PL2990005T3 - Manipulator urządzenia medycznego - Google Patents

Manipulator urządzenia medycznego

Info

Publication number
PL2990005T3
PL2990005T3 PL14182974T PL14182974T PL2990005T3 PL 2990005 T3 PL2990005 T3 PL 2990005T3 PL 14182974 T PL14182974 T PL 14182974T PL 14182974 T PL14182974 T PL 14182974T PL 2990005 T3 PL2990005 T3 PL 2990005T3
Authority
PL
Poland
Prior art keywords
manipulator
medical device
medical
Prior art date
Application number
PL14182974T
Other languages
English (en)
Inventor
Zbigniew Nawrat
Łukasz Mucha
Krzysztof Lis
Kamil Rohr
Original Assignee
Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi
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 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi filed Critical Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi
Publication of PL2990005T3 publication Critical patent/PL2990005T3/pl

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04792—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rotary control around the axis of the controlling member
    • 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
    • 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
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • 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
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
PL14182974T 2014-08-31 2014-08-31 Manipulator urządzenia medycznego PL2990005T3 (pl)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14182974.7A EP2990005B1 (en) 2014-08-31 2014-08-31 A manipulator of a medical device

Publications (1)

Publication Number Publication Date
PL2990005T3 true PL2990005T3 (pl) 2018-02-28

Family

ID=52464106

Family Applications (1)

Application Number Title Priority Date Filing Date
PL14182974T PL2990005T3 (pl) 2014-08-31 2014-08-31 Manipulator urządzenia medycznego

Country Status (3)

Country Link
US (1) US9393688B2 (pl)
EP (1) EP2990005B1 (pl)
PL (1) PL2990005T3 (pl)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3042775B1 (fr) * 2015-10-21 2017-11-10 Sagem Defense Securite Dispositif de commande de vol d'un aeronef
CN106239491A (zh) * 2016-08-30 2016-12-21 江苏华航威泰机器人科技有限公司 一种倒立摆机器人驱动执行机构
CN108567485B (zh) * 2018-05-16 2020-04-14 广州瑞派医疗器械有限责任公司 医用机械臂
CN110281226A (zh) * 2019-06-27 2019-09-27 江苏超人智能科技有限公司 一种用于抓取机械零件的机械手臂
GB2609134B (en) * 2020-03-26 2024-10-23 Intuitive Surgical Operations Inc Curved gimbal link geometry
CN111388094B (zh) * 2020-03-31 2022-08-30 长沙理工大学 一种两自由度远程运动中心机构
EP4272684A4 (en) * 2021-02-01 2024-09-11 Wuhan United Imaging Healthcare Surgical Tech Co Ltd MASTER ARM CONTROL DEVICE FOR ROBOTS AND ROBOTS

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
US5847528A (en) * 1995-05-19 1998-12-08 Canadian Space Agency Mechanism for control of position and orientation in three dimensions
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US5893296A (en) * 1997-03-13 1999-04-13 Ross-Hime Designs, Incorporated Multiple rotatable links robotic manipulator
US6088019A (en) 1998-06-23 2000-07-11 Immersion Corporation Low cost force feedback device with actuator for non-primary axis
US6184868B1 (en) 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices
US6563487B2 (en) 1998-06-23 2003-05-13 Immersion Corporation Haptic feedback for directional control pads
US6417638B1 (en) 1998-07-17 2002-07-09 Sensable Technologies, Inc. Force reflecting haptic interface
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
WO2005053913A1 (ja) * 2003-12-03 2005-06-16 Ntn Corporation リンク作動装置
FR2868175B1 (fr) 2004-03-24 2007-03-02 Commissariat Energie Atomique Dispositif d'interface souple et interface comprenant ce dispositif
US8371187B2 (en) * 2004-12-20 2013-02-12 Simon Fraser University Spherical linkage and force feedback controls
WO2006102393A2 (en) * 2005-03-22 2006-09-28 Ross-Hime Designs, Incorporated Robotic manipulator
ATE486311T1 (de) 2006-07-03 2010-11-15 Force Dimension S A R L Schwerkraftausgleich für eine haptische vorrichtung
US8602456B2 (en) * 2010-12-09 2013-12-10 Harris Corporation Ball joint having a passageway for routing a cable therethrough
US8639386B2 (en) 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
CN103111998A (zh) 2013-02-04 2013-05-22 哈尔滨工业大学 一种串并联力反馈遥操作手

Also Published As

Publication number Publication date
EP2990005B1 (en) 2017-06-21
EP2990005A1 (en) 2016-03-02
US20160059409A1 (en) 2016-03-03
US9393688B2 (en) 2016-07-19

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