 2025-11-07 敏捷医疗科技(苏州)有限公司 手术臂运动控制方法、程序产品、电子设备及存储介质

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JP2005349563A (ja) 2005-06-24 2005-12-22 Toshiba Corp マスタスレーブマニピュレータ
JP2013034830A (ja) 2011-08-04 2013-02-21 Olympus Corp 手術支援装置
JP2015107138A (ja) 2012-03-14 2015-06-11 オリンパスメディカルシステムズ株式会社 挿入機器の動作制御装置
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
JP2019037774A (ja) 2017-08-28 2019-03-14 シナプティヴ メディカル （バルバドス） インコーポレイテッドＳｙｎａｐｔｉｖｅ Ｍｅｄｉｃａｌ （Ｂａｒｂａｄｏｓ） Ｉｎｃ． 手術ナビゲーションシステムのためのポジショニングアーム
JP2020533061A (ja) 2017-09-06 2020-11-19 コヴィディエン リミテッド パートナーシップ 手術ロボットの境界スケーリング

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US20240245477A1 (en) 2024-07-25
CN114599302A (zh) 2022-06-07
KR102871586B1 (ko) 2025-10-17
US11229494B2 (en) 2022-01-25
US11918312B2 (en) 2024-03-05
KR20220082903A (ko) 2022-06-17
EP4048182A4 (en) 2023-10-25
US20210121257A1 (en) 2021-04-29
EP4048182A1 (en) 2022-08-31
WO2021080626A1 (en) 2021-04-29
JP2023510997A (ja) 2023-03-16
US12324644B2 (en) 2025-06-10
US20220142724A1 (en) 2022-05-12

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