KR102059496B1 - 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택 - Google Patents

오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택 Download PDF

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KR102059496B1
KR102059496B1 KR1020147019794A KR20147019794A KR102059496B1 KR 102059496 B1 KR102059496 B1 KR 102059496B1 KR 1020147019794 A KR1020147019794 A KR 1020147019794A KR 20147019794 A KR20147019794 A KR 20147019794A KR 102059496 B1 KR102059496 B1 KR 102059496B1
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robotic system
input devices
operating
modes
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KR20140126301A (ko
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니콜라 디올라이티
다니엘 에이치 고메즈
프로발 미트라
타비쉬 무스투파
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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    • 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
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/30—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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/04—Foot-operated 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00973—Surgical instruments, devices or methods pedal-operated
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
KR1020147019794A 2012-02-15 2013-02-15 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택 Active KR102059496B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261599237P 2012-02-15 2012-02-15
US61/599,237 2012-02-15
PCT/US2013/026316 WO2013123310A1 (en) 2012-02-15 2013-02-15 User selection of robotic system operating modes using mode distinguishing operator actions

Related Child Applications (1)

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KR1020197037596A Division KR102164186B1 (ko) 2012-02-15 2013-02-15 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택

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KR20140126301A KR20140126301A (ko) 2014-10-30
KR102059496B1 true KR102059496B1 (ko) 2019-12-26

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KR1020197037596A Active KR102164186B1 (ko) 2012-02-15 2013-02-15 오퍼레이터 작용을 구별하는 방식을 이용하는 로봇 시스템 작동 모드의 사용자 선택

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US (3) US9586323B2 (enExample)
EP (3) EP2814642B1 (enExample)
JP (3) JP6250566B2 (enExample)
KR (2) KR102059496B1 (enExample)
CN (3) CN111449756B (enExample)
WO (1) WO2013123310A1 (enExample)

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CN107174341B (zh) 2020-05-05
KR20140126301A (ko) 2014-10-30
JP6487019B2 (ja) 2019-03-20
JP2018034017A (ja) 2018-03-08
EP2814642B1 (en) 2018-11-14
EP3950237B1 (en) 2024-07-31
US9586323B2 (en) 2017-03-07
JP6250566B2 (ja) 2017-12-20
US20170129108A1 (en) 2017-05-11
US10532467B2 (en) 2020-01-14
KR20200005666A (ko) 2020-01-15
EP2814642A4 (en) 2015-08-12
EP3950237A1 (en) 2022-02-09
JP2015508682A (ja) 2015-03-23
EP3459694B1 (en) 2021-09-22
WO2013123310A1 (en) 2013-08-22
JP6782801B2 (ja) 2020-11-11
EP3459694A1 (en) 2019-03-27
KR102164186B1 (ko) 2020-10-13
CN104105577A (zh) 2014-10-15
EP2814642A1 (en) 2014-12-24
US20200139556A1 (en) 2020-05-07
US20130211590A1 (en) 2013-08-15
CN111449756B (zh) 2023-06-16
CN104105577B (zh) 2017-06-27
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CN107174341A (zh) 2017-09-19
US10836045B2 (en) 2020-11-17

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