JP7847383B2 - マニピュレーションシステムおよびマニピュレーション方法 - Google Patents

マニピュレーションシステムおよびマニピュレーション方法

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Publication number
JP7847383B2
JP7847383B2 JP2023543946A JP2023543946A JP7847383B2 JP 7847383 B2 JP7847383 B2 JP 7847383B2 JP 2023543946 A JP2023543946 A JP 2023543946A JP 2023543946 A JP2023543946 A JP 2023543946A JP 7847383 B2 JP7847383 B2 JP 7847383B2
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JP
Japan
Prior art keywords
sample
force
manipulator
control device
tip
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
JP2023543946A
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English (en)
Japanese (ja)
Other versions
JPWO2023027095A1 (https=
JPWO2023027095A5 (https=
Inventor
忠義 青山
俊希 藤城
和哉 坂本
佑記 舟洞
澄和 齋藤
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.)
Tokai National Higher Education and Research System NUC
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Tokai National Higher Education and Research System NUC
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Publication of JPWO2023027095A5 publication Critical patent/JPWO2023027095A5/ja
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J7/00—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • 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
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M35/00—Means for application of stress for stimulating the growth of microorganisms or the generation of fermentation or metabolic products; Means for electroporation or cell fusion
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/30—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration
    • C12M41/36—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration of biomass, e.g. colony counters or by turbidity measurements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/32—Micromanipulators structurally combined with microscopes
    • 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
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40174—Robot teleoperation through internet
    • 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
    • G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Organic Chemistry (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Zoology (AREA)
  • Genetics & Genomics (AREA)
  • Biotechnology (AREA)
  • General Health & Medical Sciences (AREA)
  • Microbiology (AREA)
  • Biomedical Technology (AREA)
  • Biochemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • Sustainable Development (AREA)
  • Human Computer Interaction (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Cell Biology (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Microscoopes, Condenser (AREA)
JP2023543946A 2021-08-27 2022-08-24 マニピュレーションシステムおよびマニピュレーション方法 Active JP7847383B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2021139395 2021-08-27
JP2021139395 2021-08-27
JP2022081752 2022-05-18
JP2022081752 2022-05-18
PCT/JP2022/031821 WO2023027095A1 (ja) 2021-08-27 2022-08-24 マニピュレーションシステムおよびマニピュレーション方法

Publications (3)

Publication Number Publication Date
JPWO2023027095A1 JPWO2023027095A1 (https=) 2023-03-02
JPWO2023027095A5 JPWO2023027095A5 (https=) 2024-05-22
JP7847383B2 true JP7847383B2 (ja) 2026-04-17

Family

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JP2023543946A Active JP7847383B2 (ja) 2021-08-27 2022-08-24 マニピュレーションシステムおよびマニピュレーション方法

Country Status (4)

Country Link
US (1) US20240391111A1 (https=)
EP (1) EP4379446A4 (https=)
JP (1) JP7847383B2 (https=)
WO (1) WO2023027095A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4737977A1 (en) 2023-06-20 2026-05-06 National University Corporation Tokai National Higher Education And Research System Manipulation system and manipulation method
WO2025191857A1 (ja) * 2024-03-15 2025-09-18 国立大学法人東海国立大学機構 マニピュレーションシステムおよびマニピュレーション方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004255493A (ja) 2003-02-25 2004-09-16 Ibaraki Univ 微細操作用マイクロマニピュレーション装置
JP2013050665A (ja) 2011-08-31 2013-03-14 National Univ Corp Shizuoka Univ 微小付着物剥離システムおよび微小付着物剥離方法
JP2020122898A (ja) 2019-01-31 2020-08-13 日本精工株式会社 マニピュレーションシステム及びマニピュレーションシステムの駆動方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
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KR100475098B1 (ko) * 2002-11-12 2005-03-11 한국과학기술연구원 단일 셀 조작을 위한 바이오 자동 조작 장치
EP1876504B1 (en) 2006-07-03 2011-09-21 Force Dimension Technologies Sàrl Active gripper for haptic devices
KR100945881B1 (ko) * 2008-01-23 2010-03-05 한국과학기술원 세포 조작용 햅틱장치
WO2012018136A1 (ja) * 2010-08-06 2012-02-09 日本精工株式会社 マニピュレータシステム及び微小操作対象物の操作方法
KR102397670B1 (ko) * 2014-03-28 2022-05-16 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 정량적 3차원 영상화에 기초한 햅틱 피드백을 갖는 수술 시스템
US10369045B2 (en) * 2014-07-29 2019-08-06 The Johns Hopkins University Micromanipulation systems and methods
US10377047B2 (en) * 2016-12-23 2019-08-13 Benchmade Knife Co., Inc. Magnetically actuated latch
WO2019222211A1 (en) * 2018-05-15 2019-11-21 Intuitive Surgical Operations, Inc. Method and apparatus for manipulating tissue
US20210208170A1 (en) * 2018-05-25 2021-07-08 Spovum Technologies Private Limited [In/In] A method for regulated manipulation of a biological sample and a system thereof
US10369701B1 (en) * 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004255493A (ja) 2003-02-25 2004-09-16 Ibaraki Univ 微細操作用マイクロマニピュレーション装置
JP2013050665A (ja) 2011-08-31 2013-03-14 National Univ Corp Shizuoka Univ 微小付着物剥離システムおよび微小付着物剥離方法
JP2020122898A (ja) 2019-01-31 2020-08-13 日本精工株式会社 マニピュレーションシステム及びマニピュレーションシステムの駆動方法

Also Published As

Publication number Publication date
US20240391111A1 (en) 2024-11-28
WO2023027095A1 (ja) 2023-03-02
JPWO2023027095A1 (https=) 2023-03-02
EP4379446A4 (en) 2025-03-26
EP4379446A1 (en) 2024-06-05

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