JPWO2017002143A1 - 手術ロボット - Google Patents
手術ロボット Download PDFInfo
- Publication number
- JPWO2017002143A1 JPWO2017002143A1 JP2017525685A JP2017525685A JPWO2017002143A1 JP WO2017002143 A1 JPWO2017002143 A1 JP WO2017002143A1 JP 2017525685 A JP2017525685 A JP 2017525685A JP 2017525685 A JP2017525685 A JP 2017525685A JP WO2017002143 A1 JPWO2017002143 A1 JP WO2017002143A1
- Authority
- JP
- Japan
- Prior art keywords
- operating table
- base
- surgical robot
- articulated arms
- surgical
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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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
-
- 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
- A61B34/30—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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- 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
-
- 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
-
- 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
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
-
- 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
- Y10S901/30—End effector
- Y10S901/41—Tool
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Computer Networks & Wireless Communication (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
Description
2 土台
3 多関節アーム
4 医療器具
5 手術台
6 ロボット制御盤
Claims (4)
- 手術台の下方に配置される土台と、
前記土台から前記手術台の脇を通って上方に延び、先端に医療器具が取り付けられる、複数の自由度を持つ複数の多関節アームと、
を備える、手術ロボット。 - 前記複数の多関節アームは、前記手術台の下方に格納できるように構成されている、請求項1に記載の手術ロボット。
- 前記土台に内蔵されたロボット制御盤であって、使用開始信号を受け取ったときに前記複数の多関節アームが手術用の原点位置に移動し、使用終了信号を受け取ったときに前記複数の多関節アームが前記手術台の下方に格納されるように、前記複数の多関節アームを制御するロボット制御盤をさらに備える、請求項2に記載の手術ロボット。
- 前記土台は、前記手術台の長手方向に移動可能に構成されている、請求項1〜3のいずれか一項に記載の手術ロボット。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/003252 WO2017002143A1 (ja) | 2015-06-29 | 2015-06-29 | 手術ロボット |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019194324A Division JP2020036911A (ja) | 2019-10-25 | 2019-10-25 | 手術ロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
JPWO2017002143A1 true JPWO2017002143A1 (ja) | 2018-04-19 |
Family
ID=57608018
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017525685A Pending JPWO2017002143A1 (ja) | 2015-06-29 | 2015-06-29 | 手術ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US20180193101A1 (ja) |
EP (1) | EP3315088A4 (ja) |
JP (1) | JPWO2017002143A1 (ja) |
KR (1) | KR20180019203A (ja) |
CN (1) | CN107613898A (ja) |
WO (1) | WO2017002143A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2021206153A1 (ja) * | 2020-04-10 | 2021-10-14 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7114709B2 (ja) * | 2017-12-13 | 2022-08-08 | バーブ サージカル インコーポレイテッド | ロボットマニピュレータの位置決めのための制御モード及びプロセス |
US10807242B2 (en) | 2017-12-13 | 2020-10-20 | Verb Surgical Inc. | Control modes and processes for positioning of a robotic manipulator |
DE112018007820A5 (de) * | 2018-07-10 | 2021-04-15 | HELLA GmbH & Co. KGaA | Arbeitsvorrichtung mit Unter-Tisch-Roboter |
CN109259867B (zh) * | 2018-10-17 | 2021-02-02 | 嘉兴学院 | 一种战地手术机器人*** |
TWI821650B (zh) * | 2020-04-10 | 2023-11-11 | 日商川崎重工業股份有限公司 | 診斷/治療支援機器人、診斷/治療支援機器人系統、以及診斷/治療支援方法 |
JP7459234B2 (ja) * | 2020-04-10 | 2024-04-01 | 川崎重工業株式会社 | 医療用移動体システム及びその運転方法 |
KR20230169992A (ko) | 2021-03-16 | 2023-12-18 | 엘이엠 써지컬 아게 | 양측 수술용 로봇 시스템 |
CN114631961A (zh) * | 2022-02-08 | 2022-06-17 | 查显进 | 一种多自由度医疗微创机器人 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6788018B1 (en) * | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US20100286712A1 (en) * | 2008-02-20 | 2010-11-11 | Jong Seok Won | Bed integrated surgical robot |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3540362B2 (ja) * | 1994-06-14 | 2004-07-07 | オリンパス株式会社 | 手術用マニピュレータの制御システム及びその制御方法 |
EP1176921B1 (en) * | 1999-05-10 | 2011-02-23 | Hansen Medical, Inc. | Surgical instrument |
US6936001B1 (en) * | 1999-10-01 | 2005-08-30 | Computer Motion, Inc. | Heart stabilizer |
DE10353110B4 (de) * | 2003-11-12 | 2006-02-16 | Delta Engineering Gmbh | Aktorplattform zur Führung von medizinischen Instrumenten bei minimal invasiven Interventionen |
US7979157B2 (en) * | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
JP5020533B2 (ja) * | 2006-04-27 | 2012-09-05 | 株式会社日立メディコ | ドラッグデリバリーシステム、及びそれを制御するためのコンピュータプログラム |
NO2190530T3 (ja) * | 2007-09-13 | 2018-04-07 | ||
WO2010068005A2 (en) * | 2008-12-12 | 2010-06-17 | Rebo | Surgical robot |
US20140094825A1 (en) * | 2011-06-02 | 2014-04-03 | Medrobotics Corporation | Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems |
WO2013018908A1 (ja) * | 2011-08-04 | 2013-02-07 | オリンパス株式会社 | 医療用マニピュレータおよび手術支援装置 |
US20130085510A1 (en) * | 2011-09-30 | 2013-04-04 | Ethicon Endo-Surgery, Inc. | Robot-mounted surgical tables |
JP2014000491A (ja) * | 2012-06-15 | 2014-01-09 | Canon Inc | 振動型駆動装置、医療装置、及び医療システム |
EP3142591B1 (en) * | 2014-05-13 | 2020-06-24 | Covidien LP | Surgical robotic arm support systems and methods of use |
US9636184B2 (en) * | 2015-05-15 | 2017-05-02 | Auris Surgical Robotics, Inc. | Swivel bed for a surgical robotics system |
-
2015
- 2015-06-29 KR KR1020187001652A patent/KR20180019203A/ko not_active Application Discontinuation
- 2015-06-29 EP EP15897071.5A patent/EP3315088A4/en not_active Withdrawn
- 2015-06-29 WO PCT/JP2015/003252 patent/WO2017002143A1/ja active Application Filing
- 2015-06-29 US US15/741,067 patent/US20180193101A1/en not_active Abandoned
- 2015-06-29 CN CN201580080732.9A patent/CN107613898A/zh active Pending
- 2015-06-29 JP JP2017525685A patent/JPWO2017002143A1/ja active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6788018B1 (en) * | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US20100286712A1 (en) * | 2008-02-20 | 2010-11-11 | Jong Seok Won | Bed integrated surgical robot |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2021206153A1 (ja) * | 2020-04-10 | 2021-10-14 |
Also Published As
Publication number | Publication date |
---|---|
US20180193101A1 (en) | 2018-07-12 |
CN107613898A (zh) | 2018-01-19 |
KR20180019203A (ko) | 2018-02-23 |
WO2017002143A1 (ja) | 2017-01-05 |
EP3315088A1 (en) | 2018-05-02 |
EP3315088A4 (en) | 2019-02-27 |
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