EP4048183A4 - Engagement and/or homing of a surgical tool in a surigical robotic system - Google Patents
Engagement and/or homing of a surgical tool in a surigical robotic system Download PDFInfo
- Publication number
- EP4048183A4 EP4048183A4 EP19950081.0A EP19950081A EP4048183A4 EP 4048183 A4 EP4048183 A4 EP 4048183A4 EP 19950081 A EP19950081 A EP 19950081A EP 4048183 A4 EP4048183 A4 EP 4048183A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- surigical
- homing
- engagement
- surgical tool
- robotic system
- 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
Classifications
-
- 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
- A61B34/37—Master-slave 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
- A61B34/30—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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
- A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- 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
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- 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
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/661,590 US11759269B2 (en) | 2018-08-20 | 2019-10-23 | Engagement and/or homing of a surgical tool in a surgical robotic system |
PCT/US2019/058477 WO2021080623A1 (en) | 2019-10-23 | 2019-10-29 | Engagement and/or homing of a surgical tool in a surigical robotic system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4048183A1 EP4048183A1 (en) | 2022-08-31 |
EP4048183A4 true EP4048183A4 (en) | 2024-04-03 |
Family
ID=75620237
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19950081.0A Pending EP4048183A4 (en) | 2019-10-23 | 2019-10-29 | Engagement and/or homing of a surgical tool in a surigical robotic system |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP4048183A4 (en) |
JP (1) | JP2023508628A (en) |
KR (1) | KR20220082913A (en) |
CN (1) | CN114929150A (en) |
WO (1) | WO2021080623A1 (en) |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050149003A1 (en) * | 1996-12-12 | 2005-07-07 | Intuitive Surgical , Inc. | Surgical robotic tools, data architecture, and use |
EP1897511A2 (en) * | 1998-12-08 | 2008-03-12 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US20120083801A1 (en) * | 2004-05-04 | 2012-04-05 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
CN102630154A (en) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument |
US20160184033A1 (en) * | 2013-08-15 | 2016-06-30 | Intuitive Surgical Operations, Inc. | Robotic instrument driven element |
WO2016201313A1 (en) * | 2015-06-11 | 2016-12-15 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument engagement |
US20160361126A1 (en) * | 2014-03-17 | 2016-12-15 | Intuitive Surgical Operations, Inc. | Method for Engaging Surgical Instrument with Teleoperated Actuator |
US20170172549A1 (en) * | 2014-03-17 | 2017-06-22 | Intuitive Surgical Operations, Inc. | Systems and Methods for Confirming Disc Engagement |
US20190059974A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Electrically-powered surgical systems |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9026247B2 (en) * | 2011-03-30 | 2015-05-05 | University of Washington through its Center for Communication | Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods |
EP3305235A4 (en) * | 2015-06-01 | 2019-01-23 | Olympus Corporation | Medical manipulator |
GB2552855B (en) * | 2017-01-31 | 2019-02-13 | Cmr Surgical Ltd | Surgical instrument engagement detection |
MX2020008464A (en) * | 2018-02-13 | 2020-12-07 | Auris Health Inc | System and method for driving medical instrument. |
-
2019
- 2019-10-29 KR KR1020227017113A patent/KR20220082913A/en unknown
- 2019-10-29 EP EP19950081.0A patent/EP4048183A4/en active Pending
- 2019-10-29 JP JP2022523935A patent/JP2023508628A/en active Pending
- 2019-10-29 CN CN201980103240.5A patent/CN114929150A/en active Pending
- 2019-10-29 WO PCT/US2019/058477 patent/WO2021080623A1/en unknown
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050149003A1 (en) * | 1996-12-12 | 2005-07-07 | Intuitive Surgical , Inc. | Surgical robotic tools, data architecture, and use |
EP1897511A2 (en) * | 1998-12-08 | 2008-03-12 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US20120083801A1 (en) * | 2004-05-04 | 2012-04-05 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
CN102630154A (en) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument |
US20160184033A1 (en) * | 2013-08-15 | 2016-06-30 | Intuitive Surgical Operations, Inc. | Robotic instrument driven element |
US20160361126A1 (en) * | 2014-03-17 | 2016-12-15 | Intuitive Surgical Operations, Inc. | Method for Engaging Surgical Instrument with Teleoperated Actuator |
US20170172549A1 (en) * | 2014-03-17 | 2017-06-22 | Intuitive Surgical Operations, Inc. | Systems and Methods for Confirming Disc Engagement |
WO2016201313A1 (en) * | 2015-06-11 | 2016-12-15 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument engagement |
US20190059974A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Electrically-powered surgical systems |
Non-Patent Citations (1)
Title |
---|
See also references of WO2021080623A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP2023508628A (en) | 2023-03-03 |
CN114929150A (en) | 2022-08-19 |
KR20220082913A (en) | 2022-06-17 |
EP4048183A1 (en) | 2022-08-31 |
WO2021080623A1 (en) | 2021-04-29 |
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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 |
|
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: 20220516 |
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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 |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
RIC1 | Information provided on ipc code assigned before grant |
Ipc: A61B 90/96 20160101ALN20231011BHEP Ipc: A61B 34/00 20160101ALN20231011BHEP Ipc: A61B 34/37 20160101ALN20231011BHEP Ipc: A61B 90/98 20160101ALI20231011BHEP Ipc: A61B 17/00 20060101ALI20231011BHEP Ipc: A61B 90/50 20160101ALI20231011BHEP Ipc: A61B 90/00 20160101ALI20231011BHEP Ipc: A61B 34/20 20160101ALI20231011BHEP Ipc: A61B 34/30 20160101AFI20231011BHEP |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 20240305 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: A61B 90/96 20160101ALN20240228BHEP Ipc: A61B 34/00 20160101ALN20240228BHEP Ipc: A61B 34/37 20160101ALN20240228BHEP Ipc: A61B 90/98 20160101ALI20240228BHEP Ipc: A61B 17/00 20060101ALI20240228BHEP Ipc: A61B 90/50 20160101ALI20240228BHEP Ipc: A61B 90/00 20160101ALI20240228BHEP Ipc: A61B 34/20 20160101ALI20240228BHEP Ipc: A61B 34/30 20160101AFI20240228BHEP |