WO2017119112A1 - Système de manipulateur et procédé d'entraînement de celui-ci - Google Patents

Système de manipulateur et procédé d'entraînement de celui-ci Download PDF

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Publication number
WO2017119112A1
WO2017119112A1 PCT/JP2016/050436 JP2016050436W WO2017119112A1 WO 2017119112 A1 WO2017119112 A1 WO 2017119112A1 JP 2016050436 W JP2016050436 W JP 2016050436W WO 2017119112 A1 WO2017119112 A1 WO 2017119112A1
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WO
WIPO (PCT)
Prior art keywords
lumen
manipulator
shape
shape sensor
sensor
Prior art date
Application number
PCT/JP2016/050436
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English (en)
Japanese (ja)
Inventor
雅敏 飯田
直也 畠山
Original Assignee
オリンパス株式会社
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 オリンパス株式会社 filed Critical オリンパス株式会社
Priority to PCT/JP2016/050436 priority Critical patent/WO2017119112A1/fr
Priority to JP2017559999A priority patent/JP6701232B2/ja
Publication of WO2017119112A1 publication Critical patent/WO2017119112A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible

Definitions

  • the present invention relates to a manipulator system and a driving method thereof.
  • an optical fiber sensor is arranged at a joint of a manipulator, and based on information on bending of the optical fiber sensor and information on a kinematic model, kinematic shape information of the manipulator, that is, information on a joint angle of the manipulator Is known (for example, see Patent Document 1).
  • Patent Document 1 requires a space for mounting the optical fiber sensor at the distal end portion of the manipulator that is required to be reduced in diameter for minimizing the invasiveness. Therefore, it is difficult to reduce the diameter of the distal end portion of the manipulator. Therefore, there is a problem that it is difficult to realize minimally invasiveness.
  • the present invention has been made in view of the above-described circumstances, and provides a manipulator system and a driving method thereof that can improve the operability of the manipulator while reducing the diameter of the insertion portion including the manipulator. It is an object.
  • a first aspect of the present invention is a tube member having flexibility and having a lumen penetrating in the longitudinal direction, and the shape of the lumen can be detected by being removably inserted into the lumen of the tube member.
  • the tube member into which the shape sensor is inserted into the lumen is inserted into the body cavity
  • the tube member and the shape sensor are curved following the shape of the body cavity.
  • the shape of the lumen of the tube member is detected by the shape sensor.
  • the shape sensor is removed from the lumen, and instead the manipulator is inserted into the lumen, the manipulator is bent following the shape of the lumen, and the tip reaches the target site.
  • the control unit can perform appropriate control according to the curved shape of the manipulator. Further, by alternately inserting the shape sensor and the manipulator into the lumen of the tube member, it is not necessary to secure a space for inserting two of the shape sensor and the manipulator in the tube member. Therefore, the operability of the manipulator can be improved while reducing the diameter of the manipulator and the tube member.
  • the manipulator includes an elongated flexible portion, a movable portion provided at a distal end of the flexible portion, a drive portion provided at a proximal end of the flexible portion, and driving the movable portion, and the movable portion. It is good also as providing the tension transmission member which connects the said drive part, and the said control part controls the said drive part.
  • the movable part of the manipulator can be accurately driven regardless of the shape of the tube member by controlling the drive part by the control unit based on the shape of the lumen of the tube member detected by the shape sensor.
  • the alignment portion can align the lumen of the tube member and the shape sensor in the longitudinal direction, and detect the curved shape of the lumen of the tube member more accurately. Thereby, the operability of the manipulator can be further improved.
  • the inclination control part which controls the inclination around the central axis of the said shape sensor accommodated in the said lumen
  • the inclination regulating unit associates the inclination around the center axis of the lumen of the tube member with the inclination around the center axis of the shape sensor, and more accurately detects the curved shape of the lumen of the tube member. can do. Thereby, the operability of the manipulator can be further improved.
  • the tilt restricting portion may be a key groove provided in one of the lumen and the shape sensor and a key provided in the other of the lumen and the shape sensor.
  • the axial alignment part which makes the center axis
  • the center shape of the lumen and the shape sensor can be substantially matched to detect the shape of the lumen with high accuracy.
  • the said axial alignment part is good also as a compensation member which fills the radial gap of the said lumen
  • the central axis of the lumen and the central axis of the shape sensor can be made to substantially coincide with each other with a simple configuration in which a filling member is buried in the radial gap between the lumen and the shape sensor.
  • control unit detects the shape of the lumen by the shape sensor and updates the control parameter of the manipulator, and does not detect the shape of the lumen and update the control parameter.
  • the detection update mode may be switched.
  • indication from the user which switches the said detection update mode and the said non-detection update mode to the said control part.
  • the user can switch between the detection update mode and the non-detection update mode at a desired timing by the input unit, such as when the manipulator is changed or the part of the body to be treated is changed. .
  • the manipulator can be driven with high accuracy by appropriately updating the control parameters of the manipulator.
  • control unit may include a mode switching unit that automatically switches between the detection update mode and the non-detection update mode.
  • a switching execution unit that switches from the detection update mode to the detection update mode may be provided.
  • the switching execution unit automatically switches from the non-detection update mode to the detection update mode.
  • the control parameters of the manipulator can be updated quickly.
  • the shape detection step the shape of the lumen of the tube member is detected by the shape sensor, and in the parameter update step, the control parameter of the manipulator is updated according to the shape of the lumen detected by the shape sensor.
  • the manipulator inserted in the lumen instead of the shape sensor is driven with appropriate control parameters.
  • the shape sensor and the manipulator alternately in the lumen of the tube member, it is not necessary to provide a space for the shape sensor and the manipulator in the lumen, so the diameter of the tube member and manipulator is reduced.
  • the manipulator inserted into the lumen can be operated with high accuracy regardless of the shape of the lumen.
  • the manipulator system 1 penetrates in an endoscope 3 and a manipulator (treatment tool) 5 inserted into the body of a patient P and in a longitudinal direction in which these can be accommodated.
  • An overtube (tube member) 11 having lumens 9A and 9B, a shape sensor 13 capable of detecting the shape of the overtube 11, an operation unit (input unit) 15 operated by an operator A, and an operation unit 15
  • a control unit 17 that controls the manipulator 5 based on an operation and a monitor 19 that displays an image acquired by the endoscope 3 are provided.
  • the manipulator 5 includes an elongated flexible part 5A inserted into the body of the patient P via the overtube 11, a movable part 5B disposed at the distal end of the flexible part 5A, and a base of the flexible part 5A.
  • a drive unit 5C such as a motor is disposed on the end side and drives the movable unit 5B by a tension transmission member such as a wire (not shown).
  • the movable portion 5B is disposed at the forefront in the longitudinal direction, and has a treatment portion 7A that acts on and treats the affected area in the body, and a plurality of positions that change the distal end position and posture of the treatment portion 7A. And a joint 7B.
  • the treatment portion 7A and each joint 7B are driven by the traction force of the tension transmitting member.
  • the drive unit 5C is provided with an encoder 5D for detecting the drive amount, as shown in FIG.
  • the drive unit 5C is driven based on the control signal sent from the control unit 17, and the output of the encoder 5D that detects the drive amount is fed back, so that the drive amount according to the control signal of the control unit 17 is obtained. Is controlled to be achieved.
  • the overtube 11 is an elongated tube made of a flexible material as shown in FIG.
  • the overtube 11 includes a slightly thicker diameter distal end tubular portion 11A disposed on the distal end side and a slightly smaller diameter proximal end tubular portion 11B extending in the longitudinal direction from the proximal end of the distal end tubular portion 11A.
  • the distal tubular portion 11A is provided with an endoscope lumen 9A through which the endoscope 3 can be inserted and removed, and a manipulator lumen 9B through which the manipulator 5 can be inserted and removed, and the proximal tubular portion 11B includes Only a manipulator lumen 9B extending from the distal tubular portion 11A is provided.
  • the manipulator lumen 9 ⁇ / b> B has a diameter that is almost the same as the diameter of the flexible portion 5 ⁇ / b> A of the manipulator 5. Further, as shown in FIG. 5A, the manipulator lumen 9B has an alignment recess (alignment portion) 10 that is recessed radially outward on the inner surface of the longitudinal tip.
  • the shape sensor 13 is, for example, an elongated optical fiber sensor or a three-dimensional magnetic sensor having flexibility as shown in FIG.
  • the shape sensor 13 can be removably inserted into the endoscope lumen 9A of the overtube 11 instead of the manipulator 5.
  • the shape sensor 13 is inserted into the endoscope lumen 9A so as to detect the shape of the endoscope lumen 9A.
  • the shape sensor 13 has an alignment convex portion (alignment portion) 14 made of an elastic body that can expand and contract in the radial direction on the side surface of the longitudinal end portion.
  • the alignment convex part 14 is formed to be extendable and contractable by, for example, a spring 14A.
  • the control unit 17 controls the drive unit 5 ⁇ / b> C of the manipulator 5 according to the control parameter.
  • the control parameter is set based on the estimated shape value of the manipulator 5 estimated from the shape of the endoscope lumen 9 ⁇ / b> A of the overtube 11 detected by the shape sensor 13.
  • the shape of the flexible portion 5A of the manipulator 5 changes following the shape of the endoscope lumen 9A. Therefore, the curved shape of the manipulator 5 is substantially equal to the curved shape of the endoscope lumen 9A, and the curved shape of the endoscope lumen 9A can be estimated as the curved shape of the overtube 11.
  • the control parameter 17 is automatically updated every time the shape sensor 13 detects the shape of the endoscope lumen 9A. Note that the operator A may manually update the control parameters.
  • control unit 17 detects the shape of the manipulator lumen 9B by the shape sensor 13 and updates the control parameters of the manipulator 5, and the manipulator lumen 9B. It is possible to switch between a standby mode and a treatment mode (both are non-detection update modes) in which shape detection and control parameter update are not performed.
  • the mode switching is performed by the operator A operating the operation unit 15.
  • the standby mode is set at startup.
  • the mode is switched to the sensor insertion mode when the shape sensor 13 is inserted into the manipulator lumen 9B, and the mode is switched to the treatment mode when restarted without changing the treatment site in the body.
  • the mode is switched to the treatment mode when the shape of the manipulator lumen 9B is detected and the control parameter is updated, and the mode is switched to the standby mode in an emergency.
  • the mode is switched to the standby mode at the time of emergency or at the end of the treatment, and the mode is switched to the sensor insertion mode when the treatment site is changed.
  • the shape sensor 13 is inserted into the endoscope lumen 9A of the overtube 11, and the shape of the endoscope lumen 9A is determined.
  • the parameter update step S3 for updating the control parameter for controlling the manipulator 5 based on the shape of the endoscope lumen 9A detected by the shape detection step S2, and the shape sensor 13.
  • It includes a treatment step (control step) S6 for inserting the manipulator 5 into the endoscope lumen 9A and controlling the drive unit 5C of the manipulator 5 based on the control parameter updated in the parameter update step S3.
  • the operator A switches the control unit 17 from the standby mode to the sensor insertion mode, and overruns outside the patient P's body.
  • the shape sensor 13 is inserted into the endoscope lumen 9A of the tube 11 (step S1).
  • the alignment projection 14 of the shape sensor 13 is accommodated in the alignment recess 10 of the manipulator lumen 9B, whereby the manipulator lumen 9B and the shape sensor 13 can be aligned in the insertion direction.
  • the operator A inserts the overtube 11 containing the shape sensor 13 into the body cavity of the patient P.
  • the overtube 11 containing the shape sensor 13 is inserted into the body cavity, the flexible overtube 11 and the shape sensor 13 bend following the shape of the body cavity of the patient P.
  • the operator A places the distal end of the overtube 11 in the vicinity of the target site for treatment, and the shape sensor 13 detects the shape of the endoscope lumen 9A of the overtube 11 (shape detection step S2). And the control parameter which controls the manipulator 5 is updated by the control part 17 based on the shape of the lumen 9A for endoscopes of the overtube 11 detected by the shape sensor 13 (parameter update step S3).
  • the operator A switches the control unit 17 from the sensor insertion mode to the treatment mode, and leaves the overtube 11 in the body of the patient P, and moves the shape sensor 13 from the endoscope lumen 9A of the overtube 11.
  • Remove step S4.
  • the manipulator 5 is inserted into the endoscope lumen 9A (step S5).
  • the flexible part 5A is curved following the shape of the endoscope lumen 9A, and the movable part 5B at the tip reaches the target affected part of the patient P.
  • Step S6 the operator A operates the operation unit 15 to start treatment.
  • the control unit 6 operates based on the command signal sent from the operation unit 15, and the control unit 6 controls the drive unit 5C of the manipulator 5 according to the updated control parameter to drive the movable unit 5B (control). Step S6).
  • the shape of the flexible portion 5A of the manipulator 5 and the shape of the tension transmission member change in accordance with the shape of the endoscope lumen 9A of the overtube 11, so that it can be moved by the frictional force according to the shape of the tension transmission member.
  • the tension of the tension transmitting member necessary for driving the portion 5B changes.
  • the drive unit 5C is controlled by the control unit 17 based on the shape of the endoscope lumen 9A detected in advance by the shape sensor 13, so that the manipulator 5 is controlled regardless of the shape of the overtube 11.
  • the movable portion 5B can be driven with high accuracy.
  • the curved shape of the manipulator lumen 9B of the overtube 11 equal to the curved shape of the manipulator 5 is detected in advance by the shape sensor 13, and the manipulator 5
  • the control unit 17 can perform appropriate control according to the curved shape of the manipulator 5.
  • the shape sensor 13 and the manipulator 5 into the manipulator lumen 9B of the overtube 11, it is not possible to secure a space for inserting two of the shape sensor 13 and the manipulator 5 into the overtube 11. I'll do it. Therefore, the operability of the manipulator 5 can be improved while reducing the diameter of the manipulator 5 and the overtube 11.
  • the overtube 11 that can accommodate the endoscope 3 and the manipulator 5 has been exemplified and described as the tube member.
  • the shape sensor 13 and the manipulator 5 are alternately inserted into the lumen of the endoscope treatment tool CH21, and the manipulator 5 is changed based on the shape of the lumen of the endoscope treatment tool CH21 detected by the shape sensor 13.
  • the abutting portion may be, for example, an elastic body 22 having a spring 14A as shown in FIGS. 9A and 9B, or as compared to the diameter of the manipulator lumen 9B as shown in FIGS. 10A and 10B. It may be a flange portion 23 that extends greatly outward in the radial direction.
  • the elastic body 22 or the flange portion 23 as the butting portion is formed from the manipulator of the shape sensor 13 so as to abut against the insertion port of the manipulator lumen 9B when the tip of the shape sensor 13 reaches the tip of the overtube 11. What is necessary is just to arrange
  • a sensor detection line sensor
  • the sensors may be, for example, photosensors 25A and 25B as shown in FIGS. 11A and 11B.
  • the photosensors 25A and 25B may be disposed on the inner surface of the tip of the manipulator lumen 9B of the overtube 11 so as to face each other in the radial direction.
  • the shape sensor 13 inserted into the manipulator lumen 9B detects that light is blocked between the photosensors 25A and 25B, the shape sensor 13 is inserted to a predetermined position of the manipulator lumen 9B. It should be.
  • the sensors may employ proximity sensors 27A and 27B as shown in FIGS. 12A and 12B, for example.
  • the proximity sensor 27A may be disposed on the inner surface of the distal end of the manipulator lumen 9B of the overtube 11 and the proximity sensor 27B may be disposed on the side surface of the distal end of the shape sensor 13.
  • the shape sensor 13 is inserted into the manipulator lumen 9B and it is detected that the proximity sensors 27A and 27B are close to each other, the shape sensor 13 is inserted up to a predetermined position of the manipulator lumen 9B. And it is sufficient.
  • the proximity sensors 27A and 27B include inductive proximity sensors, capacitive proximity sensors, magnetic proximity sensors, and the like.
  • the sensor may employ a magnet 29A and a hall element 29B as shown in FIGS. 13A and 13B, for example.
  • the magnet 29A may be disposed on the inner surface of the distal end of the manipulator lumen 9B of the overtube 11 and the Hall element 29B may be disposed on the side surface of the distal end of the shape sensor 13. Then, when the shape sensor 13 is inserted into the manipulator lumen 9B and the magnetic field by the magnet 29A is detected by the Hall element 29B, the shape sensor 13 is inserted to a predetermined position of the manipulator lumen 9B. That's fine.
  • a roller 31A and an encoder 31B may be employed as the alignment unit.
  • the roller 31 ⁇ / b> A may be disposed at the insertion port of the manipulator lumen 9 ⁇ / b> B of the overtube 11 so as to be rotatable around an axis orthogonal to the insertion direction of the shape sensor 13.
  • the amount of insertion of the shape sensor 13 may be detected by detecting the amount of rotation of the roller 31A that rotates when the shape sensor 13 inserted into the manipulator lumen 9B contacts the roller 31A with the encoder 31B.
  • control unit 17 when the insertion of the shape sensor 13 into the manipulator lumen 9B is detected by each sensor, the control unit (mode switching unit, switching execution unit) 17 changes from the non-detection update mode to the detection update mode. It is good also as switching. By doing in this way, the control parameter of the manipulator 5 can be updated quickly.
  • an effective range in the longitudinal direction of the shape sensor 13 may be set.
  • the shape sensor 13 may have a plurality of detection points 33 arranged at predetermined distance intervals in the longitudinal direction.
  • the total length of the manipulator lumen 9B of the overtube 11 is stored in advance by the control unit 17, and detection information from only the detection points 33 arranged in the same range as the total length of the manipulator lumen 9B from the tip of the shape sensor 13 is obtained. It is only necessary to detect the shape of the manipulator lumen 9B. By doing in this way, even when the manipulator 5 and the shape sensor 13 are placed apart from the overtube 11, the shape of the manipulator lumen 9B can be accurately detected.
  • an inclination restricting portion that restricts the inclination of the shape sensor 13 accommodated in the manipulator lumen 9B around the central axis may be provided.
  • the tilt restricting portion includes a groove-like key groove 35 ⁇ / b> A formed along the longitudinal direction on the inner surface of the manipulator lumen 9 ⁇ / b> B and the side surface of the shape sensor 13 in the longitudinal direction. It may be a protruding key 35B formed along.
  • a convex key 35B is formed along the longitudinal direction on the inner surface of the manipulator lumen 9B, and a groove-like key groove 35A is formed along the longitudinal direction on the side surface of the shape sensor 13. Also good.
  • the inclination restricting portion may be obtained by processing the cross-sectional shape of the shape sensor 13 and the cross-sectional shape of the manipulator lumen 9B into a polygonal shape or a D-cut shape, respectively.
  • the shape sensor 13 has a quadrangular prism shape extending along the longitudinal direction, or as shown in FIGS. 17 and 18B, the shape sensor 13 has a triangular prism shape extending along the longitudinal direction.
  • the shape sensor 13 may be formed in a shape obtained by cutting a part of a columnar circumferential direction extending in the longitudinal direction in the longitudinal direction. In this case, the manipulator lumen 9 ⁇ / b> B only needs to be processed into a shape corresponding to the shape of the shape sensor 13.
  • an axis aligning section that substantially matches the center axis of the manipulator lumen 9B and the center axis of the shape sensor 13 may be provided.
  • the shaft alignment portion may employ a compensation member that fills the radial gap between the manipulator lumen 9B and the shape sensor 13 substantially uniformly over the entire area in the circumferential direction.
  • the filling member may be a plurality of convex portions 37 ⁇ / b> A that are formed on the inner surface at the same position in the longitudinal direction of the manipulator lumen 9 ⁇ / b> B and project radially inward from each other.
  • the convex portions 37A opposed in the radial direction may be arranged so as to be separated by a distance slightly larger than the radial dimension of the shape sensor 13.
  • it is necessary is just to arrange
  • the compensation member may be an annular protrusion 37 ⁇ / b> B that protrudes radially outward over the entire circumferential direction of the shape sensor 13.
  • These convex portions 37A and 37B may be, for example, an elastic body having a spring inside.
  • the center axis of the manipulator lumen 9B and the center axis of the shape sensor 13 are different from the center axis of the lumen. If they do not match, an error is likely to occur between the shape of the manipulator lumen 9B detected by the shape sensor 13 and the actual shape of the manipulator lumen 9B.
  • the central axes of the manipulator lumen 9B and the shape sensor 13 are made to substantially coincide with each other so that the shape of the manipulator lumen 9B is made. It can be detected with high accuracy.
  • the filling member may be a cylindrical intermediate sheath 39 having a thickness dimension that fills a radial gap between the manipulator lumen 9 ⁇ / b> B and the shape sensor 13.
  • the filling member may be a balloon 41 disposed in a radial gap of the shape sensor 13 or the manipulator lumen 9B. The balloon 41 may be inflated when the shape sensor 13 is inserted at a desired position in the manipulator lumen 9B.
  • the central axis of the manipulator lumen 9B and the central axis of the shape sensor 13 are substantially reduced with a simple configuration in which a filling member is filled in the radial gap between the manipulator lumen 9B and the shape sensor 13.
  • the shape of the manipulator lumen 9B can be accurately detected.

Abstract

L'objectif de la présente invention est de réduire le diamètre d'une partie d'insertion comprenant un manipulateur et d'améliorer l'opérabilité du manipulateur. Ce système de manipulateur 1 est pourvu de : un surtube flexible 11 comportant une lumière de manipulateur 9B qui traverse dans la direction longitudinale ; un capteur de forme flexible 13 qui est inséré de façon amovible dans la lumière de manipulateur 9B du surtube 11 et capable de détecter la forme de la lumière de manipulateur 9B ; un manipulateur flexible 5 qui peut être inséré dans la lumière de manipulateur 9B à la place du capteur de forme 13; et une unité de commande 17 qui commande le manipulateur 5 sur la base de la forme de la lumière de manipulateur 9B détectée par le capteur de forme 13.
PCT/JP2016/050436 2016-01-08 2016-01-08 Système de manipulateur et procédé d'entraînement de celui-ci WO2017119112A1 (fr)

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PCT/JP2016/050436 WO2017119112A1 (fr) 2016-01-08 2016-01-08 Système de manipulateur et procédé d'entraînement de celui-ci
JP2017559999A JP6701232B2 (ja) 2016-01-08 2016-01-08 マニピュレータシステムとその駆動方法

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PCT/JP2016/050436 WO2017119112A1 (fr) 2016-01-08 2016-01-08 Système de manipulateur et procédé d'entraînement de celui-ci

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US11478306B2 (en) 2016-12-27 2022-10-25 Olympus Corporation Shape acquiring method and controlling method for medical manipulator
CN116573333A (zh) * 2023-06-16 2023-08-11 北京妙想科技有限公司 一种电池壳上料系统

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JP2013519432A (ja) * 2010-02-12 2013-05-30 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 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2015505507A (ja) * 2012-02-03 2015-02-23 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 埋め込み型形状感知機能を有する操縦可能な可撓性針
WO2015119935A1 (fr) * 2014-02-04 2015-08-13 Intuitive Surgical Operations, Inc. Systèmes et procédés de déformation non rigide de tissus pour la navigation virtuelle d'outils d'intervention
JP2015159926A (ja) * 2014-02-27 2015-09-07 オリンパス株式会社 医療用システム

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JP5443801B2 (ja) * 2009-03-23 2014-03-19 オリンパス株式会社 張力検出手段及びそれを用いたマニピュレータ

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JP2013519432A (ja) * 2010-02-12 2013-05-30 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 捻転に対する感度の低い形状センサを用いた絶対的３次元測定のための方法およびシステム
JP2015505507A (ja) * 2012-02-03 2015-02-23 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 埋め込み型形状感知機能を有する操縦可能な可撓性針
WO2015119935A1 (fr) * 2014-02-04 2015-08-13 Intuitive Surgical Operations, Inc. Systèmes et procédés de déformation non rigide de tissus pour la navigation virtuelle d'outils d'intervention
JP2015159926A (ja) * 2014-02-27 2015-09-07 オリンパス株式会社 医療用システム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11478306B2 (en) 2016-12-27 2022-10-25 Olympus Corporation Shape acquiring method and controlling method for medical manipulator
CN116573333A (zh) * 2023-06-16 2023-08-11 北京妙想科技有限公司 一种电池壳上料系统
CN116573333B (zh) * 2023-06-16 2024-01-23 北京妙想科技有限公司 一种电池壳上料系统

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