NL2033941B1 - Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy - Google Patents

Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy Download PDF

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Publication number
NL2033941B1
NL2033941B1 NL2033941A NL2033941A NL2033941B1 NL 2033941 B1 NL2033941 B1 NL 2033941B1 NL 2033941 A NL2033941 A NL 2033941A NL 2033941 A NL2033941 A NL 2033941A NL 2033941 B1 NL2033941 B1 NL 2033941B1
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NL
Netherlands
Prior art keywords
vector
slave
manipulator
coordinate
slave manipulator
Prior art date
Application number
NL2033941A
Other languages
English (en)
Dutch (nl)
Other versions
NL2033941A (en
Inventor
Liu Xiaotong
Sun Hudie
Sun Liping
Xu Bo
Original Assignee
Shanghai Univ Of Medicine & Health Sciences
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 Shanghai Univ Of Medicine & Health Sciences filed Critical Shanghai Univ Of Medicine & Health Sciences
Publication of NL2033941A publication Critical patent/NL2033941A/en
Application granted granted Critical
Publication of NL2033941B1 publication Critical patent/NL2033941B1/en

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Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • A61B34/20—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
    • 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
    • A61B34/35—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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • A61B2034/2046—Tracking techniques
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
NL2033941A 2022-01-18 2023-01-10 Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy NL2033941B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210055139.0A CN114378819B (zh) 2022-01-18 2022-01-18 一种消化内镜微创手术机器人主从手控制方法和装置

Publications (2)

Publication Number Publication Date
NL2033941A NL2033941A (en) 2023-07-28
NL2033941B1 true NL2033941B1 (en) 2023-10-11

Family

ID=81204682

Family Applications (1)

Application Number Title Priority Date Filing Date
NL2033941A NL2033941B1 (en) 2022-01-18 2023-01-10 Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy

Country Status (2)

Country Link
CN (1) CN114378819B (zh)
NL (1) NL2033941B1 (zh)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
CN102686366B (zh) * 2010-08-31 2015-02-25 松下电器产业株式会社 主从机器人的控制装置及主从机器人的控制装置的控制方法
JP6270537B2 (ja) * 2014-02-27 2018-01-31 オリンパス株式会社 医療用システム
JP2016016475A (ja) * 2014-07-08 2016-02-01 株式会社東芝 複数ロボットの制御システム及び方法
CN104440864B (zh) * 2014-12-04 2017-08-11 深圳先进技术研究院 一种主从式遥操作工业机器人***及其控制方法
WO2018104376A1 (en) * 2016-12-07 2018-06-14 Koninklijke Philips N.V. Automatic motion control of a dependent surgical robotic arm
CN108638015B (zh) * 2018-05-16 2021-10-29 南京邮电大学 基于量化通信的主从机械臂同步跟踪控制方法
CN111267090A (zh) * 2018-12-04 2020-06-12 深圳先进技术研究院 一种双臂机器人主从控制***及方法
CN110584790B (zh) * 2019-08-13 2022-05-06 广东工业大学 基于手臂刚度的手术机器人遥操作比例控制方法
CN111568558B (zh) * 2020-04-13 2022-02-22 上海市胸科医院 电子设备、手术机器人***及其控制方法
CN112659120A (zh) * 2020-12-11 2021-04-16 山东大学 一种液压作业机械臂的主从遥操作及力反馈控制方法

Also Published As

Publication number Publication date
CN114378819B (zh) 2022-07-26
CN114378819A (zh) 2022-04-22
NL2033941A (en) 2023-07-28

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