KR102375479B1 - 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법 - Google Patents

수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법 Download PDF

Info

Publication number
KR102375479B1
KR102375479B1 KR1020167025199A KR20167025199A KR102375479B1 KR 102375479 B1 KR102375479 B1 KR 102375479B1 KR 1020167025199 A KR1020167025199 A KR 1020167025199A KR 20167025199 A KR20167025199 A KR 20167025199A KR 102375479 B1 KR102375479 B1 KR 102375479B1
Authority
KR
South Korea
Prior art keywords
joint
passive
robot arm
motion
platform
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
KR1020167025199A
Other languages
English (en)
Korean (ko)
Other versions
KR20160132848A (ko
Inventor
폴 지 그리피쓰
폴 드블유 모어
브랜든 디 잇코비츠
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 KR20160132848A publication Critical patent/KR20160132848A/ko
Application granted granted Critical
Publication of KR102375479B1 publication Critical patent/KR102375479B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A61B34/35—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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation
    • 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
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
KR1020167025199A 2014-03-17 2015-03-17 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법 Active KR102375479B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954537P 2014-03-17 2014-03-17
US61/954,537 2014-03-17
PCT/US2015/020896 WO2015142801A1 (en) 2014-03-17 2015-03-17 Methods of controlling motion of under-actuated joints in a surgical set-up structure

Publications (2)

Publication Number Publication Date
KR20160132848A KR20160132848A (ko) 2016-11-21
KR102375479B1 true KR102375479B1 (ko) 2022-03-18

Family

ID=54145197

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020167025199A Active KR102375479B1 (ko) 2014-03-17 2015-03-17 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법

Country Status (6)

Country Link
US (2) US10022196B2 (https=)
EP (1) EP3119336B1 (https=)
JP (1) JP6486380B2 (https=)
KR (1) KR102375479B1 (https=)
CN (1) CN106132335B (https=)
WO (1) WO2015142801A1 (https=)

Families Citing this family (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015142801A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods of controlling motion of under-actuated joints in a surgical set-up structure
CN106456257B (zh) * 2014-05-13 2019-11-05 柯惠Lp公司 手术机器人手臂支撑系统及使用方法
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
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
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
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
WO2016069660A1 (en) * 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
KR20170128327A (ko) * 2015-03-17 2017-11-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수동 조인트 위치 결정 동안 피드백을 제공하는 시스템 및 방법
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
US10154886B2 (en) 2016-01-06 2018-12-18 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10130429B1 (en) 2016-01-06 2018-11-20 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10219868B2 (en) 2016-01-06 2019-03-05 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
JP6527095B2 (ja) * 2016-03-25 2019-06-05 ファナック株式会社 ブレーキトルク増減機能を有するモータ及び機構部
CN106113009B (zh) * 2016-07-14 2019-02-12 中国地质大学（武汉） 一种多功能平面机械臂系统
JP7550513B2 (ja) * 2016-12-07 2024-09-13 コーニンクレッカ フィリップス エヌ ヴェ 依存外科用ロボットアームの自動動き制御
CN110114019B (zh) * 2016-12-08 2022-04-12 安托踏实公司 用于根据至少一个目标平面切割解剖结构的外科系统
WO2018104439A1 (en) 2016-12-08 2018-06-14 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
US11633233B2 (en) 2016-12-08 2023-04-25 Orthotaxy S.A.S. Surgical system for cutting an anatomical structure according to at least one target cutting plane
CN106959763B (zh) * 2017-05-05 2023-12-12 上海每时每刻文化传播有限公司 虚拟现实体验设备及控制系统
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) * 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
CN107263543B (zh) * 2017-06-27 2021-05-28 深圳儒博智能科技有限公司 一种机器人关节的校准方法和计算装置
EP3678576A4 (en) * 2017-09-05 2021-05-12 Covidien LP CONTROL ARM WITH DOUBLE ENCODERS FOR SURGICAL ROBOTIC SYSTEM
US11666402B2 (en) * 2017-10-02 2023-06-06 Intuitive Surgical Operations, Inc. End effector force feedback to master controller
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
US10807242B2 (en) * 2017-12-13 2020-10-20 Verb Surgical Inc. Control modes and processes for positioning of a robotic manipulator
EP3684268B1 (en) * 2017-12-13 2024-11-13 Verb Surgical Inc. Control modes for positioning of a robotic manipulator
CN111315312A (zh) * 2018-01-04 2020-06-19 柯惠Lp公司 包括扭矩传感器的机器人外科系统
WO2019186563A1 (en) * 2018-03-29 2019-10-03 Human Xtensions Ltd. Control unit for a medical device
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
CN109262652B (zh) * 2018-09-06 2022-01-07 上海大学 一种用于多杆件多关节机构的干涉检测预警方法
JP6469304B1 (ja) * 2018-10-23 2019-02-13 株式会社A−Traction 手術支援装置、その制御方法及びプログラム
US11717366B2 (en) * 2018-12-26 2023-08-08 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator
WO2020185930A1 (en) * 2019-03-11 2020-09-17 Smith & Nephew, Inc. Systems and methods associated with passive robotic arm
WO2020185797A1 (en) * 2019-03-14 2020-09-17 Covidien Lp Instrument drive unit torque compensation using inertial measurement unit
CN115087407B (zh) 2019-12-05 2025-05-30 摩门提斯外科有限公司 机械外科手术臂的双重控制
JP2021091060A (ja) * 2019-12-12 2021-06-17 セイコーエプソン株式会社 制御方法およびロボットシステム
IL272830B2 (en) * 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
JP7462437B2 (ja) * 2020-03-09 2024-04-05 株式会社東芝 ロボットシステム、パラレルリンク機構、制御方法、制御装置、プログラム、及び記憶媒体
DE102020204532B4 (de) * 2020-04-08 2025-02-27 Carl Zeiss Industrielle Messtechnik Gmbh Lagemessung bei einer Positioniervorrichtung
US12133706B2 (en) * 2020-04-28 2024-11-05 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
GB2596812B (en) * 2020-07-06 2024-05-29 Cmr Surgical Ltd Joint control in a mechanical system
EP4188261A2 (en) * 2020-07-28 2023-06-07 Intuitive Surgical Operations, Inc. Systems and methods for selecting assignments for components of computer-assisted devices
CN112207823B (zh) * 2020-09-22 2023-07-25 北京石油化工学院 一种康复机器人等速运动控制方法及系统
WO2022146995A1 (en) * 2020-12-28 2022-07-07 Smith & Nephew, Inc. Surgical system for cutting with navigated assistance
JP7712117B2 (ja) * 2021-06-08 2025-07-23 川崎重工業株式会社 手術支援システム、操作者側装置および手術支援システムの制御方法
EP4391948A1 (en) * 2021-08-27 2024-07-03 Covidien LP Semi-automatic positioning of multiple passive joints in a robotic system
CN114469355A (zh) * 2021-12-29 2022-05-13 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人及保持rc点不变的方法
CN116650129B (zh) * 2023-05-19 2025-12-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术机器人系统及手术机器人系统的控制处理设备
WO2025235859A1 (en) * 2024-05-10 2025-11-13 Intuitive Surgical Operations, Inc. System and method for adjusting the kinematic configuration of under-actuated structures

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000007503A1 (en) 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US20010001132A1 (en) 1995-04-21 2001-05-10 Janez Funda Method of constrained cartesian control of robotic mechanisms with active and passive joints
US20140031983A1 (en) 2011-03-23 2014-01-30 Sri International Dexterous telemanipulator system
US20140052153A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Movable surgical mounting platform controlled by manual motion of robotic arms

Family Cites Families (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4604787A (en) * 1984-08-15 1986-08-12 Transamerica Delaval Inc. Tool changer for manipulator arm
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5377310A (en) 1992-04-03 1994-12-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Controlling under-actuated robot arms using a high speed dynamics
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5923139A (en) * 1996-02-23 1999-07-13 Northwestern University Passive robotic constraint devices using non-holonomic transmission elements
US5799055A (en) * 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6434507B1 (en) * 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6793652B1 (en) * 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US6645196B1 (en) * 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
US7883458B2 (en) * 2003-06-27 2011-02-08 Stryker Corporation System for remotely controlling two or more medical devices
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20050193451A1 (en) * 2003-12-30 2005-09-01 Liposonix, Inc. Articulating arm for medical procedures
WO2007111749A2 (en) * 2005-12-20 2007-10-04 Intuitive Surgical, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
JP2009539509A (ja) * 2006-06-14 2009-11-19 マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド 直角プーリ駆動機構付きの手術マニピュレータ
US9179984B2 (en) * 2007-02-19 2015-11-10 Medtronic Navigation, Inc. Multi-configuration tracking array and related method
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8444631B2 (en) * 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US20090076476A1 (en) * 2007-08-15 2009-03-19 Hansen Medical, Inc. Systems and methods employing force sensing for mapping intra-body tissue
KR20110030034A (ko) * 2009-09-17 2011-03-23 주식회사 이턴 수술용 로봇
CA2897462A1 (en) * 2009-02-11 2010-05-04 Certusview Technologies, Llc Management system, and associated methods and apparatus, for providing automatic assessment of a locate operation
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
WO2010148083A2 (en) * 2009-06-16 2010-12-23 Surgivision, Inc. Mri-guided devices and mri-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time
US20110082452A1 (en) * 2009-10-02 2011-04-07 Cardiofocus, Inc. Cardiac ablation system with automatic safety shut-off feature
WO2011109041A1 (en) 2010-03-04 2011-09-09 Mako Surgical Corp. System with brake to limit manual movement of member and control system for same
US20110295247A1 (en) * 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated minimally invasive therapy using radiometry
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US8672837B2 (en) * 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
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
CN107961076B (zh) * 2012-08-15 2020-07-07 直观外科手术操作公司 使用者启动的手术安装平台的断开式离合
WO2015142801A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods of controlling motion of under-actuated joints in a surgical set-up structure

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010001132A1 (en) 1995-04-21 2001-05-10 Janez Funda Method of constrained cartesian control of robotic mechanisms with active and passive joints
WO2000007503A1 (en) 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US20140031983A1 (en) 2011-03-23 2014-01-30 Sri International Dexterous telemanipulator system
US20140052153A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Movable surgical mounting platform controlled by manual motion of robotic arms

Also Published As

Publication number Publication date
US20170079731A1 (en) 2017-03-23
US10709515B2 (en) 2020-07-14
WO2015142801A1 (en) 2015-09-24
EP3119336A1 (en) 2017-01-25
CN106132335B (zh) 2019-08-30
CN106132335A (zh) 2016-11-16
JP2017512552A (ja) 2017-05-25
US20180280098A1 (en) 2018-10-04
KR20160132848A (ko) 2016-11-21
JP6486380B2 (ja) 2019-03-20
EP3119336A4 (en) 2017-11-15
US10022196B2 (en) 2018-07-17
EP3119336B1 (en) 2024-10-23

Similar Documents

Publication Publication Date Title
KR102375479B1 (ko) 수술 세트업 구조에서 불충분하게 작동되는 조인트의 운동을 제어하는 방법
JP7506119B2 (ja) 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
JP6691620B2 (ja) 可動域制限を回避するための自動押出し
KR102145801B1 (ko) 수술용 장착 플랫폼의 사용자 개시 브레이크-어웨이 클러칭
JP6559691B2 (ja) ロボットアームの手動の動きによって制御される外科取付けプラットフォームの限定的な移動
KR102360482B1 (ko) 원격 수술용 수술대 합치를 위한 방법 및 장치
KR102252641B1 (ko) 모드 전환 시의 진동을 감쇠시키기 위한 명령 성형
JP2020022770A (ja) ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法

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

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

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

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: 4

PR1001 Payment of annual fee

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

Fee payment year number: 5

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: 5