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1. WO2020196338 - MEDICAL ARM SYSTEM, CONTROL DEVICE, AND CONTROL METHOD

Publication Number WO/2020/196338
Publication Date 01.10.2020
International Application No. PCT/JP2020/012495
International Filing Date 19.03.2020
IPC
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
G06T 17/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
173D modelling for computer graphics
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
A61B 1/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
CPC
A61B 1/00006
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00002Operational features of endoscopes
00004characterised by electronic signal processing
00006of control signals
A61B 1/00009
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00002Operational features of endoscopes
00004characterised by electronic signal processing
00009of image signals
A61B 1/00149
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
00149using articulated arms
A61B 1/0016
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
0016using motor drive units
A61B 2034/2048
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2048using an accelerometer or inertia sensor
A61B 2034/302
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
302specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Applicants
  • SONY CORPORATION [JP]/[JP]
Inventors
  • NAGAO, Daisuke
  • KURODA, Yohei
Agents
  • SAKAI INTERNATIONAL PATENT OFFICE
Priority Data
2019-05994027.03.2019JP
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) MEDICAL ARM SYSTEM, CONTROL DEVICE, AND CONTROL METHOD
(FR) SYSTÈME DE BRAS MÉDICAL, DISPOSITIF DE COMMANDE ET PROCÉDÉ DE COMMANDE
Abstract
(EN)
A medical arm system including: an arm unit configured to support a medical instrument, and to adapt a position and a posture of the medical instrument with respect to a point of action on the medical instrument; and a control unit configured to control an operation of the arm unit to adapt the position and the posture of the medical instrument with respect to the point of action and, one or more acquisition units configured to acquire environment information of a space surrounding the point of action, wherein the control unit is configured to generate or to update mapping information mapping the space surrounding the point of action on a basis of the environment information acquired by the one or more acquisition units and arm state information representing the position and the posture of the medical instrument with respect to the point of action according to a state of the arm unit.
(FR)
La présente invention concerne un système de bras médical qui comprend : une unité de bras configurée pour supporter un instrument médical, et pour adapter une position et une posture de l'instrument médical par rapport à un point d'action sur l'instrument médical ; et une unité de commande configurée pour commander une opération de l'unité de bras pour adapter la position et la posture de l'instrument médical par rapport au point d'action, et une ou plusieurs unités d'acquisition configurées pour acquérir des informations d'environnement d'un espace entourant le point d'action, l'unité de commande étant configurée pour générer ou pour mettre à jour des informations de cartographie cartographiant l'espace entourant le point d'action sur une base des informations de l'environnement acquises par la ou les unités d'acquisition et d'informations d'état de bras représentant la position et la posture de l'instrument médical par rapport au point d'action selon un état de l'unité de bras.
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