CN106255471B - 用于动态虚拟碰撞物体的***和方法 - Google Patents
用于动态虚拟碰撞物体的***和方法 Download PDFInfo
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- CN106255471B CN106255471B CN201580007381.9A CN201580007381A CN106255471B CN 106255471 B CN106255471 B CN 106255471B CN 201580007381 A CN201580007381 A CN 201580007381A CN 106255471 B CN106255471 B CN 106255471B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/10—Safety means specially adapted therefor
- A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- 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
- G05B2219/40202—Human robot coexistence
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
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- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
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- Primary Health Care (AREA)
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- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
Claims (62)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461936006P | 2014-02-05 | 2014-02-05 | |
US61/936,006 | 2014-02-05 | ||
PCT/US2015/014395 WO2015120008A1 (en) | 2014-02-05 | 2015-02-04 | System and method for dynamic virtual collision objects |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106255471A CN106255471A (zh) | 2016-12-21 |
CN106255471B true CN106255471B (zh) | 2018-10-26 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580007381.9A Active CN106255471B (zh) | 2014-02-05 | 2015-02-04 | 用于动态虚拟碰撞物体的***和方法 |
Country Status (6)
Country | Link |
---|---|
US (2) | US9993222B2 (zh) |
EP (1) | EP3102144B1 (zh) |
JP (1) | JP6530759B2 (zh) |
KR (1) | KR102379623B1 (zh) |
CN (1) | CN106255471B (zh) |
WO (1) | WO2015120008A1 (zh) |
Families Citing this family (32)
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JP6530759B2 (ja) | 2014-02-05 | 2019-06-12 | 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 | 動的な仮想の衝突対象物についてのシステム及び方法 |
WO2015148293A1 (en) * | 2014-03-24 | 2015-10-01 | Intuitive Surgical Operations, Inc. | System and method for virtual feedback with haptic devices |
KR20240044536A (ko) | 2015-02-25 | 2024-04-04 | 마코 서지컬 코포레이션 | 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법 |
CN108289719B (zh) | 2016-01-20 | 2021-09-14 | 直观外科手术操作公司 | 快速暂停和恢复医疗设备可重新定位臂中的运动偏离的***和方法 |
WO2017146890A1 (en) | 2016-02-26 | 2017-08-31 | Intuitive Surgical Operations, Inc. | System and method for collision avoidance using virtual boundaries |
WO2017179624A1 (ja) * | 2016-04-15 | 2017-10-19 | 川崎重工業株式会社 | 外科手術システムの制御方法および外科手術システム |
WO2017187795A1 (ja) * | 2016-04-28 | 2017-11-02 | ソニー株式会社 | 制御装置、制御方法及び手術システム |
EP3287243A1 (en) | 2016-08-24 | 2018-02-28 | Siemens Aktiengesellschaft | Method for collision detection and autonomous system |
JP6877192B2 (ja) * | 2017-03-03 | 2021-05-26 | 株式会社キーエンス | 画像処理装置、画像処理方法、画像処理プログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器 |
US11011077B2 (en) | 2017-06-29 | 2021-05-18 | Verb Surgical Inc. | Virtual reality training, simulation, and collaboration in a robotic surgical system |
US11270601B2 (en) | 2017-06-29 | 2022-03-08 | Verb Surgical Inc. | Virtual reality system for simulating a robotic surgical environment |
US11284955B2 (en) * | 2017-06-29 | 2022-03-29 | Verb Surgical Inc. | Emulation of robotic arms and control thereof in a virtual reality environment |
CN108115689B (zh) * | 2017-12-31 | 2021-05-11 | 芜湖哈特机器人产业技术研究院有限公司 | 一种机器人灵活性分析方法 |
US11551810B2 (en) | 2018-01-03 | 2023-01-10 | Siemens Healthcare Gmbh | Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device |
EP3518059B1 (de) * | 2018-01-24 | 2020-04-01 | Siemens Aktiengesellschaft | Verfahren zur rechnergestützten benutzerassistenz bei der in-betriebnahme eines bewegungsplaners für eine maschine |
US11154369B2 (en) | 2018-01-24 | 2021-10-26 | Think Surgical, Inc. | Environmental mapping for robotic assisted surgery |
US10872449B2 (en) | 2018-05-02 | 2020-12-22 | Covidien Lp | System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images |
KR102488901B1 (ko) * | 2018-08-01 | 2023-01-17 | 브레인 나비 바이오테크놀러지 씨오., 엘티디. | 수술 중 환자 위치를 추적하는 방법 및 시스템 |
GB2608751B (en) * | 2018-10-03 | 2023-06-14 | Cmr Surgical Ltd | Methods and systems for providing assistance to a user of a surgical robot system |
CN109620410B (zh) * | 2018-12-04 | 2021-01-26 | 微创(上海)医疗机器人有限公司 | 机械臂防碰撞的方法及***、医疗机器人 |
JP6997068B2 (ja) * | 2018-12-19 | 2022-01-17 | ファナック株式会社 | ロボット制御装置、ロボット制御システム、及びロボット制御方法 |
CN113939228A (zh) * | 2019-01-02 | 2022-01-14 | 瑞迪艾森有限公司 | 用于医学成像仪的补充碰撞检测和防止*** |
KR20220058487A (ko) | 2019-01-02 | 2022-05-09 | 레디액션 엘티디. | 환자 머리 보호 장치 |
JP7147571B2 (ja) * | 2019-01-15 | 2022-10-05 | オムロン株式会社 | 経路生成装置、経路生成方法、及び経路生成プログラム |
CN113040922B (zh) * | 2019-12-27 | 2022-06-14 | 重庆海扶医疗科技股份有限公司 | 聚焦超声手术执行机构的运动控制方法、介质、***和设备 |
CN111449666B (zh) * | 2020-03-09 | 2023-07-04 | 北京东软医疗设备有限公司 | 距离监测方法、装置、血管机、电子设备及存储介质 |
US11701492B2 (en) | 2020-06-04 | 2023-07-18 | Covidien Lp | Active distal tip drive |
EP4000575A1 (en) | 2020-11-19 | 2022-05-25 | TRUMPF Medizin Systeme GmbH + Co. KG | Surgical table and method for controlling a surgical table |
CN113456221B (zh) * | 2021-06-30 | 2023-06-30 | 上海微创医疗机器人(集团)股份有限公司 | 可移动设备的摆位指引方法及***、手术机器人*** |
KR102583320B1 (ko) * | 2021-08-05 | 2023-09-27 | 숭실대학교 산학협력단 | 증강현실 기반 뇌실천자술을 위한 뇌 변형 예측 방법, 이를 수행하기 위한 기록 매체 및 장치 |
CN114305695B (zh) * | 2021-12-06 | 2023-12-26 | 上海微创医疗机器人(集团)股份有限公司 | 移动指引方法及***、可读存储介质、及手术机器人*** |
CN115019591B (zh) * | 2022-08-05 | 2022-11-04 | 上海华模科技有限公司 | 手术模拟方法、装置及存储介质 |
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CN101512453A (zh) * | 2006-09-14 | 2009-08-19 | Abb研究有限公司 | 避免工业机器人与物体之间碰撞的方法和设备 |
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-
2015
- 2015-02-04 JP JP2016550729A patent/JP6530759B2/ja active Active
- 2015-02-04 CN CN201580007381.9A patent/CN106255471B/zh active Active
- 2015-02-04 KR KR1020167023595A patent/KR102379623B1/ko active IP Right Grant
- 2015-02-04 WO PCT/US2015/014395 patent/WO2015120008A1/en active Application Filing
- 2015-02-04 EP EP15746212.8A patent/EP3102144B1/en active Active
- 2015-02-04 US US15/116,561 patent/US9993222B2/en active Active
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2018
- 2018-04-18 US US15/956,463 patent/US10849591B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101512453A (zh) * | 2006-09-14 | 2009-08-19 | Abb研究有限公司 | 避免工业机器人与物体之间碰撞的方法和设备 |
WO2013101273A1 (en) * | 2011-12-30 | 2013-07-04 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for detection and avoidance of collisions of robotically-controlled medical devices |
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US20160345929A1 (en) | 2016-12-01 |
US9993222B2 (en) | 2018-06-12 |
US20180235565A1 (en) | 2018-08-23 |
EP3102144B1 (en) | 2019-09-18 |
WO2015120008A1 (en) | 2015-08-13 |
KR102379623B1 (ko) | 2022-03-29 |
KR20160117513A (ko) | 2016-10-10 |
CN106255471A (zh) | 2016-12-21 |
EP3102144A1 (en) | 2016-12-14 |
JP6530759B2 (ja) | 2019-06-12 |
EP3102144A4 (en) | 2017-11-15 |
JP2017512078A (ja) | 2017-05-18 |
US10849591B2 (en) | 2020-12-01 |
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