DK0725710T3 - Kollisionsfrit kontrolsystem for en fler-akse regulerbar manipulator - Google Patents

Kollisionsfrit kontrolsystem for en fler-akse regulerbar manipulator

Info

Publication number
DK0725710T3
DK0725710T3 DK93905648T DK93905648T DK0725710T3 DK 0725710 T3 DK0725710 T3 DK 0725710T3 DK 93905648 T DK93905648 T DK 93905648T DK 93905648 T DK93905648 T DK 93905648T DK 0725710 T3 DK0725710 T3 DK 0725710T3
Authority
DK
Denmark
Prior art keywords
manipulator
collision
control system
actuators
way
Prior art date
Application number
DK93905648T
Other languages
English (en)
Inventor
Sven Ploem
Original Assignee
Sven Ploem
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 Sven Ploem filed Critical Sven Ploem
Application granted granted Critical
Publication of DK0725710T3 publication Critical patent/DK0725710T3/da

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • 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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Biophysics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • X-Ray Techniques (AREA)
DK93905648T 1992-02-17 1993-02-17 Kollisionsfrit kontrolsystem for en fler-akse regulerbar manipulator DK0725710T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9200286A NL9200286A (nl) 1992-02-17 1992-02-17 Botsvrij besturingssysteem voor een meerassig bestuurbare manipulator.
PCT/NL1993/000034 WO1993015882A1 (en) 1992-02-17 1993-02-17 Collision-free control system for a multi-axially controllable manipulator

Publications (1)

Publication Number Publication Date
DK0725710T3 true DK0725710T3 (da) 1999-08-23

Family

ID=19860442

Family Applications (1)

Application Number Title Priority Date Filing Date
DK93905648T DK0725710T3 (da) 1992-02-17 1993-02-17 Kollisionsfrit kontrolsystem for en fler-akse regulerbar manipulator

Country Status (10)

Country Link
US (1) US5549439A (da)
EP (1) EP0725710B1 (da)
JP (1) JP3532919B2 (da)
AT (1) ATE175143T1 (da)
DE (1) DE69322885T2 (da)
DK (1) DK0725710T3 (da)
ES (1) ES2127809T3 (da)
NL (1) NL9200286A (da)
RU (1) RU2108905C1 (da)
WO (1) WO1993015882A1 (da)

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FR2759470A1 (fr) * 1997-02-13 1998-08-14 Gerard Moine Commande universelle simplifiee sur maquette
JP3504507B2 (ja) * 1998-09-17 2004-03-08 トヨタ自動車株式会社 適切反力付与型作業補助装置
DE10162412A1 (de) 2001-12-19 2003-07-10 Kuka Roboter Gmbh Einrichtung und Verfahren zum Sichern von Vorrichtungen mit frei im Raum beweglichen Teilen
US20030181810A1 (en) 2002-03-25 2003-09-25 Murphy Kieran P. Kit for image guided surgical procedures
US7927368B2 (en) * 2002-03-25 2011-04-19 Kieran Murphy Llc Device viewable under an imaging beam
US9375203B2 (en) 2002-03-25 2016-06-28 Kieran Murphy Llc Biopsy needle
US7130378B2 (en) * 2003-02-27 2006-10-31 Shimadzu Corporation Radiographic X-ray device
WO2005079257A2 (en) * 2004-02-12 2005-09-01 Dexcom, Inc. Biointerface with macro- and micro- architecture
EP2389977A3 (en) 2005-11-18 2012-01-25 Still River Systems, Inc. Charged particle radiation therapy
DE102006045175A1 (de) * 2006-09-25 2008-04-03 Siemens Ag Medizinische Untersuchungs- und/oder Behandlungseinrichtung
DE102009004766A1 (de) * 2009-01-15 2010-07-22 Siemens Aktiengesellschaft Medizinische Bildaufnahmeeinrichtung mit wenigstens einer wenigstens ein zum Durchführen einer Aufnahme mechanisch einstellbares Komponententeil umfassenden Komponente
RU2505392C2 (ru) * 2012-04-10 2014-01-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Национальный исследовательский Томский государственный университет" (ТГУ) Манипулятор рентгеновского микротомографа
JP5662503B2 (ja) * 2013-03-07 2015-01-28 メビオン・メディカル・システムズ・インコーポレーテッド インナーガントリー
KR101485292B1 (ko) * 2014-04-07 2015-01-28 재단법인대구경북과학기술원 로봇
KR101403787B1 (ko) * 2014-04-07 2014-06-03 재단법인대구경북과학기술원 의료용 로봇
US11051771B2 (en) 2014-06-17 2021-07-06 Xintek, Inc. Stationary intraoral tomosynthesis imaging systems, methods, and computer readable media for three dimensional dental imaging
DE102014219077A1 (de) * 2014-09-22 2016-03-24 Siemens Aktiengesellschaft Mobiles medizinisches Gerät
WO2017160177A1 (ru) * 2016-03-15 2017-09-21 Елена Николаевна ФАГЕ Многоосевой электронно-механический хирургический манипулятор
CN109803586B (zh) * 2016-05-09 2023-04-28 新维沃有限公司 用于三维牙科成像的静态口内层析合成成像系统、方法和计算机可读介质
CN106003054B (zh) * 2016-08-04 2018-06-19 卢东东 机械手以及机械手控制方法
WO2019159062A1 (en) 2018-02-13 2019-08-22 Murphy Kieran P Delivery system for delivering a drug depot to a target site under image guidance and methods and uses of same
WO2020086094A1 (en) 2018-10-26 2020-04-30 Xin Vivo, Inc. Intraoral tomosynthesis x-ray imaging device, system, and method with interchangeable collimator
EP3662834A1 (en) * 2018-12-07 2020-06-10 Koninklijke Philips N.V. Positioning a medical x-ray imaging apparatus
CN111317490B (zh) * 2020-02-25 2024-11-26 京东方科技集团股份有限公司 一种远程操作控制系统及远程操作控制方法
CN113663235A (zh) * 2021-09-26 2021-11-19 合肥中科离子医学技术装备有限公司 放射治疗用的摆位设备

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3414136A (en) * 1966-01-18 1968-12-03 North American Rockwell Underwater manipulator system
US3637092A (en) * 1970-04-30 1972-01-25 Gen Electric Material-handling apparatus
US3893573A (en) * 1973-08-20 1975-07-08 Nasa Variable ratio mixed-mode bilateral master-slave control system for shuttle remote manipulator system
US3915153A (en) * 1974-06-24 1975-10-28 Gen Electric Palpator for X-ray use
US4168782A (en) * 1977-06-13 1979-09-25 Westinghouse Electric Corp. Remote access manipulator
US4160508A (en) * 1977-08-19 1979-07-10 Nasa Controller arm for a remotely related slave arm
JPS59224240A (ja) * 1983-05-31 1984-12-17 Fanuc Ltd ならい制御装置
US4604016A (en) * 1983-08-03 1986-08-05 Joyce Stephen A Multi-dimensional force-torque hand controller having force feedback
DE3732194A1 (de) * 1986-09-30 1988-04-07 Siemens Ag Deckenstativ fuer eine roentgenroehre bzw. einen eintank
EP0365737B1 (de) * 1988-10-25 1993-05-12 Siemens Aktiengesellschaft Röntgenuntersuchungsgerät

Also Published As

Publication number Publication date
JPH07503669A (ja) 1995-04-20
ATE175143T1 (de) 1999-01-15
NL9200286A (nl) 1993-09-16
DE69322885T2 (de) 1999-09-09
EP0725710B1 (en) 1998-12-30
JP3532919B2 (ja) 2004-05-31
DE69322885D1 (de) 1999-02-11
US5549439A (en) 1996-08-27
EP0725710A1 (en) 1996-08-14
RU94040369A (ru) 1996-06-20
WO1993015882A1 (en) 1993-08-19
ES2127809T3 (es) 1999-05-01
RU2108905C1 (ru) 1998-04-20

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