JPWO2021112193A1 - - Google Patents

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Publication number
JPWO2021112193A1
JPWO2021112193A1 JP2021562727A JP2021562727A JPWO2021112193A1 JP WO2021112193 A1 JPWO2021112193 A1 JP WO2021112193A1 JP 2021562727 A JP2021562727 A JP 2021562727A JP 2021562727 A JP2021562727 A JP 2021562727A JP WO2021112193 A1 JPWO2021112193 A1 JP WO2021112193A1
Authority
JP
Japan
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.)
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Application number
JP2021562727A
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Japanese (ja)
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JPWO2021112193A5 (https=
JP7402894B2 (ja
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Publication of JPWO2021112193A5 publication Critical patent/JPWO2021112193A5/ja
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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
    • A61B34/37—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
    • A61B34/30—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2021562727A 2019-12-05 2020-12-03 外科手術システム及び外科手術マニピュレータアームの制御方法 Active JP7402894B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019220284 2019-12-05
JP2019220284 2019-12-05
PCT/JP2020/045098 WO2021112193A1 (ja) 2019-12-05 2020-12-03 外科手術システム及び外科手術マニピュレータアームの制御方法

Publications (3)

Publication Number Publication Date
JPWO2021112193A1 true JPWO2021112193A1 (https=) 2021-06-10
JPWO2021112193A5 JPWO2021112193A5 (https=) 2022-08-04
JP7402894B2 JP7402894B2 (ja) 2023-12-21

Family

ID=76220946

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021562727A Active JP7402894B2 (ja) 2019-12-05 2020-12-03 外科手術システム及び外科手術マニピュレータアームの制御方法

Country Status (4)

Country Link
US (1) US12324639B2 (https=)
EP (1) EP4070754A4 (https=)
JP (1) JP7402894B2 (https=)
WO (1) WO2021112193A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021112193A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法
CN114098952A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098951A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098957A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
CN114098992A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备以及手术机器人
JP2024022305A (ja) * 2022-08-05 2024-02-16 川崎重工業株式会社 手術支援ロボット
JP2025152922A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 手術ロボットシステムおよびその制御方法
JP2025152919A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 手術ロボットシステムおよびその制御方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017104452A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体
WO2017179624A1 (ja) * 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
JP2018020004A (ja) * 2016-08-05 2018-02-08 株式会社メディカロイド 医療用器具把持機構
WO2019128494A1 (zh) * 2017-12-27 2019-07-04 微创（上海）医疗机器人有限公司 手术机器人终端

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US4975856A (en) * 1986-02-18 1990-12-04 Robotics Research Corporation Motion controller for redundant or nonredundant linkages
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US9345544B2 (en) * 1999-09-17 2016-05-24 Intuitive Surgical Operations, Inc. Systems and methods for avoiding collisions between manipulator arms using a null-space
US7763015B2 (en) * 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US7837674B2 (en) * 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
JP5537204B2 (ja) * 2010-03-23 2014-07-02 オリンパス株式会社 医療用マニピュレータシステム
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
US12133699B2 (en) * 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
EP3112096B1 (en) * 2014-02-28 2020-10-14 Sony Corporation Robot arm apparatus, calibration method, and program
GB2523831B (en) * 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
EP3868326B1 (en) * 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
WO2016044574A1 (en) * 2014-09-17 2016-03-24 Intuitive Surgical Operations, Inc. Systems and methods for utilizing augmented jacobian to control manipulator joint movement
CA2966837C (en) * 2014-11-14 2023-03-28 Medineering Gmbh Intelligent holding arm for head surgery, with touch-sensitive operation
US10154886B2 (en) * 2016-01-06 2018-12-18 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
WO2018075527A1 (en) * 2016-10-18 2018-04-26 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods
JP2020512116A (ja) * 2017-03-31 2020-04-23 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． マーカーレスロボット追跡システム、制御装置、及び方法
US11116600B2 (en) * 2017-09-01 2021-09-14 Koh Young Technology Inc. Medical arm assembly
US10779901B2 (en) 2017-09-18 2020-09-22 Verb Surgical Inc. Robotic surgical system having a communication network of a ring topology and method for use therewith
WO2019191265A1 (en) * 2018-03-29 2019-10-03 Auris Health, Inc. Robotically-enabled medical systems with multifunction end effectors having rotational offsets
US11553973B2 (en) * 2019-07-29 2023-01-17 Verb Surgical Inc. Robotic arm having an extendable prismatic link
GB2589380B (en) * 2019-11-29 2024-02-21 Cmr Surgical Ltd Controlling a surgical instrument
WO2021112193A1 (ja) * 2019-12-05 2021-06-10 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017104452A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体
WO2017179624A1 (ja) * 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
JP2018020004A (ja) * 2016-08-05 2018-02-08 株式会社メディカロイド 医療用器具把持機構
WO2019128494A1 (zh) * 2017-12-27 2019-07-04 微创（上海）医疗机器人有限公司 手术机器人终端

Also Published As

Publication number Publication date
EP4070754A4 (en) 2024-01-17
EP4070754A1 (en) 2022-10-12
JP7402894B2 (ja) 2023-12-21
US20230000572A1 (en) 2023-01-05
US12324639B2 (en) 2025-06-10
WO2021112193A1 (ja) 2021-06-10

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