KR102463600B1 - 복수의 말단에 수용된 모터를 제어하기 위한 원격 전류 제어기를 갖는 의료 로봇 시스템 - Google Patents

복수의 말단에 수용된 모터를 제어하기 위한 원격 전류 제어기를 갖는 의료 로봇 시스템 Download PDF

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KR102463600B1
KR102463600B1 KR1020217025618A KR20217025618A KR102463600B1 KR 102463600 B1 KR102463600 B1 KR 102463600B1 KR 1020217025618 A KR1020217025618 A KR 1020217025618A KR 20217025618 A KR20217025618 A KR 20217025618A KR 102463600 B1 KR102463600 B1 KR 102463600B1
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motors
current controller
motor
controller
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제라드 제이. 라본빌
알란 에스. 브래들리
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인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
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    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
KR1020217025618A 2013-08-09 2014-08-08 복수의 말단에 수용된 모터를 제어하기 위한 원격 전류 제어기를 갖는 의료 로봇 시스템 Active KR102463600B1 (ko)

Applications Claiming Priority (4)

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US201361864061P 2013-08-09 2013-08-09
US61/864,061 2013-08-09
PCT/US2014/050347 WO2015021384A1 (en) 2013-08-09 2014-08-08 Medical robotic system with remote current controller for controlling a plurality of distally housed motors
KR1020167001948A KR102291858B1 (ko) 2013-08-09 2014-08-08 복수의 말단에 수용된 모터를 제어하기 위한 원격 전류 제어기를 갖는 의료 로봇 시스템

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KR102463600B1 true KR102463600B1 (ko) 2022-11-07

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KR1020167001948A Active KR102291858B1 (ko) 2013-08-09 2014-08-08 복수의 말단에 수용된 모터를 제어하기 위한 원격 전류 제어기를 갖는 의료 로봇 시스템

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US (2) US9855107B2 (enExample)
EP (1) EP3030190B1 (enExample)
JP (3) JP6382310B2 (enExample)
KR (2) KR102463600B1 (enExample)
CN (2) CN108836486B (enExample)
WO (1) WO2015021384A1 (enExample)

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Publication number Publication date
CN108836486A (zh) 2018-11-20
KR20160040530A (ko) 2016-04-14
CN105431103A (zh) 2016-03-23
US20180185105A1 (en) 2018-07-05
EP3030190A4 (en) 2017-03-15
WO2015021384A1 (en) 2015-02-12
KR102291858B1 (ko) 2021-08-23
CN105431103B (zh) 2018-08-17
US10206751B2 (en) 2019-02-19
EP3030190A1 (en) 2016-06-15
KR20210103584A (ko) 2021-08-23
EP3030190B1 (en) 2024-04-03
JP2019198692A (ja) 2019-11-21
JP6734451B2 (ja) 2020-08-05
JP2018171512A (ja) 2018-11-08
JP2016531669A (ja) 2016-10-13
JP6577101B2 (ja) 2019-09-18
JP6382310B2 (ja) 2018-08-29
US9855107B2 (en) 2018-01-02
CN108836486B (zh) 2020-11-06
US20160166339A1 (en) 2016-06-16

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