JP7846122B2 - 運動構成要素の望ましくない向きの運動を軽減するためのロボットシステム及び方法 - Google Patents

運動構成要素の望ましくない向きの運動を軽減するためのロボットシステム及び方法

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Publication number
JP7846122B2
JP7846122B2 JP2023540083A JP2023540083A JP7846122B2 JP 7846122 B2 JP7846122 B2 JP 7846122B2 JP 2023540083 A JP2023540083 A JP 2023540083A JP 2023540083 A JP2023540083 A JP 2023540083A JP 7846122 B2 JP7846122 B2 JP 7846122B2
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feed rate
motion
energy applicator
undesirable
manipulator
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JP2023540083A
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Japanese (ja)
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JP2024501862A (ja
JP2024501862A5 (https=
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クラナ，リシャブ
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マコ サージカル コーポレーション
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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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1643—Program controls characterised by the control loop redundant control
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (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)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2023540083A 2020-12-31 2021-12-28 運動構成要素の望ましくない向きの運動を軽減するためのロボットシステム及び方法 Active JP7846122B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063132821P 2020-12-31 2020-12-31
US63/132,821 2020-12-31
PCT/US2021/065334 WO2022147001A1 (en) 2020-12-31 2021-12-28 Robotic systems and methods for mitigating undesired orientational motion of kinematic components

Publications (3)

Publication Number Publication Date
JP2024501862A JP2024501862A (ja) 2024-01-16
JP2024501862A5 JP2024501862A5 (https=) 2025-01-07
JP7846122B2 true JP7846122B2 (ja) 2026-04-14

Family

ID=80113513

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023540083A Active JP7846122B2 (ja) 2020-12-31 2021-12-28 運動構成要素の望ましくない向きの運動を軽減するためのロボットシステム及び方法

Country Status (7)

Country Link
US (1) US12528184B2 (https=)
EP (1) EP4271314A1 (https=)
JP (1) JP7846122B2 (https=)
KR (1) KR20230124943A (https=)
CN (1) CN116710017A (https=)
AU (1) AU2021413098A1 (https=)
WO (1) WO2022147001A1 (https=)

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US12454049B2 (en) * 2022-05-10 2025-10-28 Krux Kinematics LLC Inverse kinematics computational solver system, method, and apparatus
JP2024010799A (ja) * 2022-07-13 2024-01-25 日鉄エンジニアリング株式会社 制御システム、制御方法およびコンピュータプログラム
AU2023338661A1 (en) 2022-09-09 2025-03-20 Mako Surgical Corp. Robotic surgical systems for guiding a tool along a path using hybrid automated/manual control
WO2024175672A1 (en) * 2023-02-21 2024-08-29 Distalmotion Sa Surgical robotics systems and devices having modified speed control near workspace boundaries and surfaces, and methods thereof

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JP2019034352A (ja) 2017-08-10 2019-03-07 セイコーエプソン株式会社 シミュレーション装置、ロボット制御装置およびロボット
JP2020523206A (ja) 2017-06-09 2020-08-06 マコ サージカル コーポレーション 仮想境界を実現するための反力を生成するロボットシステムおよび方法

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US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US7831292B2 (en) 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
KR101440740B1 (ko) 2005-06-28 2014-09-18 스트리커 코포레이션 모터 로터의 상태를 모니터링하는 센서를 포함하는 동력이 있는 수술 도구용 제어 어셈블리
CA2654343C (en) 2006-06-05 2015-02-10 Technion Research & Development Foundation Ltd. Controlled steering of a flexible needle
JP5231935B2 (ja) * 2008-10-21 2013-07-10 株式会社東芝 ロボット制御装置
US20110295247A1 (en) 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated minimally invasive therapy using radiometry
JP2011254975A (ja) 2010-06-09 2011-12-22 Nakashima Medical Co Ltd 手術支援システム
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
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JP2020523206A (ja) 2017-06-09 2020-08-06 マコ サージカル コーポレーション 仮想境界を実現するための反力を生成するロボットシステムおよび方法
JP2019034352A (ja) 2017-08-10 2019-03-07 セイコーエプソン株式会社 シミュレーション装置、ロボット制御装置およびロボット

Also Published As

Publication number Publication date
JP2024501862A (ja) 2024-01-16
CN116710017A (zh) 2023-09-05
US12528184B2 (en) 2026-01-20
US20230330851A1 (en) 2023-10-19
EP4271314A1 (en) 2023-11-08
WO2022147001A1 (en) 2022-07-07
KR20230124943A (ko) 2023-08-28
AU2021413098A1 (en) 2023-07-20

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