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GB2622791B - Control system for controlling a surgical robot arm - Google Patents

Control system for controlling a surgical robot arm Download PDF

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Publication number
GB2622791B
GB2622791B GB2214082.6A GB202214082A GB2622791B GB 2622791 B GB2622791 B GB 2622791B GB 202214082 A GB202214082 A GB 202214082A GB 2622791 B GB2622791 B GB 2622791B
Authority
GB
United Kingdom
Prior art keywords
controlling
control system
robot arm
surgical robot
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.)
Active
Application number
GB2214082.6A
Other versions
GB2622791A (en
GB202214082D0 (en
Inventor
William Haydn Webster-Smith David
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB2214082.6A priority Critical patent/GB2622791B/en
Publication of GB202214082D0 publication Critical patent/GB202214082D0/en
Priority to PCT/GB2023/052448 priority patent/WO2024069132A1/en
Priority to US18/617,523 priority patent/US20240238980A1/en
Publication of GB2622791A publication Critical patent/GB2622791A/en
Application granted granted Critical
Publication of GB2622791B publication Critical patent/GB2622791B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
GB2214082.6A 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm Active GB2622791B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
GB2214082.6A GB2622791B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm
PCT/GB2023/052448 WO2024069132A1 (en) 2022-09-27 2023-09-21 Control system for controlling a surgical robot arm
US18/617,523 US20240238980A1 (en) 2022-09-27 2024-03-26 Control system for controlling a surgical robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2214082.6A GB2622791B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm

Publications (3)

Publication Number Publication Date
GB202214082D0 GB202214082D0 (en) 2022-11-09
GB2622791A GB2622791A (en) 2024-04-03
GB2622791B true GB2622791B (en) 2025-02-12

Family

ID=83978788

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2214082.6A Active GB2622791B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm

Country Status (1)

Country Link
GB (1) GB2622791B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050251110A1 (en) * 2004-05-04 2005-11-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
KR20090060752A (en) * 2007-12-10 2009-06-15 현대중공업 주식회사 Calibration method of robots with joint stiffness parameters for improved position accuracy
KR20160149649A (en) * 2015-06-18 2016-12-28 울산대학교 산학협력단 Robot calibration method including nonlinear joint stiffness
WO2017167687A2 (en) * 2016-03-29 2017-10-05 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
WO2019090047A1 (en) * 2017-11-02 2019-05-09 Intuitive Surgical Operations, Inc. Systems and methods for end effector position set point correction

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050251110A1 (en) * 2004-05-04 2005-11-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
KR20090060752A (en) * 2007-12-10 2009-06-15 현대중공업 주식회사 Calibration method of robots with joint stiffness parameters for improved position accuracy
KR20160149649A (en) * 2015-06-18 2016-12-28 울산대학교 산학협력단 Robot calibration method including nonlinear joint stiffness
WO2017167687A2 (en) * 2016-03-29 2017-10-05 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
WO2019090047A1 (en) * 2017-11-02 2019-05-09 Intuitive Surgical Operations, Inc. Systems and methods for end effector position set point correction

Also Published As

Publication number Publication date
GB2622791A (en) 2024-04-03
GB202214082D0 (en) 2022-11-09

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