WO2016208140A1 - 医療行為支援装置 - Google Patents

医療行為支援装置 Download PDF

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Publication number
WO2016208140A1
WO2016208140A1 PCT/JP2016/002792 JP2016002792W WO2016208140A1 WO 2016208140 A1 WO2016208140 A1 WO 2016208140A1 JP 2016002792 W JP2016002792 W JP 2016002792W WO 2016208140 A1 WO2016208140 A1 WO 2016208140A1
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WIPO (PCT)
Prior art keywords
region
medical practice
unit
movable
tip
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PCT/JP2016/002792
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English (en)
French (fr)
Japanese (ja)
Inventor
豪 椋本
和孝 豊田
剛 植山
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株式会社デンソー
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Publication of WO2016208140A1 publication Critical patent/WO2016208140A1/ja

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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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • This disclosure relates to a medical practice support apparatus that supports medical practice.
  • Patent Document 1 Conventionally, medical practice support devices that support medical practice are known (for example, see Patent Document 1).
  • This medical practice support apparatus includes a drill unit having a drill bit used for dentistry, and an articulated robot that moves the tip of the drill bit to a position desired by an operator.
  • a range in which the tip of the drill bit can be moved (hereinafter referred to as “movable range”) is defined in order to ensure safety in the medical practice. Then, when the tip of the drill bit is moved to a position desired by the operator, the articulated robot operates so that the tip of the drill bit moves along a path that is defined in advance within the movable range.
  • an articulated robot may malfunction due to noise such as disturbance. If the multi-joint robot malfunctions, the tip of the drill bit reaches the outside of the movable range, which may reduce safety.
  • an object of the present disclosure is to provide a medical practice support apparatus that can ensure high safety even if an articulated robot malfunctions.
  • the medical practice support apparatus includes an articulated robot, a position specifying unit, a region setting unit, a tip position specifying unit, and a control unit.
  • the multi-joint robot has a multi-joint arm in which a plurality of arms are connected by joints.
  • the position specifying unit specifies a treatment position indicating the position of a part of a patient who receives a medical practice.
  • the region setting unit is a movable prohibition region that represents a region in which the tip portion of the articulated arm is prohibited from moving outside the movable region, which is a region in which the tip portion of the articulated arm is movable when performing a medical practice. Is set with the treatment position specified by the position specifying unit as a base point.
  • the tip position specifying unit specifies the tip position representing the position of the tip portion of the articulated arm.
  • the control unit executes safety control that improves the safety of medical practice.
  • safety control can be executed when the tip position moves to the movable prohibited area.
  • This safety control is control that improves the safety of medical practice.
  • a medical practice support system 1 shown in FIG. 1 is a system that supports a medical practice.
  • the medical practice support system 1 in this embodiment is an example of a medical practice support apparatus.
  • a dental implant is assumed as a medical practice.
  • the dental implant is a dental operation in which an implant body is embedded in a jaw bone of a patient 100 (see FIG. 3), and a prosthesis is attached to the embedded implant body.
  • a treatment position the position (part) of the jaw bone of the patient 100 in which the implant body is to be implanted.
  • the medical practice support system 1 includes a surgical tool 2, an installation table 4, a position tracking device 12, a medical practice planning device 18, a display device 26, and an audio output device 28.
  • the input device 30 and the guide robot 32 are provided.
  • the surgical tool 2 is an instrument used for medical practice.
  • the surgical tool 2 is attached to the tip of the guide robot 32.
  • the surgical tool 2 in this embodiment includes a drill unit used for dentistry.
  • This drill unit has various drill bits used for dentistry and a drive mechanism for driving the drill bits.
  • the drill unit mentioned here includes a so-called dental handpiece.
  • This dental handpiece is called a straight geared angle handpiece or a contra handpiece.
  • the surgical tool 2 attached to the tip of the guide robot 32 supports the dental implant performed by the operator.
  • the “dental implant support” mentioned here includes the movement of the surgical tool 2 to the treatment position, which is the site of the patient 100 in which the implant body is to be implanted.
  • the movement of the surgical tool 2 includes the entry of the surgical tool 2 into the oral cavity of the patient 100 and the movement to an exchange position where the surgical tool 2 is exchanged.
  • “dental implant support” mentioned here may include drilling the jawbone with a drill as the surgical tool 2.
  • the installation table 4 is a mechanism on which the guide robot 32 is installed.
  • the installation table 4 includes a top plate 6, a support unit 8, and an installation table drive mechanism 10 (see FIG. 2).
  • the top plate 6 is a plate-like member to which the guide robot 32 is fixed.
  • the support portion 8 is a support column that supports the top plate 6 horizontally.
  • the installation table drive mechanism 10 includes a motor that drives the top plate 6 along the X-axis direction, the Y-axis direction, and the Z-axis direction.
  • the installation table 4 is configured to freely move the guide robot 32 installed on the top plate 6 along the horizontal plane and the vertical direction.
  • the position tracking device 12 is a device that specifies the relative positional relationship between the reference point defined in the guide robot 32 and the treatment position.
  • the position tracking device 12 in this embodiment includes an arm 14 that is an articulated arm extended from an arm reference point, and an attachment 16 that is attached to the tip of the arm 14.
  • the arm reference point mentioned here is a position where the extension of the arm 14 is started in the guide robot 32.
  • the attachment 16 is attached to the affected part of the patient 100.
  • a mouthpiece marked with a treatment position is used.
  • the position tracking device 12 is a well-known tracking arm that specifies the position marked with the attachment 16 as a treatment position by the relative position from the arm reference point.
  • the medical practice planning device 18 is a device that identifies a treatment position and creates a plan for medical treatment at the identified treatment position.
  • the medical practice planning device 18 includes an information acquisition unit 20, a storage unit 22, and a control unit 24.
  • the information acquisition unit 20 acquires information necessary for specifying the treatment position (hereinafter referred to as “position specifying information”).
  • the information acquisition unit 20 acquires a plurality of tomographic images captured by a computed tomography (CT) apparatus as position specifying information.
  • CT computed tomography
  • the storage unit 22 is a known storage device that stores data and processing programs.
  • the control unit 24 is a known control device having a known microcomputer including at least a ROM, a RAM, and a CPU, and executes processing according to a processing program stored in the storage unit 22.
  • the storage unit 22 of the medical practice planning device 18 stores a processing program for the control unit 24 to execute a medical practice plan creation process for creating a “medical practice plan”.
  • a “medical practice plan” is created according to the three-dimensional coordinate information of the jawbone of the patient 100 based on the position specifying information.
  • the creation of this “medical practice plan” is carried out by specifying a position for implanting the implant body, an angle for implanting the implant body, and a depth for implanting the implant body in the planning coordinate system. Including that.
  • the treatment position includes whether the jawbone into which the implant body is to be inserted is the maxilla or the mandible, and the position of the tooth in the jawbone.
  • the “plan of medical practice” the timing when the surgical tool 2 enters the oral cavity of the patient 100 during the operation of the guide robot 32 when performing the medical practice to the treatment position, and the oral cavity of the patient 100 The approach angle of the surgical tool 2 may be included.
  • the planning coordinate system referred to here is a coordinate system (for example, a coordinate system in a CT image) in “medical practice planning” planned by the medical practice planning device 18.
  • plan of medical practice is referred to as medical practice necessary information.
  • method of creating the “medical practice plan” is well known, detailed description thereof is omitted here.
  • the display device 26 is a known device (for example, a liquid crystal display) that displays an image.
  • the sound output device 28 is a known device (for example, a speaker) that outputs sound.
  • the input device 30 is a well-known device that accepts input of information.
  • the input device 30 includes various input devices such as a keyboard, a pointing device, and a switch.
  • the pointing device here includes a known mechanism such as a touch pad or a touch panel.
  • the guide robot 32 is a well-known vertical articulated robot including an articulated arm 34 and a robot control unit 50.
  • the multi-joint arm 34 is located at the distal end of the base part 36 fixed to the installation base 4, the upper arm part 38 and the forearm part 40 that form an arm extending from the base part 36, and the forearm part 40. Is provided with a hand attachment portion 42 to which is attached.
  • Each joint section includes a robot drive device 44 and a sensing device 46.
  • the robot drive device 44 is a device that drives the articulated arm 34.
  • a motor that drives each joint is used.
  • the sensing device 46 detects the coordinates of the tip of the multi-joint arm 34 (and consequently the surgical tool 2).
  • a rotary encoder that detects the rotation angle of each robot drive device 44 may be used.
  • the articulated arm 34 is a known arm having a plurality of movable parts in a real space three-dimensional coordinate system (X, Y, Z coordinate system).
  • the surgical tool 2 is attached to the tip of the multi-joint arm 34 (that is, the hand attachment portion 42).
  • the robot control unit 50 drives the robot drive device 44 of the guide robot 32 according to the result of sensing by the sensing device 46.
  • the robot control unit 50 includes a control unit 52 and a storage unit 54.
  • the control unit 52 is a known control device having a known microcomputer provided with at least a ROM, a RAM, and a CPU.
  • the storage unit 54 is a known device that stores information and data.
  • the storage unit 54 stores a processing program for the robot control unit 50 to execute a medical practice support process in which the medical practice performed by the surgeon is supported by the medical practice support system 1. ⁇ Medical practice support processing> Next, a medical practice support process executed by the robot controller 50 will be described.
  • the medical practice support system 1 is installed at a predetermined apparatus installation location 80 as shown in FIG. 3 so that the position tracking device 12 can track the implantation position of the patient 100. It is started with.
  • a position where the top plate 6 of the installation table 4 covers at least a part of the chest of the patient 100 lying on the bed (operating table) 102 can be considered.
  • the control unit 52 of the robot control unit 50 acquires medical practice necessary information from the medical practice planning device 18 as shown in FIG. 4 (S110).
  • the control unit 52 acquires the relative position from the arm reference point of the marked portion on the attachment 16 of the position tracking device 12 from the position tracking device 12 (S120). Subsequently, in the medical practice support process, the control unit 52 registers the initial position of the treatment position of the patient 100 in the real space three-dimensional coordinate system based on the relative position of the marked portion of the attachment 16 acquired in S120. (S130). Registration of the initial position of the treatment position in S130 may be executed according to a well-known registration. The registration is a process of converting and registering the treatment position in the planning coordinate system specified by the medical practice planning device 18 into the treatment position in the three-dimensional coordinate system in the real space.
  • the coordinates of the marked part of the attachment 16 in the planning coordinate system are calculated according to the following equation (1).
  • TRAK T TRAKtip in the equation (1) is the position of the tip of the arm 14 in the position tracking device 12 in the real space three-dimensional coordinate system.
  • the code “ TRAK T A ′ ” is the position of the attachment 16 in the position tracking device 12 in the real space three-dimensional coordinate system.
  • the symbol “ A ′ T A ” is a value for correcting an attachment error of the attachment 16.
  • the coordinates of the marked portion of the attachment 16 in the three-dimensional coordinate system in the real space is calculated according to the following equation (2).
  • CT T IMP the code “CT T IMP ” in the equation (2) is a treatment position in the planning coordinate system.
  • This registration makes it possible to track the relative position from the arm reference point of the marked portion of the attachment 16 obtained by the position tracking device 12 as the treatment position in the real space three-dimensional coordinate system.
  • the calibration referred to here is a process of arranging the relative positional relationship between the tool tip position and the treatment position in a common coordinate system.
  • the common coordinate system here is a three-dimensional coordinate system in real space, for example, a robot coordinate system in the guide robot 32.
  • the tool tip position referred to here is a tip position representing the tip portion of the surgical tool 2, for example, the position of the tip portion of the drill bit.
  • This tool tip position is an example of a tip position representing the position of the tip portion of the articulated arm.
  • the control unit 52 derives an arm operation mode representing an operation mode of the multi-joint arm 34 based on the medical action necessity information acquired in S110 (S140).
  • the arm operation mode referred to here includes the trajectory of the articulated arm 34 of the guide robot 32 in medical practice (hereinafter referred to as “arm trajectory”).
  • the guide robot 32 (multi-joint arm) that moves the surgical tool 2 during the medical action to the treatment position according to the “medical action plan” planned by the medical action planning device 18.
  • 34 is derived as an arm trajectory. This arm trajectory is normally determined so that a singular point that makes the articulated arm 34 uncontrollable does not occur. Since the derivation of the arm trajectory is performed using a well-known method in the vertical articulated robot, detailed description thereof is omitted here.
  • the control unit 52 sets a movable prohibited area using the treatment position registered in S130 as a base point.
  • the movement prohibition area referred to here is an area where the tip portion of the articulated arm 34 is prohibited from moving. This movable prohibition area is set outside the movable area, for example, at the periphery of the movable area.
  • region said here is an area
  • “setting the movement prohibited area based on the treatment position as a base point” means that the movement prohibited area is set so that the relative positional relationship between the reference coordinates and the treatment position in the movement prohibited area satisfies a predetermined condition. Is to set.
  • the predetermined condition may be, for example, that the center of gravity of the movable area on the XY plane passing through the treatment position matches the treatment position.
  • the control unit 52 of the robot control unit 50 outputs the movement prohibited area set in S150 to the display device 26 (S160).
  • the display device 26 displays the movable prohibited area.
  • the display device 26 displays the movable prohibited area so as to be superimposed on an image showing the periphery of the treatment position of the patient 100.
  • the movable prohibited area displayed on the display device 26 is displayed in a manner distinguishable from the movable area.
  • 5A is a view of the movable area and the movable prohibited area as viewed from the side
  • FIG. 5B is a view of the movable area and the movable prohibited area as viewed from above.
  • control unit 52 determines whether or not an instruction to change the prohibited area has been received via the input device 30 (S170).
  • the instruction to change the movement prohibition area may be received by correcting the movement prohibition area displayed on the display device 26 via the input device 30.
  • control unit 52 changes the prohibited movement area in accordance with the received change instruction (S180).
  • the change of the movement prohibited area referred to here is, for example, changing the position of the movement prohibited area or changing the size of the movement prohibited area.
  • control unit 52 returns the medical practice support process to S160.
  • control unit 52 causes the display device 26 to display the changed movable prohibited area.
  • control unit 52 shifts the medical practice support process to S190.
  • the control unit 52 operates the guide robot 32 so that the surgical tool 2 moves according to the arm trajectory derived in S140.
  • the control unit 52 specifies the tool tip position (S200).
  • S200 the tool tip position
  • a known method of specifying according to the relative positional relationship with the arm reference point of the multi-joint arm 34 can be considered.
  • control unit 52 performs the treatment in the three-dimensional coordinate system in the real space based on the relative position from the arm reference point of the marked portion in the attachment 16 obtained by the position tracking device 12.
  • the position is specified (S210). That is, in S210 that is repeatedly executed in the medical practice support process, the treatment position is sequentially specified along the time axis.
  • control unit 52 updates the movement prohibition area in the three-dimensional coordinate system of the real space based on the treatment position specified in S210 (S220). Specifically, in S220, even if the treatment position in the three-dimensional coordinates of the real space changes, the control unit 52 sets the actual movement prohibited area so that the movement prohibited area is set based on the changed treatment position. Update 3D coordinates in space.
  • the control unit 52 determines whether or not the tool tip position calculated in S190 is within the movable prohibited area updated in S220 (S230). As a result of this determination, if the tool tip position is within the movement prohibited region (S230: YES), the control unit 52 shifts the medical practice support process to S290 described later in detail.
  • the control unit 52 calculates a boundary distance representing the distance between the tool tip position specified in S190 and the region boundary.
  • the region boundary referred to here is a boundary between the movable region and the movable prohibited region.
  • the control unit 52 calculates the distance from the tool tip position to the region boundary existing at the closest position as the boundary distance.
  • control unit 52 determines whether or not the boundary distance calculated in S240 is equal to or less than a predetermined threshold (S250). As a result of the determination in S250, if the boundary distance is equal to or smaller than the threshold (S250: YES), the control unit 52 shifts the medical practice support process to S280 described later in detail.
  • control unit 52 determines whether or not the tool tip position specified in S190 matches the treatment position specified in S210. Is determined (S260).
  • control unit 52 If the result of determination in S260 is that the tool tip position and the treatment position do not match (S260: NO), the control unit 52 returns the medical practice support processing to S190.
  • the control unit 52 receives an input of a drill command that is a command for driving the drill (S270).
  • the control unit 52 to which the drill command is input rotates the drill bit of the surgical tool 2. Then, the surgeon performs perforation to the jawbone using the surgical tool 2.
  • control unit 52 returns the medical practice support process to S190.
  • control unit 52 performs notification control for notifying that the tool tip position is approaching the region boundary. Execute.
  • control unit 52 may output a signal indicating that the tool tip position is approaching the region boundary to the display device 26 and the audio output device 28.
  • the display device 26 that has acquired the signal displays that the tool tip position is approaching the region boundary.
  • the voice output device 28 that has acquired the signal outputs by voice that the tool tip position is approaching the region boundary.
  • the operation resistance of the articulated arm 34 is increased as the distance between the tool tip position and the region boundary is shorter.
  • control unit 52 returns the medical practice support process to S190.
  • control unit 52 executes safety control for improving the safety of the medical practice.
  • the safety control it is conceivable to stop the operation of the guide robot 32 so as to stop the movement of the distal end portion of the articulated arm 34 and eventually the surgical tool 2.
  • the control unit 52 may output a signal indicating that the tool tip position is outside the movement prohibited region to the display device 26 and the audio output device 28.
  • the display device 26 that has acquired the signal displays that the tool tip position is outside the movement prohibited region
  • the audio output device 28 that has acquired the signal indicates that the tool tip position is outside the movement prohibited region. May be output by voice.
  • control unit 52 ends the medical practice support process.
  • safety control can be executed when the tool tip position moves to the movement prohibited area. This safety control is control that improves the safety of medical practice.
  • S280 of the medical practice support process when notification control is executed when the tool tip position approaches the region boundary, the user (for example, a surgeon) of the medical practice support system 1 can move the tool tip within the movable range. It can be recognized that the tool tip position is approaching the movement prohibited area before the position reaches the movement prohibited area.
  • the guide robot 32 only assists the movement of the articulated arm 34, and the operator often operates the articulated arm 34. From this, in the medical practice support process, the following effects can be obtained when executing the notification control to increase the operation resistance of the articulated arm 34 as the tool tip position is closer to the region boundary.
  • the effect is that the operator can recognize that the tool tip position is approaching the region boundary while maintaining the operator's concentration on the medical practice, and the operator is approaching the region boundary. That is, it can be recognized without a sense of incongruity during the execution of medical practice.
  • the movable prohibited area is updated according to the change of the treatment position.
  • the user of the medical practice support system 1 can edit the prohibited area. For this reason, the user of the medical practice support system 1 can set a movable prohibition area that is easy to use when performing a medical practice, and can perform the medical practice more smoothly.
  • this indication is not limited to the above-mentioned embodiment, and can be carried out in various modes in the range which does not deviate from the gist of this indication.
  • the positional relationship between the tool tip position and the region boundary is defined as a predetermined condition that indicates that the tool tip position is approaching the region boundary. Whether the boundary distance is satisfied or not is determined by determining whether the boundary distance is less than or equal to the threshold value. However, whether the positional relationship between the tool tip position and the area boundary satisfies the specified condition.
  • the determination method is not limited to this. For example, whether or not the positional relationship between the tool tip position and the region boundary satisfies a prescribed condition is determined based on the tool tip position specified along the time axis at a prescribed time specified in advance.
  • the distal end portion of the surgical tool 2 that is, the distal end portion of the drill bit is used as the tool distal end position, but the distal end position is not limited to this.
  • the tip position in the present disclosure may be the position of the tip portion of the articulated arm 34 itself, or may be the position of a specific part in the surgical tool 2.
  • the position tracking device 12 is configured by a known tracking arm, but the position tracking device 12 is not limited to this. That is, for example, the position tracking device 12 may be a device that irradiates an exploration wave such as an infrared ray with improved directivity and tracks changes in the implantation position, and can specify the coordinates of other implantation positions. It may be a simple device. In the former case, the mechanism for irradiating the exploration wave may be arranged on the space where the medical practice support system 1 is arranged, or may be arranged at the treatment site of the patient 100.
  • an exploration wave such as an infrared ray with improved directivity and tracks changes in the implantation position
  • the mechanism for irradiating the exploration wave may be arranged on the space where the medical practice support system 1 is arranged, or may be arranged at the treatment site of the patient 100.
  • the position tracking device 12 may be any device as long as it can identify the relative positional relationship between the reference point defined in the guide robot 32 and the treatment position.
  • the information acquisition unit 20 of the medical practice planning apparatus 18 in the above embodiment has acquired the position specifying information from the computed tomography apparatus
  • the information acquisition unit 20 of the medical practice planning apparatus 18 has the position from other apparatuses. Specific information may be acquired.
  • a dental implant is assumed as the medical action supported by the medical action support system 1, but the medical action supported by the medical action support system 1 is not limited to a dental implant.
  • the medical practice supported by the medical practice support system may be surgery, internal medicine, dental care other than a dental implant, or other medical practice. May be.
  • the treatment position is not limited to the position (part) of the patient's jawbone in which the implant body is to be implanted.
  • the part of the patient 100 requiring surgery, the part of the patient 100 requiring medical treatment, and the dental It may be the part of the patient 100 in need of medical care.
  • the surgical tool 2 attached to the tip of the guide robot 32 is not limited to a drill unit used for dentistry, and may be a tool used for various medical practices.
  • the tool used for various medical activities may be, for example, a surgical instrument such as a scalpel or forceps, or other medical instrument.
  • the medical practice support system 1 may include a stop switch that stops the medical practice support by the guide robot 32 and a switch that accepts whether the medical assistance by the guide robot 32 is supported.
  • each section is expressed as S100, for example.
  • each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • each section configured in this manner can be referred to as a device, module, or means.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
PCT/JP2016/002792 2015-06-26 2016-06-09 医療行為支援装置 WO2016208140A1 (ja)

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JP2015128885A JP6350413B2 (ja) 2015-06-26 2015-06-26 医療行為支援装置

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Cited By (2)

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CN116889470A (zh) * 2023-08-11 2023-10-17 骨圣元化机器人(深圳)有限公司 截骨控制系统、截骨控制方法和截骨设备
EP4208117A4 (en) * 2020-09-02 2024-10-09 Auris Health, Inc. DETERMINATION OF ROBOTIC COLLISION LIMIT

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Publication number Priority date Publication date Assignee Title
WO2018135218A1 (ja) 2017-01-20 2018-07-26 株式会社デンソー ワイパ装置
KR102367635B1 (ko) * 2020-04-01 2022-02-28 주식회사 푸른기술 치과 임플란트 수술 보조용 로봇시스템
CN111772852B (zh) * 2020-07-17 2025-07-22 雅客智慧（北京）科技有限公司 一种牙科机器人及口腔导航方法
JP2022120584A (ja) * 2021-02-05 2022-08-18 川崎重工業株式会社 手術支援ロボット、手術支援システムおよび手術支援ロボットの制御方法

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WO2002060653A2 (en) * 2001-01-29 2002-08-08 The Acrobot Company Limited Active-constraint robots
JP2004223128A (ja) * 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
JP2008018172A (ja) * 2006-07-14 2008-01-31 Hitachi Medical Corp 手術支援装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002060653A2 (en) * 2001-01-29 2002-08-08 The Acrobot Company Limited Active-constraint robots
JP2004223128A (ja) * 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
JP2008018172A (ja) * 2006-07-14 2008-01-31 Hitachi Medical Corp 手術支援装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4208117A4 (en) * 2020-09-02 2024-10-09 Auris Health, Inc. DETERMINATION OF ROBOTIC COLLISION LIMIT
CN116889470A (zh) * 2023-08-11 2023-10-17 骨圣元化机器人(深圳)有限公司 截骨控制系统、截骨控制方法和截骨设备

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