KR102217573B1 - 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법 - Google Patents

영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법 Download PDF

Info

Publication number
KR102217573B1
KR102217573B1 KR1020157028813A KR20157028813A KR102217573B1 KR 102217573 B1 KR102217573 B1 KR 102217573B1 KR 1020157028813 A KR1020157028813 A KR 1020157028813A KR 20157028813 A KR20157028813 A KR 20157028813A KR 102217573 B1 KR102217573 B1 KR 102217573B1
Authority
KR
South Korea
Prior art keywords
joints
motion
joint
end effector
manipulator
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
KR1020157028813A
Other languages
English (en)
Korean (ko)
Other versions
KR20150126950A (ko
Inventor
니티시 스와럽
아르장 아우어타쉬
폴 모어
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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 by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Publication of KR20150126950A publication Critical patent/KR20150126950A/ko
Application granted granted Critical
Publication of KR102217573B1 publication Critical patent/KR102217573B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1643—Program controls characterised by the control loop redundant control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/37—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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/742—Joysticks
    • 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
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • G05B2219/40339—Avoid collision
    • 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
    • G05B2219/40359—Constraint, physical limitations
    • 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
    • G05B2219/40474—Using potential fields

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
KR1020157028813A 2013-03-15 2014-03-18 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법 Active KR102217573B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361799444P 2013-03-15 2013-03-15
US61/799,444 2013-03-15
PCT/US2014/031093 WO2014146113A1 (en) 2013-03-15 2014-03-18 Systems and methods for tracking a path using the null-space

Publications (2)

Publication Number Publication Date
KR20150126950A KR20150126950A (ko) 2015-11-13
KR102217573B1 true KR102217573B1 (ko) 2021-02-19

Family

ID=50721898

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020157028813A Active KR102217573B1 (ko) 2013-03-15 2014-03-18 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법

Country Status (6)

Country Link
US (3) US9296104B2 (https=)
EP (1) EP2969406B1 (https=)
JP (1) JP6421171B2 (https=)
KR (1) KR102217573B1 (https=)
CN (2) CN105338920B (https=)
WO (1) WO2014146113A1 (https=)

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9510911B2 (en) * 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US10029367B2 (en) * 1999-09-17 2018-07-24 Intuitive Surgical Operations, Inc. System and method for managing multiple null-space objectives and constraints
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
JP6411999B2 (ja) 2012-06-01 2018-10-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術器具マニピュレータの態様
CA2879414A1 (en) 2012-08-03 2014-02-06 Stryker Corporation Systems and methods for robotic surgery
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
CN104717935B (zh) 2012-08-15 2018-04-06 直观外科手术操作公司 利用零空间取消关节运动的系统
GB201300490D0 (en) * 2013-01-11 2013-02-27 Univ Leuven Kath An apparatus and method for generating motion around a remote centre of motion
CN105338920B (zh) 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法
EP2969403B1 (en) * 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
CN105120788B (zh) * 2013-03-15 2018-10-16 直观外科手术操作公司 用于管理多个零空间目标和饱和sli行为的系统和方法
JP2016512733A (ja) 2013-03-15 2016-05-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
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
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
JP6676061B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 統合された手術台運動のためのシステム及び方法
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
JP6682512B2 (ja) 2014-10-27 2020-04-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 一体化された手術台のシステム及び方法
DE102014118001A1 (de) * 2014-12-05 2016-06-09 Broetje-Automation Gmbh Verfahren zur Bewegungssimulation eines Manipulators
DE102014226899A1 (de) * 2014-12-23 2016-06-23 Siemens Healthcare Gmbh Verfahren zum Betreiben eines medizinisch-robotischen Geräts und ein medizinisch-robotisches Gerät
DE102014226933B3 (de) * 2014-12-23 2016-03-24 Kuka Roboter Gmbh Vorrichtung und Verfahren zum Aufnehmen von Positionen
US20160202670A1 (en) * 2015-01-08 2016-07-14 Northwestern University System and method for sequential action control for nonlinear systems
DE102015101018A1 (de) 2015-01-23 2016-07-28 MAQUET GmbH Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation
JP5975129B1 (ja) 2015-03-02 2016-08-23 株式会社安川電機 ロボット
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US10327849B2 (en) 2015-11-11 2019-06-25 Mako Surgical Corp. Robotic system and method for backdriving the same
CN108601925B (zh) 2015-12-04 2021-06-29 项目莫里股份有限公司 用于导管和其他用途的输入和铰接系统
JP6673684B2 (ja) * 2015-12-11 2020-03-25 株式会社メディカロイド 遠隔操作装置及び遠隔手術システム
WO2017126076A1 (ja) * 2016-01-21 2017-07-27 オリンパス株式会社 医療用マニピュレータシステム
CN105832417B (zh) * 2016-01-22 2018-10-30 中国科学院重庆绿色智能技术研究院 一种微创手术机器人机械臂rcm机构
CN108472086B (zh) 2016-02-26 2021-07-09 直观外科手术操作公司 使用虚拟边界避免碰撞的系统和方法
US10932856B2 (en) * 2016-04-15 2021-03-02 Kawasaki Jukogyo Kabushiki Kaisha Surgical system control method and surgical system
US10065311B1 (en) * 2016-06-08 2018-09-04 X Development Llc Singularity handling for robot jogging
CN108882968B (zh) * 2016-06-09 2022-05-13 直观外科手术操作公司 计算机辅助远程操作手术系统和方法
KR102520799B1 (ko) * 2016-07-01 2023-04-12 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 의료 시스템 및 방법
CN113893032B (zh) * 2016-07-14 2024-10-15 直观外科手术操作公司 用于远程操作医疗系统中的屏幕菜单的系统和方法
US10709511B2 (en) 2016-08-16 2020-07-14 Ethicon Llc Control of jaw or clamp arm closure in concert with advancement of device
US10531929B2 (en) * 2016-08-16 2020-01-14 Ethicon Llc Control of robotic arm motion based on sensed load on cutting tool
US10390895B2 (en) 2016-08-16 2019-08-27 Ethicon Llc Control of advancement rate and application force based on measured forces
CN106584445B (zh) * 2016-12-16 2018-12-25 微创（上海）医疗机器人有限公司 不动点机构
US10251716B2 (en) * 2016-12-19 2019-04-09 Ethicon Llc Robotic surgical system with selective motion control decoupling
DE102017102621B3 (de) * 2017-02-09 2018-05-09 Franka Emika Gmbh Roboter
EP3443908B1 (de) * 2017-08-15 2021-01-06 Siemens Healthcare GmbH Verfahren zum betreiben eines röntgengeräts mit einem gelenkarm und röntgengerät mit einem gelenkarm
PL422866A1 (pl) * 2017-09-15 2019-03-25 Przemysłowy Instytut Automatyki i Pomiarów PIAP Ramię manipulatora zwłaszcza pirotechnicznego
US11259880B1 (en) * 2018-01-25 2022-03-01 Integrity Implants Inc. Guiding the trajectory of a second surgical device
CN108272509B (zh) * 2018-02-08 2023-05-02 哈尔滨工业大学深圳研究生院 一种悬吊式多操作臂系统
US10881472B2 (en) 2018-02-20 2021-01-05 Verb Surgical Inc. Correcting a robotic surgery user interface device tracking input
JP7208752B2 (ja) * 2018-09-26 2023-01-19 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察システム、医療用観察装置、および制御方法
CN111249007B (zh) * 2018-11-30 2021-09-07 上海微创医疗机器人（集团）股份有限公司 医疗机器人及其用于夹持医疗器械的机械臂
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
JP7547395B2 (ja) 2019-06-24 2024-09-09 ヴィカリアス・サージカル・インコーポレイテッド ロボットアセンブリ用の装置および方法
CN121101759A (zh) 2019-06-25 2025-12-12 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
CN114051403B (zh) 2019-06-28 2026-03-17 奥瑞斯健康公司 用于机器人系统的患者导引器
US11154985B1 (en) 2019-07-02 2021-10-26 X Development Llc Null space jog control for robotic arm
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
EP4037581A1 (en) * 2019-10-01 2022-08-10 Mako Surgical Corp. Surgical systems for guiding robotic manipulators
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
WO2021099888A1 (en) 2019-11-21 2021-05-27 Auris Health, Inc. Systems and methods for draping a surgical system
CN113119096B (zh) * 2019-12-30 2022-10-28 深圳市优必选科技股份有限公司 机械臂空间位置调整方法、装置、机械臂及存储介质
CN114901188B (zh) 2019-12-31 2026-02-17 奥瑞斯健康公司 动态滑轮系统
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
GB2624133B (en) 2020-02-25 2024-12-25 Cmr Surgical Ltd Controlling movement of a surgical robot arm
US12350829B2 (en) * 2020-03-26 2025-07-08 Auris Health, Inc. Systems and methods for constrained motion control of medical instruments
WO2021198801A1 (en) 2020-03-30 2021-10-07 Auris Health, Inc. Workspace optimization for robotic surgery
CN115605157A (zh) * 2020-03-31 2023-01-13 奥瑞斯健康公司（Us） 具有传感器集成以支持远程操作和直接手动相互作用的无源和有源臂控制方案
WO2022003485A1 (en) 2020-06-29 2022-01-06 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
CN113967075B (zh) * 2020-07-23 2025-11-18 北京术锐机器人股份有限公司 一种具有多关节定位机械臂的手术机器人系统
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US20220096169A1 (en) * 2020-09-29 2022-03-31 Carnegie Mellon University Tracking of instrument motions using an inertial measurement system
US12017369B2 (en) 2020-10-05 2024-06-25 Verb Surgical Inc. Null space control for end effector joints of a robotic instrument
CN112276953B (zh) * 2020-10-27 2021-12-28 清华大学深圳国际研究生院 连续型超冗余机械臂的臂型协同规划方法、终端设备和存储介质
CN112706165A (zh) * 2020-12-22 2021-04-27 中山大学 一种面向轮式移动机械臂的跟踪控制方法及系统
EP4271311A4 (en) * 2020-12-30 2024-12-11 Auris Health, Inc. SYSTEMS AND METHODS FOR CONTACT DETECTION AND CONTACT REACTION OF ROBOT ARMS
IT202100003431A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per controllare una teleoperazione limitata, su un sottoinsieme di gradi libertà, di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
DE202022003232U1 (de) * 2021-04-12 2025-09-09 Intuitive Surgical Operations, Inc. Kontrollierter Widerstand in rückfahrbaren Gelenken
KR20240085099A (ko) * 2021-10-22 2024-06-14 주식회사 리브스메드 수술용 로봇 암
US12076857B2 (en) * 2021-11-10 2024-09-03 Robotic Technologies Of Tennessee, Llc Method for precise, intuitive positioning of robotic welding machine
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
CN114098954B (zh) * 2021-11-11 2023-06-16 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人
CN114176790B (zh) * 2021-12-13 2023-07-18 佗道医疗科技有限公司 一种主从式机器人的离合控制方法
CN115475014B (zh) * 2022-10-21 2024-10-29 苏州心锐医疗科技有限公司 一种用于多自由度外科手术器械的锁定机构
CN115816158B (zh) * 2023-02-16 2023-04-25 成都大金航太科技股份有限公司 任意角转接加工控制系统及复杂零件非标角转接加工方法
CN119498974B (zh) * 2023-08-24 2026-03-10 上海微创医疗机器人（集团）股份有限公司 控制方法及机器人系统
WO2025099597A1 (en) * 2023-11-06 2025-05-15 Auris Health, Inc. Intraoperative excessive body wall force detection and mitigation
WO2025101815A1 (en) * 2023-11-09 2025-05-15 The Regents Of The University Of California Intraocular robotic surgical system
JP2025152924A (ja) * 2024-03-28 2025-10-10 川崎重工業株式会社 ポート配置決定装置、手術ロボットシステムおよびその制御方法
CN119632687B (zh) * 2025-02-20 2025-05-30 杭州唯精医疗机器人有限公司 手术机器人的操纵杆零位标定方法及相关装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US20120123441A1 (en) 2010-11-12 2012-05-17 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06143172A (ja) * 1992-10-30 1994-05-24 Fujitsu Ltd 冗長マニピュレータの制御方式
JPH0852674A (ja) * 1994-08-12 1996-02-27 Kobe Steel Ltd マニピュレータの位置姿勢決定方法
US6786896B1 (en) * 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
US7607440B2 (en) * 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
JP2004094399A (ja) * 2002-08-29 2004-03-25 Mitsubishi Heavy Ind Ltd 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム
EP3395508A1 (en) * 2005-06-30 2018-10-31 Intuitive Surgical Operations Inc. Indicator for tool state communication in multi-arm robotic telesurgery
US7668356B2 (en) * 2005-08-03 2010-02-23 Siemens Medical Solutions Usa, Inc. Automatic determination of joint space width from hand radiographs
US8864652B2 (en) * 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
CN101710355B (zh) * 2009-12-17 2012-01-25 同济大学 基于雅克比旋量的实际工况公差建模方法
US8668638B2 (en) * 2010-02-11 2014-03-11 Intuitive Surgical Operations, Inc. Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope
US8764448B2 (en) * 2010-09-01 2014-07-01 Agency For Science, Technology And Research Robotic device for use in image-guided robot assisted surgical training
EP2785267B1 (en) 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
CN105338920B (zh) 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US20120123441A1 (en) 2010-11-12 2012-05-17 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments

Also Published As

Publication number Publication date
CN105338920B (zh) 2018-01-26
CN105338920A (zh) 2016-02-17
US20160263746A1 (en) 2016-09-15
EP2969406A1 (en) 2016-01-20
CN108143497A (zh) 2018-06-12
US10071479B2 (en) 2018-09-11
US20170246743A1 (en) 2017-08-31
JP2016515405A (ja) 2016-05-30
US9296104B2 (en) 2016-03-29
CN108143497B (zh) 2020-06-26
US20140276953A1 (en) 2014-09-18
JP6421171B2 (ja) 2018-11-07
US9610689B2 (en) 2017-04-04
WO2014146113A9 (en) 2014-12-18
WO2014146113A1 (en) 2014-09-18
EP2969406B1 (en) 2022-09-21
KR20150126950A (ko) 2015-11-13

Similar Documents

Publication Publication Date Title
KR102217573B1 (ko) 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
US12064197B2 (en) System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
KR102214809B1 (ko) 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법
KR102214811B1 (ko) 매니퓰레이터 조인트 운동을 비등방적으로 증폭시키기 위해 영공간을 이용하는 시스템 및 방법
US11213360B2 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
KR102167359B1 (ko) 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
KR102164195B1 (ko) 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

D14-X000 Search report completed

St.27 status event code: A-1-2-D10-D14-srh-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-OTH-PR1001 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 6