JP7802385B2 - 微細作業用装置 - Google Patents

微細作業用装置

Info

Publication number
JP7802385B2
JP7802385B2 JP2023542031A JP2023542031A JP7802385B2 JP 7802385 B2 JP7802385 B2 JP 7802385B2 JP 2023542031 A JP2023542031 A JP 2023542031A JP 2023542031 A JP2023542031 A JP 2023542031A JP 7802385 B2 JP7802385 B2 JP 7802385B2
Authority
JP
Japan
Prior art keywords
fine operation
fine
manipulator
link mechanism
parallel link
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2023542031A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023021541A1 (enExample
Inventor
晋 小栗
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.)
F.MED CO., LTD.
Original Assignee
F.MED CO., LTD.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by F.MED CO., LTD. filed Critical F.MED CO., LTD.
Publication of JPWO2023021541A1 publication Critical patent/JPWO2023021541A1/ja
Priority to JP2025279872A priority Critical patent/JP2026050387A/ja
Application granted granted Critical
Publication of JP7802385B2 publication Critical patent/JP7802385B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • 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
    • A61B34/72—Micromanipulators
    • 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
    • A61B34/73—Manipulators for magnetic surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0042—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • 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
    • B25J9/1679—Program 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
    • A61B2034/304—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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40195—Tele-operation, computer assisted manual operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
JP2023542031A 2021-08-16 2021-08-16 微細作業用装置 Active JP7802385B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025279872A JP2026050387A (ja) 2021-08-16 2025-12-24 微細作業用装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/029865 WO2023021541A1 (ja) 2021-08-16 2021-08-16 微細作業用装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025279872A Division JP2026050387A (ja) 2021-08-16 2025-12-24 微細作業用装置

Publications (2)

Publication Number Publication Date
JPWO2023021541A1 JPWO2023021541A1 (enExample) 2023-02-23
JP7802385B2 true JP7802385B2 (ja) 2026-01-20

Family

ID=85240171

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2023542031A Active JP7802385B2 (ja) 2021-08-16 2021-08-16 微細作業用装置
JP2025279872A Pending JP2026050387A (ja) 2021-08-16 2025-12-24 微細作業用装置

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2025279872A Pending JP2026050387A (ja) 2021-08-16 2025-12-24 微細作業用装置

Country Status (4)

Country Link
US (1) US20240358464A1 (enExample)
EP (1) EP4389362A4 (enExample)
JP (2) JP7802385B2 (enExample)
WO (1) WO2023021541A1 (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025046713A1 (ja) * 2023-08-28 2025-03-06 Ｆ．Ｍｅｄ株式会社 作業マニピュレータ、及び作業マニピュレータを備えたシステム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100274087A1 (en) 2007-06-13 2010-10-28 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP2015530906A (ja) 2012-08-15 2015-10-29 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 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
JP2017000772A (ja) 2015-06-12 2017-01-05 アヴァテラメディカル ゲーエムベーハー ロボット支援手術のための装置及び方法
JP2017087322A (ja) 2015-11-05 2017-05-25 国立大学法人九州大学 微細作業支援システム及び微細作業用マニピュレータ
WO2019096939A1 (en) 2017-11-15 2019-05-23 Steerable Instruments nv Controllable steerable instrument

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20155057A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
CN111227943B (zh) * 2020-01-23 2021-07-06 诺创智能医疗科技(杭州)有限公司 手术机械臂的控制方法、计算机设备及一种手术机械臂
US11529738B2 (en) * 2020-07-02 2022-12-20 NDR Medical Technology Pte. Ltd. Control system and a method for operating a robot
WO2022141138A1 (zh) * 2020-12-30 2022-07-07 诺创智能医疗科技(杭州)有限公司 混联主从映射方法、机械臂系统和计算机设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100274087A1 (en) 2007-06-13 2010-10-28 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP2015530906A (ja) 2012-08-15 2015-10-29 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 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
JP2017000772A (ja) 2015-06-12 2017-01-05 アヴァテラメディカル ゲーエムベーハー ロボット支援手術のための装置及び方法
JP2017087322A (ja) 2015-11-05 2017-05-25 国立大学法人九州大学 微細作業支援システム及び微細作業用マニピュレータ
WO2019096939A1 (en) 2017-11-15 2019-05-23 Steerable Instruments nv Controllable steerable instrument

Also Published As

Publication number Publication date
EP4389362A4 (en) 2024-10-16
EP4389362A1 (en) 2024-06-26
JPWO2023021541A1 (enExample) 2023-02-23
JP2026050387A (ja) 2026-03-19
US20240358464A1 (en) 2024-10-31
WO2023021541A1 (ja) 2023-02-23

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