KR102639961B1 - 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법 - Google Patents

관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법 Download PDF

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KR102639961B1
KR102639961B1 KR1020227036167A KR20227036167A KR102639961B1 KR 102639961 B1 KR102639961 B1 KR 102639961B1 KR 1020227036167 A KR1020227036167 A KR 1020227036167A KR 20227036167 A KR20227036167 A KR 20227036167A KR 102639961 B1 KR102639961 B1 KR 102639961B1
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joint
state
locked state
articulated arm
float
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KR20220147701A (ko
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아리앙 엠. 아우어태쉬
폴 쥐. 그리피스
다니엘 밀러
폴 더블유. 모어
니티쉬 스와루프
마이클 터너
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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
    • A61B34/70—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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A61B2018/00672—Sensing and controlling the application of energy using a threshold value lower
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00666—Sensing and controlling the application of energy using a threshold value
    • A61B2018/00678—Sensing and controlling the application of energy using a threshold value upper
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
KR1020227036167A 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법 Active KR102639961B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201461954120P 2014-03-17 2014-03-17
US61/954,120 2014-03-17
KR1020227009379A KR102457538B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법
PCT/US2015/021074 WO2015142930A1 (en) 2014-03-17 2015-03-17 System and method for breakaway clutching in an articulated arm

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020227009379A Division KR102457538B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법

Publications (2)

Publication Number Publication Date
KR20220147701A KR20220147701A (ko) 2022-11-03
KR102639961B1 true KR102639961B1 (ko) 2024-02-27

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KR1020227036167A Active KR102639961B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법
KR1020227009379A Active KR102457538B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법
KR1020167028872A Active KR102378585B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법

Family Applications After (2)

Application Number Title Priority Date Filing Date
KR1020227009379A Active KR102457538B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법
KR1020167028872A Active KR102378585B1 (ko) 2014-03-17 2015-03-17 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법

Country Status (6)

Country Link
US (7) US10034717B2 (https=)
EP (4) EP3119314B1 (https=)
JP (3) JP7150413B2 (https=)
KR (3) KR102639961B1 (https=)
CN (2) CN106255472B (https=)
WO (1) WO2015142930A1 (https=)

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JP7694888B2 (ja) 2025-06-18
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KR20220044365A (ko) 2022-04-07
CN111839737A (zh) 2020-10-30
US10449008B2 (en) 2019-10-22
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