BR112014013073A2 - sistema e método para orientação robótica cirúrgica - Google Patents
sistema e método para orientação robótica cirúrgicaInfo
- 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
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
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)
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)
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 |
-
2012
- 2012-11-27 JP JP2014544012A patent/JP6559956B2/ja active Active
- 2012-11-27 BR BR112014013073A patent/BR112014013073A2/pt not_active Application Discontinuation
- 2012-11-27 RU RU2014127126A patent/RU2014127126A/ru not_active Application Discontinuation
- 2012-11-27 CN CN201280068844.9A patent/CN104105455B/zh active Active
- 2012-11-27 US US14/361,943 patent/US10414792B2/en active Active
- 2012-11-27 IN IN4516CHN2014 patent/IN2014CN04516A/en unknown
- 2012-11-27 WO PCT/IB2012/056758 patent/WO2013080124A1/en active Application Filing
- 2012-11-27 EP EP12810427.0A patent/EP2785269B1/en active Active
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 |
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B11Y | Definitive dismissal - extension of time limit for request of examination expired [chapter 11.1.1 patent gazette] | ||
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