JPWO2021206153A1 - - Google Patents

Info

Publication number
JPWO2021206153A1
JPWO2021206153A1 JP2022514124A JP2022514124A JPWO2021206153A1 JP WO2021206153 A1 JPWO2021206153 A1 JP WO2021206153A1 JP 2022514124 A JP2022514124 A JP 2022514124A JP 2022514124 A JP2022514124 A JP 2022514124A JP WO2021206153 A1 JPWO2021206153 A1 JP WO2021206153A1
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.)
Pending
Application number
JP2022514124A
Other languages
Japanese (ja)
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 filed Critical
Publication of JPWO2021206153A1 publication Critical patent/JPWO2021206153A1/ja
Priority to JP2024172368A priority Critical patent/JP2025011156A/ja
Pending legal-status Critical Current

Links

Classifications

    • 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
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/0045—Devices for taking samples of body liquids
    • 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
    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • 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
    • 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
    • B25J11/008—Manipulators for service tasks
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/0045—Devices for taking samples of body liquids
    • A61B10/0051—Devices for taking samples of body liquids for taking saliva or sputum samples
    • 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
    • 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
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • A61B90/70—Cleaning devices specially adapted for surgical instruments

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Hematology (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Numerical Control (AREA)
JP2022514124A 2020-04-10 2021-04-08 Pending JPWO2021206153A1 (https=)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024172368A JP2025011156A (ja) 2020-04-10 2024-10-01 ロボットシステム及びその運転方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020071340 2020-04-10
JP2020094589 2020-05-29
PCT/JP2021/014954 WO2021206153A1 (ja) 2020-04-10 2021-04-08 ロボットシステム及びその運転方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2024172368A Division JP2025011156A (ja) 2020-04-10 2024-10-01 ロボットシステム及びその運転方法

Publications (1)

Publication Number Publication Date
JPWO2021206153A1 true JPWO2021206153A1 (https=) 2021-10-14

Family

ID=78022557

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2022514124A Pending JPWO2021206153A1 (https=) 2020-04-10 2021-04-08
JP2021121765A Active JP7735107B2 (ja) 2020-04-10 2021-07-26 ロボットシステムおよびロボットシステムの制御方法
JP2024172368A Pending JP2025011156A (ja) 2020-04-10 2024-10-01 ロボットシステム及びその運転方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2021121765A Active JP7735107B2 (ja) 2020-04-10 2021-07-26 ロボットシステムおよびロボットシステムの制御方法
JP2024172368A Pending JP2025011156A (ja) 2020-04-10 2024-10-01 ロボットシステム及びその運転方法

Country Status (6)

Country Link
US (1) US20230339115A1 (https=)
EP (1) EP4134204A4 (https=)
JP (3) JPWO2021206153A1 (https=)
CN (1) CN115379815A (https=)
TW (2) TWI804847B (https=)
WO (2) WO2021206153A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114505839B (zh) * 2022-02-25 2023-09-26 南京航空航天大学 一种面向核酸采样的主从式机器人系统
KR102715765B1 (ko) * 2022-03-15 2024-10-11 한국기계연구원 검진도구 삽입 시스템 및 이를 이용한 검진도구 삽입방법
KR102715764B1 (ko) * 2022-03-15 2024-10-11 한국기계연구원 스왑부의 삽입 판단시스템, 이를 포함하는 스왑 가이드 시스템 및 스왑 가이드 시스템을 이용한 스왑 가이드 방법
CN114833799B (zh) * 2022-04-26 2024-01-02 浙江大学 一种用于养殖场动物唾液样本无人化采集的机器人和方法
CN115406706B (zh) * 2022-11-03 2023-05-09 君华高科集团有限公司 一种基于图像识别的全自动食材取样机器人
JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム

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JPH10137173A (ja) * 1996-11-13 1998-05-26 Olympus Optical Co Ltd 医療機器カート
JP2005288628A (ja) * 2004-03-31 2005-10-20 Matsushita Electric Works Ltd 移動ロボットシステム
JP2007181670A (ja) * 2005-12-30 2007-07-19 Intuitive Surgical Inc ３次元テレストレーションを提供する医療ロボットシステム
JP2011194163A (ja) * 2010-03-23 2011-10-06 Olympus Corp 医療用マニピュレータシステム
JPWO2017002143A1 (ja) * 2015-06-29 2018-04-19 川崎重工業株式会社 手術ロボット
CN108942952A (zh) * 2018-04-23 2018-12-07 杨水祥 一种医疗机器人
WO2019113389A1 (en) * 2017-12-08 2019-06-13 Auris Health, Inc. Directed fluidics
WO2020065209A1 (fr) * 2018-09-27 2020-04-02 Quantum Surgical Robot médical comportant des moyens de positionnement automatique
US20200101615A1 (en) * 2010-05-24 2020-04-02 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone

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JP4212057B2 (ja) 2005-11-11 2009-01-21 株式会社アステックコーポレーション 採血システム
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FR2953119B1 (fr) * 2009-12-01 2012-07-27 Gen Electric Base mobile et appareil a rayons x monte sur une telle base mobile
JP2012120812A (ja) * 2010-12-06 2012-06-28 Advas Co Ltd 歯科治療におけるビデオカメラによる治療支援システム
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JP2015016300A (ja) * 2013-06-13 2015-01-29 キヤノン株式会社 生検支援装置及び生検支援方法
KR20160095913A (ko) * 2015-02-04 2016-08-12 삼성전자주식회사 엑스선 촬영 장치 및 그 제어 방법
WO2017015207A1 (en) * 2015-07-23 2017-01-26 Think Surgical, Inc. Protective drape for robotic systems
WO2017082047A1 (ja) * 2015-11-13 2017-05-18 オリンパス株式会社 内視鏡システム
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JPH10137173A (ja) * 1996-11-13 1998-05-26 Olympus Optical Co Ltd 医療機器カート
JP2005288628A (ja) * 2004-03-31 2005-10-20 Matsushita Electric Works Ltd 移動ロボットシステム
JP2007181670A (ja) * 2005-12-30 2007-07-19 Intuitive Surgical Inc ３次元テレストレーションを提供する医療ロボットシステム
JP2011194163A (ja) * 2010-03-23 2011-10-06 Olympus Corp 医療用マニピュレータシステム
US20200101615A1 (en) * 2010-05-24 2020-04-02 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone
JPWO2017002143A1 (ja) * 2015-06-29 2018-04-19 川崎重工業株式会社 手術ロボット
WO2019113389A1 (en) * 2017-12-08 2019-06-13 Auris Health, Inc. Directed fluidics
CN108942952A (zh) * 2018-04-23 2018-12-07 杨水祥 一种医疗机器人
WO2020065209A1 (fr) * 2018-09-27 2020-04-02 Quantum Surgical Robot médical comportant des moyens de positionnement automatique
JP2022501090A (ja) * 2018-09-27 2022-01-06 クアンタム サージカル 自動位置決め手段を備えた医療ロボット

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KRUPA ,ALEXANDRE ET AL.: "Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual se", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 19, no. 5, JPN6021019333, 2003, pages 842 - 853, ISSN: 0005093235 *
鐘南山氏のチームなどがスマート化咽頭拭いロボットシステムを開発, JPN6021024533, 10 March 2020 (2020-03-10), ISSN: 0005212181 *

Also Published As

Publication number Publication date
CN115379815A (zh) 2022-11-22
JP2025011156A (ja) 2025-01-23
JP2021184803A (ja) 2021-12-09
EP4134204A4 (en) 2024-05-29
US20230339115A1 (en) 2023-10-26
TWI804847B (zh) 2023-06-11
TW202144145A (zh) 2021-12-01
EP4134204A1 (en) 2023-02-15
TWI801839B (zh) 2023-05-11
JP7735107B2 (ja) 2025-09-08
TW202144146A (zh) 2021-12-01
WO2021206149A1 (ja) 2021-10-14
WO2021206153A1 (ja) 2021-10-14

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