EP3840682A4 - Hand controller apparatus in a robotic surgery system - Google Patents
Hand controller apparatus in a robotic surgery system Download PDFInfo
- Publication number
- EP3840682A4 EP3840682A4 EP19877560.3A EP19877560A EP3840682A4 EP 3840682 A4 EP3840682 A4 EP 3840682A4 EP 19877560 A EP19877560 A EP 19877560A EP 3840682 A4 EP3840682 A4 EP 3840682A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- surgery system
- hand controller
- robotic surgery
- controller apparatus
- robotic
- 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.)
- Pending
Links
- 238000002432 robotic surgery Methods 0.000 title 1
Classifications
-
- 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
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0223—Magnetic field sensors
-
- 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
- G05B2219/45119—Telesurgery with local assistent, voice communication
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03547—Touch pads, in which fingers can move on a surface
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/174,649 US10758311B2 (en) | 2018-10-30 | 2018-10-30 | Hand controller apparatus for gesture control and shared input control in a robotic surgery system |
US16/174,620 US11166769B2 (en) | 2018-10-30 | 2018-10-30 | Hand controller apparatus with feedback responsive to function change in a robotic surgery system |
US16/174,646 US10426561B1 (en) | 2018-10-30 | 2018-10-30 | Hand controller apparatus for detecting input position in a robotic surgery system |
US16/174,602 US11116591B2 (en) | 2018-10-30 | 2018-10-30 | Hand controller apparatus including ergonomic features for a robotic surgery system |
US16/514,782 US11045272B2 (en) | 2018-10-30 | 2019-07-17 | Hand controller apparatus for detecting input position in a robotic surgery system |
PCT/US2019/058170 WO2020092172A1 (en) | 2018-10-30 | 2019-10-25 | Hand controller apparatus in a robotic surgery system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3840682A1 EP3840682A1 (en) | 2021-06-30 |
EP3840682A4 true EP3840682A4 (en) | 2021-10-20 |
Family
ID=74851904
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19877560.3A Pending EP3840682A4 (en) | 2018-10-30 | 2019-10-25 | Hand controller apparatus in a robotic surgery system |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3840682A4 (en) |
KR (1) | KR102518757B1 (en) |
CN (1) | CN112996453A (en) |
CA (1) | CA3109376A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2803231C1 (en) * | 2022-10-27 | 2023-09-11 | Акционерное общество "Казанский электротехнический завод" | Leading manipulator of the robotic surgical complex |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114176790B (en) * | 2021-12-13 | 2023-07-18 | 佗道医疗科技有限公司 | Clutch control method of master-slave robot |
CN114052925B (en) * | 2022-01-12 | 2022-04-12 | 极限人工智能有限公司 | Handle mechanism, split type operation device and operation robot |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015163943A1 (en) * | 2014-04-24 | 2015-10-29 | Covidien Lp | Robotic interface positioning determination systems and methods |
US20170225337A1 (en) * | 2008-08-22 | 2017-08-10 | Titan Medical Inc. | Robotic hand controller |
WO2018013197A1 (en) * | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Systems and methods for onscreen menus in a teleoperational medical system |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012170256A1 (en) * | 2011-05-31 | 2012-12-13 | Intuitive Surgical Operations, Inc. | Positive control of robotic surgical instrument end effector |
KR102059496B1 (en) * | 2012-02-15 | 2019-12-26 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | User selection of robotic system operating modes using mode distinguishing operator actions |
US9198714B2 (en) * | 2012-06-29 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Haptic feedback devices for surgical robot |
EP3310290B1 (en) * | 2015-06-16 | 2021-08-18 | Titan Medical Inc. | Hand grip apparatus for receiving operator input in a robotic surgery system |
US10188552B2 (en) * | 2015-08-14 | 2019-01-29 | The Johns Hopkins University | Surgical system providing hands-free control of a surgical tool |
US10813710B2 (en) * | 2017-03-02 | 2020-10-27 | KindHeart, Inc. | Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station |
-
2019
- 2019-10-25 KR KR1020217015068A patent/KR102518757B1/en active IP Right Grant
- 2019-10-25 CN CN201980072004.1A patent/CN112996453A/en active Pending
- 2019-10-25 CA CA3109376A patent/CA3109376A1/en active Pending
- 2019-10-25 EP EP19877560.3A patent/EP3840682A4/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20170225337A1 (en) * | 2008-08-22 | 2017-08-10 | Titan Medical Inc. | Robotic hand controller |
WO2015163943A1 (en) * | 2014-04-24 | 2015-10-29 | Covidien Lp | Robotic interface positioning determination systems and methods |
WO2018013197A1 (en) * | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Systems and methods for onscreen menus in a teleoperational medical system |
Non-Patent Citations (1)
Title |
---|
See also references of WO2020092172A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2803231C1 (en) * | 2022-10-27 | 2023-09-11 | Акционерное общество "Казанский электротехнический завод" | Leading manipulator of the robotic surgical complex |
Also Published As
Publication number | Publication date |
---|---|
KR20210064386A (en) | 2021-06-02 |
EP3840682A1 (en) | 2021-06-30 |
CA3109376A1 (en) | 2020-05-07 |
KR102518757B1 (en) | 2023-04-06 |
CN112996453A (en) | 2021-06-18 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
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17P | Request for examination filed |
Effective date: 20210322 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
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A4 | Supplementary search report drawn up and despatched |
Effective date: 20210921 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: G06F 3/0354 20130101ALN20210915BHEP Ipc: A61B 34/20 20160101ALN20210915BHEP Ipc: A61B 17/00 20060101ALN20210915BHEP Ipc: G06F 3/01 20060101ALI20210915BHEP Ipc: B25J 13/02 20060101ALI20210915BHEP Ipc: B25J 9/16 20060101ALI20210915BHEP Ipc: A61B 90/00 20160101ALI20210915BHEP Ipc: B25J 17/02 20060101ALI20210915BHEP Ipc: B25J 15/00 20060101ALI20210915BHEP Ipc: B25J 11/00 20060101ALI20210915BHEP Ipc: A61B 34/30 20160101ALI20210915BHEP Ipc: A61B 34/00 20160101AFI20210915BHEP |
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DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
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INTG | Intention to grant announced |
Effective date: 20240620 |
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RAP3 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: TITAN MEDICAL INC. |