BR112014013073A2 - sistema e método para orientação robótica cirúrgica - Google Patents

sistema e método para orientação robótica cirúrgica

Info

Publication number
BR112014013073A2
BR112014013073A2 BR112014013073A BR112014013073A BR112014013073A2 BR 112014013073 A2 BR112014013073 A2 BR 112014013073A2 BR 112014013073 A BR112014013073 A BR 112014013073A BR 112014013073 A BR112014013073 A BR 112014013073A BR 112014013073 A2 BR112014013073 A2 BR 112014013073A2
Authority
BR
Brazil
Prior art keywords
location
robot
surgical robotic
robotic guidance
probe
Prior art date
Application number
BR112014013073A
Other languages
English (en)
Other versions
BR112014013073A8 (pt
Inventor
Popovic Aleksandra
Stephen Hall Christopher
Elhawary Haytham
Original Assignee
Koninklijke Philips Nv
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 Koninklijke Philips Nv filed Critical Koninklijke Philips Nv
Publication of BR112014013073A8 publication Critical patent/BR112014013073A8/pt
Publication of BR112014013073A2 publication Critical patent/BR112014013073A2/pt

Links

Classifications

    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J43/00—Normal steroids having a nitrogen-containing hetero ring spiro-condensed or not condensed with the cyclopenta(a)hydrophenanthrene skeleton
    • C07J43/003—Normal steroids having a nitrogen-containing hetero ring spiro-condensed or not condensed with the cyclopenta(a)hydrophenanthrene skeleton not condensed
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K47/00—Medicinal preparations characterised by the non-active ingredients used, e.g. carriers or inert additives; Targeting or modifying agents chemically bound to the active ingredient
    • A61K47/06—Organic compounds, e.g. natural or synthetic hydrocarbons, polyolefins, mineral oil, petrolatum or ozokerite
    • A61K47/26—Carbohydrates, e.g. sugar alcohols, amino sugars, nucleic acids, mono-, di- or oligo-saccharides; Derivatives thereof, e.g. polysorbates, sorbitan fatty acid esters or glycyrrhizin
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K47/00—Medicinal preparations characterised by the non-active ingredients used, e.g. carriers or inert additives; Targeting or modifying agents chemically bound to the active ingredient
    • A61K47/06—Organic compounds, e.g. natural or synthetic hydrocarbons, polyolefins, mineral oil, petrolatum or ozokerite
    • A61K47/28—Steroids, e.g. cholesterol, bile acids or glycyrrhetinic acid
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J31/00—Normal steroids containing one or more sulfur atoms not belonging to a hetero ring
    • C07J31/006—Normal steroids containing one or more sulfur atoms not belonging to a hetero ring not covered by C07J31/003
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J41/00—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring
    • C07J41/0033—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005
    • C07J41/0055—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005 the 17-beta position being substituted by an uninterrupted chain of at least three carbon atoms which may or may not be branched, e.g. cholane or cholestane derivatives, optionally cyclised, e.g. 17-beta-phenyl or 17-beta-furyl derivatives
    • C07J41/0061—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005 the 17-beta position being substituted by an uninterrupted chain of at least three carbon atoms which may or may not be branched, e.g. cholane or cholestane derivatives, optionally cyclised, e.g. 17-beta-phenyl or 17-beta-furyl derivatives one of the carbon atoms being part of an amide group
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J51/00—Normal steroids with unmodified cyclopenta(a)hydrophenanthrene skeleton not provided for in groups C07J1/00 - C07J43/00
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J9/00—Normal steroids containing carbon, hydrogen, halogen or oxygen substituted in position 17 beta by a chain of more than two carbon atoms, e.g. cholane, cholestane, coprostane
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07K—PEPTIDES
    • C07K1/00—General methods for the preparation of peptides, i.e. processes for the organic chemical preparation of peptides or proteins of any length
    • C07K1/14—Extraction; Separation; Purification
    • C07K1/145—Extraction; Separation; Purification by extraction or solubilisation
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K9/00—Medicinal preparations characterised by special physical form
    • A61K9/10—Dispersions; Emulsions
    • A61K9/107—Emulsions ; Emulsion preconcentrates; Micelles

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Organic Chemistry (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Medicinal Chemistry (AREA)
  • Biochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Epidemiology (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Optics & Photonics (AREA)
  • Genetics & Genomics (AREA)
  • Proteomics, Peptides & Aminoacids (AREA)
  • Analytical Chemistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Endoscopes (AREA)

Abstract

resumo sistema e método para orientação robótica cirúrgica sistemas e métodos para orientação robótica cirúrgica incluem um sistema robótico (124) tendo um robô (122) configurado para passar a um alvo através de uma porta (134). o sistema robótico inclui um componente visual (102) empregado na orientação do robô ao longo de um caminho para uma localização. a localização é definida de acordo com uma posição e orientação do robô. uma sonda ultrassônica (125) é orientada pelo robô para a localização para permitir o encaixe da sonda para coletar imagens ultrassônicas na localização. 1/1
BR112014013073A 2011-12-03 2012-11-27 sistema e método para orientação robótica cirúrgica BR112014013073A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161566625P 2011-12-03 2011-12-03
PCT/IB2012/056758 WO2013080124A1 (en) 2011-12-03 2012-11-27 Robotic guidance of ultrasound probe in endoscopic surgery

Publications (2)

Publication Number Publication Date
BR112014013073A8 BR112014013073A8 (pt) 2017-06-13
BR112014013073A2 true BR112014013073A2 (pt) 2017-06-13

Family

ID=48539462

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112014013073A BR112014013073A2 (pt) 2011-12-03 2012-11-27 sistema e método para orientação robótica cirúrgica

Country Status (8)

Country Link
US (1) US10414792B2 (pt)
EP (1) EP2785269B1 (pt)
JP (1) JP6559956B2 (pt)
CN (1) CN104105455B (pt)
BR (1) BR112014013073A2 (pt)
IN (1) IN2014CN04516A (pt)
RU (1) RU2014127126A (pt)
WO (1) WO2013080124A1 (pt)

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9026242B2 (en) 2011-05-19 2015-05-05 Taktia Llc Automatically guided tools
EP2723270B1 (en) 2011-06-27 2019-01-23 Board of Regents of the University of Nebraska On-board tool tracking system of computer assisted surgery
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
WO2013163588A1 (en) 2012-04-26 2013-10-31 Alec Rothmyer Rivers Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
CN105934216B (zh) 2014-01-24 2019-09-17 皇家飞利浦有限公司 机器人引导***、控制单元和装置
CN106572887B (zh) 2014-07-15 2020-05-12 皇家飞利浦有限公司 X射线套件中的图像整合和机器人内窥镜控制
JP6393432B2 (ja) 2015-04-21 2018-09-19 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 患者モニタリング装置のための調節可能アーム
CN107530878B (zh) 2015-05-13 2021-01-08 整形工具股份有限公司 用于被引导工具的***、方法和设备
US20190021699A1 (en) * 2016-01-15 2019-01-24 Koninklijke Philips N.V. Automatic probe steering to clinical views using annotations in a fused image guidance system
US20190117190A1 (en) * 2016-04-19 2019-04-25 Koninklijke Philips N.V. Ultrasound imaging probe positioning
US20190290247A1 (en) * 2016-05-31 2019-09-26 Koninklijke Philips N.V. Image-based fusion of endoscopic image and ultrasound images
CN206063225U (zh) * 2016-06-04 2017-04-05 深圳市前海康启源科技有限公司 用于辅助手术的医疗机器人
US11537099B2 (en) 2016-08-19 2022-12-27 Sharper Tools, Inc. Systems, methods and apparatus for sharing tool fabrication and design data
CN106419957B (zh) * 2016-10-09 2019-12-13 深圳华大智造科技有限公司 一种超声扫描装置辅助***
CN106562804A (zh) * 2016-11-01 2017-04-19 河池学院 一种b超检测机器人
US11653889B2 (en) 2016-12-19 2023-05-23 Koninklijke Philips N.V. Control of anatomical image acquisition using physiological information
EP3644889A4 (en) * 2017-06-28 2021-04-07 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR PROJECTING AN ENDOSCOPIC IMAGE ON A THREE-DIMENSIONAL VOLUME
JP7383489B2 (ja) * 2017-07-07 2023-11-20 コーニンクレッカ フィリップス エヌ ヴェ ロボット的装置ガイドと音響プローブの統合
JP7383608B2 (ja) 2017-11-13 2023-11-20 コーニンクレッカ フィリップス エヌ ヴェ 解剖学的構造介入用の多段ロボット
CN108403146B (zh) * 2018-03-20 2020-06-30 余夏夏 基于多传感器信息融合的三维超声成像方法及装置
CA3146820A1 (en) 2019-10-07 2021-04-15 Boston Scientific Scimed, Inc. Medical device comprising an articulation joint between a first transducer and a second transducer and an apparatus and storage for its realization
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
CN112472137B (zh) * 2020-12-15 2022-09-16 深圳市德力凯医疗设备股份有限公司 一种基于触摸屏滑动操作轨迹的超声扫描方法及***
CN114694442B (zh) * 2020-12-31 2024-07-02 无锡触典科技有限公司 基于虚拟现实的超声培训方法、装置、存储介质及超声设备
CN112914601B (zh) * 2021-01-19 2024-04-02 深圳市德力凯医疗设备股份有限公司 一种机械臂的避障方法、装置、存储介质及超声设备
US20230053189A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6032673A (en) 1994-10-13 2000-03-07 Femrx, Inc. Methods and devices for tissue removal
US20010025183A1 (en) * 2000-02-25 2001-09-27 Ramin Shahidi Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
JP2001275931A (ja) 2000-04-03 2001-10-09 Olympus Optical Co Ltd 医療システム
US20040034297A1 (en) * 2002-08-13 2004-02-19 General Electric Company Medical device positioning system and method
US8108072B2 (en) * 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
EP2289452A3 (en) * 2005-06-06 2015-12-30 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
JP4695479B2 (ja) * 2005-09-30 2011-06-08 富士フイルム株式会社 超音波発生装置
US20070238981A1 (en) 2006-03-13 2007-10-11 Bracco Imaging Spa Methods and apparatuses for recording and reviewing surgical navigation processes
WO2007136768A2 (en) 2006-05-19 2007-11-29 Mako Surgical Corp. Method and apparatus for controlling a haptic device
JP5073415B2 (ja) * 2006-08-28 2012-11-14 オリンパスメディカルシステムズ株式会社 超音波内視鏡
FR2920084B1 (fr) 2007-08-24 2010-08-20 Endocontrol Systeme d'imagerie pour le suivi d'un outil chirurgical dans un champ operatoire
DE102007055204B4 (de) 2007-11-19 2010-04-08 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter, medizinischer Arbeitsplatz und Verfahren zum Projizieren eines Bildes auf die Oberfläche eines Objekts
JP5154961B2 (ja) * 2008-01-29 2013-02-27 テルモ株式会社 手術システム
US8815263B2 (en) 2011-11-07 2014-08-26 Wisconsin Alumni Research Foundation Tandem facial amphiphiles

Also Published As

Publication number Publication date
CN104105455A (zh) 2014-10-15
JP6559956B2 (ja) 2019-08-14
JP2015505686A (ja) 2015-02-26
BR112014013073A8 (pt) 2017-06-13
RU2014127126A (ru) 2016-01-27
CN104105455B (zh) 2017-04-19
US20140343571A1 (en) 2014-11-20
EP2785269B1 (en) 2022-05-11
IN2014CN04516A (pt) 2015-09-11
US10414792B2 (en) 2019-09-17
EP2785269A1 (en) 2014-10-08
WO2013080124A1 (en) 2013-06-06

Similar Documents

Publication Publication Date Title
BR112014013073A8 (pt) sistema e método para orientação robótica cirúrgica
BR112018075474A2 (pt) conjunto de atuador de agulha para sistema de administração de fármacos
BR112014032075A2 (pt) sistema de ressonância magnética (rm) para orientação de uma haste ou agulha para um alvo de um indivíduo, método para orientação de ressonância magnética (rm) de uma haste ou agulha para um alvo de um indivíduo e aparelho operando em conjunto com um instrumento intervencional provendo obtenção de imagem em tempo real para orientar uma haste ou agulha para um alvo de um indivíduo
EP3873337A4 (en) SYSTEM AND METHODS FOR NAVIGATION OF A DEVICE THROUGH A PATH TO A TARGET SITE
FR3010785B1 (fr) Procede de controle de la densite d'energie d'un faisceau laser par analyse d'image et dispositif correspondant
FR2953494B1 (fr) Dispositif de test de la detection de la reprise effort par une voie secondaire d'un actionneur de commande de vol, et procede de test associe
BR112013005879A2 (pt) ''sistema de orientação de robôs, unidades de controle para um endoscópio e método de orientação de robôs''
BR112017004302A2 (pt) polaridade de íman ao efeito hall para detectar um cartucho mal carregado
BR112018069453A2 (pt) método para enfileiramento de robôs destinados para uma localização alvo em um ambiente, sistema para enfileiramento de robôs destinados para uma localização alvo, e robô capaz de navegar para as localizações predefinidas em um ambiente contendo pelo menos um robô adicional
BR112015001895A2 (pt) sistema cirúrgico robótico, e método robótico
EP2754383A3 (en) Device and method for assisting laparoscopic surgery - rule based approach
BR112017012874A2 (pt) disposições de acionamento para instrumentos cirúrgicos articuláveis
BR112014026898A2 (pt) método de evitar colisão de aeronave, e drone provido com um sistema para implementar o mencionado método
BR112014032904A2 (pt) controle de retroalimentação fechada para dispositivo eletrocirúrgico
BR112015025407A2 (pt) método e dispositivo para testar um transformador
BR112014026361A2 (pt) sistema e método de monitoramento de posição
BR112016029080A2 (pt) sistemas de travamento de fechamento para instrumentos cirúrgicos
EA201591544A1 (ru) Роботизированная манипуляционная система
BR112015014299A2 (pt) dispositivo de posicionamento ativo de um instrumento cirúrgico para uso em um braço robótico e sistema robótico cirúrgico para a execução de cirurgia em corpo humano
BR112015022883A2 (pt) disposições de sensor para um sistema de posicionamento absoluto para instrumentos cirúrgicos
FR3005767B1 (fr) Procede et dispositif de determination a distance de besoins d'assistance medicale
BR102019001610A8 (pt) Sistemas e métodos para detectar marcadores magnéticos para orientação cirúrgica
BR112016012662A2 (pt) Sistema de inspeção e método de inspeção
BR112013032144A2 (pt) alinhamento cirúrgico utilizando referências
FR3007131B1 (fr) Procede et dispositif de diagnostic d'une perte de controle d'un aeronef

Legal Events

Date Code Title Description
B11A Dismissal acc. art.33 of ipl - examination not requested within 36 months of filing
B11Y Definitive dismissal - extension of time limit for request of examination expired [chapter 11.1.1 patent gazette]
B350 Update of information on the portal [chapter 15.35 patent gazette]