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 PDFInfo
- 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
- Authority
- NL
- Netherlands
- Prior art keywords
- vector
- slave
- manipulator
- coordinate
- slave manipulator
- Prior art date
Links
Classifications
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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
- B25J9/1656—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
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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
- 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)
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)
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 |
-
2022
- 2022-01-18 CN CN202210055139.0A patent/CN114378819B/zh active Active
-
2023
- 2023-01-10 NL NL2033941A patent/NL2033941B1/en active
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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