JPWO2021172572A1 - - Google Patents

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Publication number
JPWO2021172572A1
JPWO2021172572A1 JP2022503375A JP2022503375A JPWO2021172572A1 JP WO2021172572 A1 JPWO2021172572 A1 JP WO2021172572A1 JP 2022503375 A JP2022503375 A JP 2022503375A JP 2022503375 A JP2022503375 A JP 2022503375A JP WO2021172572 A1 JPWO2021172572 A1 JP WO2021172572A1
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.)
Granted
Application number
JP2022503375A
Other languages
Japanese (ja)
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JP7730107B2 (ja
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Publication date
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Publication of JPWO2021172572A1 publication Critical patent/JPWO2021172572A1/ja
Application granted granted Critical
Publication of JP7730107B2 publication Critical patent/JP7730107B2/ja
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Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/20—Education

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Tourism & Hospitality (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Primary Health Care (AREA)
  • Strategic Management (AREA)
  • General Business, Economics & Management (AREA)
  • Economics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2022503375A 2020-02-27 2021-02-26 習得支援システム、習得支援方法、及び習得支援プログラム Active JP7730107B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020032474 2020-02-27
JP2020032474 2020-02-27
PCT/JP2021/007565 WO2021172572A1 (ja) 2020-02-27 2021-02-26 習得支援システム、習得支援方法、及び習得支援プログラム

Publications (2)

Publication Number Publication Date
JPWO2021172572A1 true JPWO2021172572A1 (https=) 2021-09-02
JP7730107B2 JP7730107B2 (ja) 2025-08-27

Family

ID=77491636

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022503375A Active JP7730107B2 (ja) 2020-02-27 2021-02-26 習得支援システム、習得支援方法、及び習得支援プログラム

Country Status (3)

Country Link
US (1) US12562076B2 (https=)
JP (1) JP7730107B2 (https=)
WO (1) WO2021172572A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12498789B2 (en) 2021-06-25 2025-12-16 Keio University Operational data management system, operational data management method, and storage medium

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001067113A (ja) * 1999-08-30 2001-03-16 Toshiba Corp プラント操作評価システム
JP2002287613A (ja) * 2001-03-28 2002-10-04 Toshiba Corp 操作訓練用装置
JP2003340752A (ja) * 2002-05-21 2003-12-02 Toshiba Corp 医療用マニピュレータ
JP2005515012A (ja) * 2002-01-16 2005-05-26 コンピュータ・モーション・インコーポレーテッド ロボット工学およびテレコラボレーションを使用した最小侵襲性外科訓練
JP2005287656A (ja) * 2004-03-31 2005-10-20 Nagoya Kogyo Univ 力触覚を活用した鍼治療訓練システム
JP2014215563A (ja) * 2013-04-26 2014-11-17 学校法人自治医科大学 手技シミュレータ
US20180185110A1 (en) * 1998-11-20 2018-07-05 Intuitive Surgical Operations, Inc. Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures
US20180250086A1 (en) * 2017-03-02 2018-09-06 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station
JP2019030960A (ja) * 2013-09-19 2019-02-28 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム

Family Cites Families (29)

* Cited by examiner, † Cited by third party
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JP3230615B2 (ja) 1992-11-30 2001-11-19 オリンパス光学工業株式会社 触診装置
JP3248821B2 (ja) 1994-11-18 2002-01-21 敏男 福田 アクチュエータの作動方法及び装置
JP3722994B2 (ja) 1998-07-24 2005-11-30 大日本印刷株式会社 物体の接触感シミュレーション装置
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
JP4403474B2 (ja) 1999-12-09 2010-01-27 ソニー株式会社 触覚提示機構及びこれを用いた力触覚提示装置
JP2002312003A (ja) 2001-04-13 2002-10-25 Yaskawa Electric Corp サーボ制御方法
JP4048999B2 (ja) 2003-04-15 2008-02-20 セイコーエプソン株式会社 画像処理装置及び画像処理方法
US7672741B2 (en) 2003-07-24 2010-03-02 Keio University Position/force control device
JP4613861B2 (ja) 2006-03-30 2011-01-19 アイシン・エィ・ダブリュ株式会社 電動駆動制御装置及び電動駆動制御方法
WO2009035100A1 (ja) 2007-09-14 2009-03-19 National Institute Of Advanced Industrial Science And Technology バーチャルリアリティ環境生成装置及びコントローラ装置
US11325029B2 (en) 2007-09-14 2022-05-10 National Institute Of Advanced Industrial Science And Technology Virtual reality environment generating apparatus and controller apparatus
JP5011067B2 (ja) 2007-10-31 2012-08-29 株式会社東芝 マニピュレータシステム
JP2009279699A (ja) 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 位置・力再現方法および位置・力再現装置
JP5761730B2 (ja) 2010-01-28 2015-08-12 長崎県公立大学法人 身体技能習得支援装置
US9770828B2 (en) * 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
WO2013108356A1 (ja) 2012-01-16 2013-07-25 三菱電機株式会社 モータ制御装置
US9492920B2 (en) * 2014-06-16 2016-11-15 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for controlling master-slave robot
US11227509B2 (en) * 2014-12-29 2022-01-18 Help Me See Inc. Surgical simulator systems and methods
US20180350086A1 (en) 2017-05-31 2018-12-06 Qualcomm Incorporated System And Method Of Dynamically Filtering Depth Estimates To Generate A Volumetric Map Of A Three-Dimensional Environment Having An Adjustable Maximum Depth
JP7018759B2 (ja) 2017-12-14 2022-02-14 学校法人慶應義塾 位置・力制御装置
US11659023B2 (en) * 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
JP6964293B2 (ja) 2018-03-08 2021-11-10 地方独立行政法人神奈川県立産業技術総合研究所 力触覚伝達システム、力触覚伝達方法及びプログラム
JP6730363B2 (ja) * 2018-04-13 2020-07-29 ファナック株式会社 操作訓練システム
JP7347774B2 (ja) 2018-07-06 2023-09-20 地方独立行政法人神奈川県立産業技術総合研究所 医療用把持装置
JP7369383B2 (ja) 2018-09-03 2023-10-26 慶應義塾 機能生成装置、機能生成方法及びプログラム
WO2020130091A1 (ja) * 2018-12-21 2020-06-25 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
WO2020162619A1 (ja) 2019-02-07 2020-08-13 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム
US11213361B2 (en) * 2019-03-15 2022-01-04 Cilag Gmbh International Robotic surgical systems with mechanisms for scaling surgical tool motion according to tissue proximity
WO2021025087A1 (ja) 2019-08-05 2021-02-11 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180185110A1 (en) * 1998-11-20 2018-07-05 Intuitive Surgical Operations, Inc. Multi-User Medical Robotic System for Collaboration or Training in Minimally Invasive Surgical Procedures
JP2001067113A (ja) * 1999-08-30 2001-03-16 Toshiba Corp プラント操作評価システム
JP2002287613A (ja) * 2001-03-28 2002-10-04 Toshiba Corp 操作訓練用装置
JP2005515012A (ja) * 2002-01-16 2005-05-26 コンピュータ・モーション・インコーポレーテッド ロボット工学およびテレコラボレーションを使用した最小侵襲性外科訓練
JP2003340752A (ja) * 2002-05-21 2003-12-02 Toshiba Corp 医療用マニピュレータ
JP2005287656A (ja) * 2004-03-31 2005-10-20 Nagoya Kogyo Univ 力触覚を活用した鍼治療訓練システム
JP2014215563A (ja) * 2013-04-26 2014-11-17 学校法人自治医科大学 手技シミュレータ
JP2019030960A (ja) * 2013-09-19 2019-02-28 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム
US20180250086A1 (en) * 2017-03-02 2018-09-06 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station

Also Published As

Publication number Publication date
US12562076B2 (en) 2026-02-24
WO2021172572A1 (ja) 2021-09-02
JP7730107B2 (ja) 2025-08-27
US20230141048A1 (en) 2023-05-11

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