KR20230124943A - 운동학적 구성요소의 원치 않은 배향 모션을 완화하기위한 로봇 시스템 및 방법 - Google Patents

운동학적 구성요소의 원치 않은 배향 모션을 완화하기위한 로봇 시스템 및 방법 Download PDF

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Publication number
KR20230124943A
KR20230124943A KR1020237022433A KR20237022433A KR20230124943A KR 20230124943 A KR20230124943 A KR 20230124943A KR 1020237022433 A KR1020237022433 A KR 1020237022433A KR 20237022433 A KR20237022433 A KR 20237022433A KR 20230124943 A KR20230124943 A KR 20230124943A
Authority
KR
South Korea
Prior art keywords
manipulator
energy applicator
motion
feed rate
components
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.)
Pending
Application number
KR1020237022433A
Other languages
English (en)
Korean (ko)
Inventor
리샤브 쿠라나
Original Assignee
마코 서지컬 코포레이션
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 마코 서지컬 코포레이션 filed Critical 마코 서지컬 코포레이션
Publication of KR20230124943A publication Critical patent/KR20230124943A/ko
Pending legal-status Critical Current

Links

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
    • 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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • B25J9/1641—Program controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
KR1020237022433A 2020-12-31 2021-12-28 운동학적 구성요소의 원치 않은 배향 모션을 완화하기위한 로봇 시스템 및 방법 Pending KR20230124943A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063132821P 2020-12-31 2020-12-31
US63/132,821 2020-12-31
PCT/US2021/065334 WO2022147001A1 (en) 2020-12-31 2021-12-28 Robotic systems and methods for mitigating undesired orientational motion of kinematic components

Publications (1)

Publication Number Publication Date
KR20230124943A true KR20230124943A (ko) 2023-08-28

Family

ID=80113513

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020237022433A Pending KR20230124943A (ko) 2020-12-31 2021-12-28 운동학적 구성요소의 원치 않은 배향 모션을 완화하기위한 로봇 시스템 및 방법

Country Status (7)

Country Link
US (1) US12528184B2 (https=)
EP (1) EP4271314A1 (https=)
JP (1) JP7846122B2 (https=)
KR (1) KR20230124943A (https=)
CN (1) CN116710017A (https=)
AU (1) AU2021413098A1 (https=)
WO (1) WO2022147001A1 (https=)

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AU2023338661A1 (en) 2022-09-09 2025-03-20 Mako Surgical Corp. Robotic surgical systems for guiding a tool along a path using hybrid automated/manual control
WO2024175672A1 (en) * 2023-02-21 2024-08-29 Distalmotion Sa Surgical robotics systems and devices having modified speed control near workspace boundaries and surfaces, and methods thereof

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Also Published As

Publication number Publication date
JP2024501862A (ja) 2024-01-16
CN116710017A (zh) 2023-09-05
US12528184B2 (en) 2026-01-20
JP7846122B2 (ja) 2026-04-14
US20230330851A1 (en) 2023-10-19
EP4271314A1 (en) 2023-11-08
WO2022147001A1 (en) 2022-07-07
AU2021413098A1 (en) 2023-07-20

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Patent event date: 20230703

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Comment text: International Patent Application

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Patent event date: 20241226

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