WO2006124390A2 - Software center and highly configurable robotic systems for surgery and other uses - Google Patents
Software center and highly configurable robotic systems for surgery and other uses Download PDFInfo
- Publication number
- WO2006124390A2 WO2006124390A2 PCT/US2006/017843 US2006017843W WO2006124390A2 WO 2006124390 A2 WO2006124390 A2 WO 2006124390A2 US 2006017843 W US2006017843 W US 2006017843W WO 2006124390 A2 WO2006124390 A2 WO 2006124390A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- manipulator
- processor
- joint
- end effector
- manipulator assembly
- Prior art date
Links
Classifications
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- 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
-
- 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—Master-slave 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39135—For multiple manipulators operating at same time, avoid collision
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39212—Select between autonomous or teleoperation control
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39322—Force and position control
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40184—Compliant teleoperation, operator controls motion, system controls contact, force
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (15)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020127032983A KR101304277B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
KR1020127032984A KR101304278B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
CN202210121441.1A CN114469351A (en) | 2005-05-19 | 2006-05-08 | Software centric and highly configurable robotic system for surgical and other applications |
ES06752435T ES2381975T5 (en) | 2005-05-19 | 2006-05-08 | Highly configurable robotic systems for surgery and other uses |
CN2006800264412A CN101227870B (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
EP17172599.7A EP3231388B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
KR1020077029665A KR101283407B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
EP06752435.5A EP1885273B2 (en) | 2005-05-19 | 2006-05-08 | Highly configurable robotic systems for surgery and other uses |
EP17172595.5A EP3231387B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
EP10196673.7A EP2332484B2 (en) | 2005-05-19 | 2006-05-08 | Software Center and Highly Configurable Robotic Systems for Surgery and other uses |
EP21199257.3A EP3973910A1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
EP17172593.0A EP3231386B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
CN201910090569.4A CN109700535B (en) | 2005-05-19 | 2006-05-08 | Software centric and highly configurable robotic system for surgical and other applications |
AT06752435T ATE544414T1 (en) | 2005-05-19 | 2006-05-08 | HIGHLY CONFIGURABLE ROBOT SYSTEMS FOR SURGERY AND OTHER APPLICATIONS |
KR1020127032985A KR101304272B1 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/133,423 | 2005-05-19 | ||
US11/133,423 US8004229B2 (en) | 2005-05-19 | 2005-05-19 | Software center and highly configurable robotic systems for surgery and other uses |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2006124390A2 true WO2006124390A2 (en) | 2006-11-23 |
WO2006124390A3 WO2006124390A3 (en) | 2007-03-01 |
Family
ID=36808871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2006/017843 WO2006124390A2 (en) | 2005-05-19 | 2006-05-08 | Software center and highly configurable robotic systems for surgery and other uses |
Country Status (7)
Country | Link |
---|---|
US (17) | US8004229B2 (en) |
EP (13) | EP2332481B1 (en) |
KR (4) | KR101304272B1 (en) |
CN (5) | CN114469351A (en) |
AT (1) | ATE544414T1 (en) |
ES (1) | ES2381975T5 (en) |
WO (1) | WO2006124390A2 (en) |
Cited By (89)
Publication number | Priority date | Publication date | Assignee | Title |
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GB2451498A (en) * | 2007-07-31 | 2009-02-04 | Prosurgics Ltd | A motorised manipulator that accommodates manual movement of a surgical instrument |
CN102106751A (en) * | 2011-01-26 | 2011-06-29 | 周宁新 | Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery |
WO2014028703A1 (en) | 2012-08-15 | 2014-02-20 | Intuitive Surgical Operations, Inc. | Systems and methods for cancellation of joint motion using the null-space |
US8915940B2 (en) | 2010-12-02 | 2014-12-23 | Agile Endosurgery, Inc. | Surgical tool |
KR20150045469A (en) * | 2012-08-15 | 2015-04-28 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | User initiated break-away clutching of a surgical mounting platform |
EP2787910A4 (en) * | 2011-12-05 | 2015-08-19 | Mazor Robotics Ltd | Active bed mount for surgical robot |
WO2015142943A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | System and method for maintaining a tool pose |
EP2699392B1 (en) | 2011-04-19 | 2015-10-21 | ABB Research Ltd. | An industrial robot having a kinematically redundant arm and a method for controlling the robot |
JP2015530906A (en) * | 2012-08-15 | 2015-10-29 | 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 | Mobile surgical mounting platform controlled by manual robot arm movement |
CN105127997A (en) * | 2015-08-10 | 2015-12-09 | 深圳百思拓威机器人技术有限公司 | Intelligent pharmacist robot system and controlling method thereof |
CN105188590A (en) * | 2012-12-10 | 2015-12-23 | 直观外科手术操作公司 | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
WO2016071674A1 (en) * | 2014-11-04 | 2016-05-12 | Cambridge Medical Robotics Limited | Characterising motion constraints |
EP3025674A1 (en) * | 2013-07-26 | 2016-06-01 | Olympus Corporation | Therapeutic manipulator and manipulator system |
EP3054887A1 (en) * | 2013-10-04 | 2016-08-17 | KB Medical SA | Apparatus, systems, and methods for precise guidance of surgical tools |
CN105943163A (en) * | 2016-06-27 | 2016-09-21 | 重庆金山科技(集团)有限公司 | Minimally invasive surgery robot and control device thereof |
WO2016124752A3 (en) * | 2015-02-05 | 2016-09-22 | Universite Pierre Et Marie Curie (Paris 6) | Method and device to assist with the operation of an instrument |
CN106163445A (en) * | 2014-03-31 | 2016-11-23 | 直观外科手术操作公司 | Surgical operating instrument with changeable actuating device |
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US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
US11832910B1 (en) | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
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