JP6835850B2 - 手術ロボットの制御のためのシステム、制御ユニット、及び方法 - Google Patents
手術ロボットの制御のためのシステム、制御ユニット、及び方法 Download PDFInfo
- Publication number
- JP6835850B2 JP6835850B2 JP2018533728A JP2018533728A JP6835850B2 JP 6835850 B2 JP6835850 B2 JP 6835850B2 JP 2018533728 A JP2018533728 A JP 2018533728A JP 2018533728 A JP2018533728 A JP 2018533728A JP 6835850 B2 JP6835850 B2 JP 6835850B2
- Authority
- JP
- Japan
- Prior art keywords
- surgical
- flexible
- surgical device
- flexible surgical
- image
- 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.)
- Active
Links
Images
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- 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
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
-
- 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
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Description
Claims (15)
- 柔軟性手術デバイスと、
前記柔軟性手術デバイスの導入を容易にする手持ち式イントロデューサと、
前記柔軟性手術デバイスの1つ又は複数の画像を取り込む画像取得デバイスであって、前記画像は前記柔軟性手術デバイスの形状、姿勢及び位置のうちの少なくとも1つを示す、画像取得デバイスと、
前記手持ち式イントロデューサ上の少なくとも1つのポイントの位置を追跡する追跡システムと、
前記柔軟性手術デバイスの前記画像及び前記手持ち式イントロデューサの前記少なくとも1つのポイントの前記位置に関する情報に基づいて、前記柔軟性手術デバイスを制御する誘導コマンドを生成するプロセッサと、
を備える、手術ロボットシステム。 - 前記柔軟性手術デバイスは、(i)2リンケージ1ジョイントデバイス、(ii)蛇状ロボット、(iii)操縦可能カテーテルのうちの少なくとも1つを備える、請求項1に記載の手術ロボットシステム。
- 前記柔軟性手術デバイスは、遠位端部に結合されたエンドエフェクタを備える、請求項1に記載の手術ロボットシステム。
- 前記プロセッサは更に、ターゲット地点又はその近傍へと前記エンドエフェクタを移動させ、位置決めする誘導コマンドを生成する、請求項3に記載の手術ロボットシステム。
- 位置補償モードにおいて、前記プロセッサは、前記手持ち式イントロデューサの1つ又は複数の動きによって引き起こされる手術パスからの前記エンドエフェクタの逸脱を補正する誘導コマンドを生成する、請求項4に記載の手術ロボットシステム。
- 前記画像取得デバイスは、X線デバイス、コンピュータ断層撮影(CT)デバイス、超音波センサ(US)、及び内視鏡のうちの少なくとも1つを備える、請求項1に記載の手術ロボットシステム。
- 前記追跡システムは、光学的追跡システム、機械的追跡システム、及び電磁的追跡システムのうちの少なくとも1つを備える、請求項1に記載の手術ロボットシステム。
- 前記プロセッサは更に、前記手持ち式イントロデューサの変化した位置又は向きに基づいてコマンドを生成する、請求項1に記載の手術ロボットシステム。
- 前記画像を表示するディスプレイを更に備える、請求項1に記載の手術ロボットシステム。
- 柔軟性手術デバイスと、前記柔軟性手術デバイスの導入を容易にする手持ち式イントロデューサとを備える手術ロボットシステムのための制御ユニットであって、前記制御ユニットは、プロセッサを備え、
前記プロセッサは、
前記柔軟性手術デバイスの形状、姿勢及び位置のうちの少なくとも1つを示す前記柔軟性手術デバイスの1つ又は複数の画像を、画像取得デバイスから受信し、
追跡システムから、前記手持ち式イントロデューサ上の少なくとも1つのポイントの位置を示す追跡情報を受信し、
前記柔軟性手術デバイスの前記画像及び前記手持ち式イントロデューサの前記少なくとも1つのポイントの前記位置に関する情報に基づいて、前記柔軟性手術デバイスを制御する誘導コマンドを生成する、制御ユニット。 - 前記柔軟性手術デバイスは、エンドエフェクタを備え、前記プロセッサは更に、ターゲット地点又はその近傍へと前記エンドエフェクタを移動させ位置決めする誘導コマンドを生成し、
位置補償モードにおいて、前記プロセッサは、前記手持ち式イントロデューサの1つ又は複数の動きによって引き起こされる手術パスからの前記エンドエフェクタの逸脱を補正する誘導コマンドを生成する、請求項10に記載の制御ユニット。 - 前記プロセッサは更に、
ユーザによる手術部位における解剖学的ターゲットの選択のためにユーザインターフェースから選択入力を受信し、
位置誘導モードにおいて、前記選択入力に基づいて、前記柔軟性手術デバイスが前記手術部位における選択された前記解剖学的ターゲットに到達するように前記手術ロボットシステムの前記手持ち式イントロデューサを位置決めするための誘導コマンドを生成する、請求項10に記載の制御ユニット。 - 前記プロセッサは更に、前記ユーザインターフェースから作動信号を受信し、前記作動信号に基づいて、前記位置誘導モードの完了後に位置補償モードを作動させる、請求項12に記載の制御ユニット。
- 前記プロセッサは更に、X線デバイス、コンピュータ断層撮影(CT)デバイス、超音波センサ(US)、及び内視鏡のうちの少なくとも1つを備える医療画像デバイスからの手術部位における前記柔軟性手術デバイスの医療画像を処理する、請求項10に記載の制御ユニット。
- プロセッサによって実行されて柔軟性手術デバイスと手術部位における前記柔軟性手術デバイスの導入を容易にする手持ち式イントロデューサとを制御する機械可読命令を記憶した非一時的コンピュータ可読記憶媒体であって、前記機械可読命令は前記手持ち式イントロデューサの運動を補償する方法を実施し、前記方法は、
前記柔軟性手術デバイスの形状、姿勢及び位置のうちの少なくとも1つを示す前記柔軟性手術デバイスの1つ又は複数の画像を、画像取得デバイスから受信することと、
追跡システムから、前記手持ち式イントロデューサ上の少なくとも1つのポイントの位置を示す追跡情報を受信することと、
前記柔軟性手術デバイスの前記画像及び前記手持ち式イントロデューサの前記少なくとも1つのポイントの前記位置に関する情報に基づいて、前記柔軟性手術デバイスを制御する誘導コマンドを生成することと、
を有する、非一時的コンピュータ可読記憶媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562272470P | 2015-12-29 | 2015-12-29 | |
US62/272,470 | 2015-12-29 | ||
PCT/EP2016/082760 WO2017114855A1 (en) | 2015-12-29 | 2016-12-28 | System, control unit and method for control of a surgical robot |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2019503766A JP2019503766A (ja) | 2019-02-14 |
JP2019503766A5 JP2019503766A5 (ja) | 2020-02-13 |
JP6835850B2 true JP6835850B2 (ja) | 2021-02-24 |
Family
ID=57868201
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018533728A Active JP6835850B2 (ja) | 2015-12-29 | 2016-12-28 | 手術ロボットの制御のためのシステム、制御ユニット、及び方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10786319B2 (ja) |
EP (1) | EP3397184A1 (ja) |
JP (1) | JP6835850B2 (ja) |
CN (1) | CN108472090B (ja) |
WO (1) | WO2017114855A1 (ja) |
Families Citing this family (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9232959B2 (en) | 2007-01-02 | 2016-01-12 | Aquabeam, Llc | Multi fluid tissue resection methods and devices |
EP2259742B1 (en) | 2008-03-06 | 2020-01-01 | AquaBeam LLC | Tissue ablation and cautery with optical energy carried in fluid stream |
WO2013130895A1 (en) | 2012-02-29 | 2013-09-06 | Aquabeam, Llc | Automated image-guided tissue resection and treatment |
US20120191079A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
WO2014201165A1 (en) | 2013-06-11 | 2014-12-18 | Auris Surgical Robotics, Inc. | System for robotic assisted cataract surgery |
US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10646289B2 (en) * | 2015-12-29 | 2020-05-12 | Koninklijke Philips N.V. | System, controller and method using virtual reality device for robotic surgery |
CN113925610A (zh) | 2015-12-31 | 2022-01-14 | 史赛克公司 | 用于在由虚拟对象限定的目标部位处对患者执行手术的***和方法 |
AU2018244318B2 (en) | 2017-03-28 | 2023-11-16 | Auris Health, Inc. | Shaft actuating handle |
US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
WO2018187069A1 (en) * | 2017-04-07 | 2018-10-11 | Auris Surgical Robotics, Inc. | Patient introducer alignment |
KR102579505B1 (ko) | 2018-06-07 | 2023-09-20 | 아우리스 헬스, 인코포레이티드 | 고출력 기구를 가진 로봇 의료 시스템 |
KR20210024484A (ko) | 2018-06-28 | 2021-03-05 | 아우리스 헬스, 인코포레이티드 | 풀리 공유를 통합한 의료 시스템 |
EP3806772A4 (en) | 2018-08-15 | 2022-03-30 | Auris Health, Inc. | MEDICAL INSTRUMENTS FOR TISSUE CAUTERIZATION |
CN112566567A (zh) | 2018-08-17 | 2021-03-26 | 奥瑞斯健康公司 | 双极医疗器械 |
US11612438B2 (en) * | 2018-09-05 | 2023-03-28 | Point Robotics Medtech Inc. | Navigation system and method for medical operation by a robotic system using a tool |
CN112770689A (zh) | 2018-09-26 | 2021-05-07 | 奥瑞斯健康公司 | 用于抽吸和冲洗的***和器械 |
US11576738B2 (en) | 2018-10-08 | 2023-02-14 | Auris Health, Inc. | Systems and instruments for tissue sealing |
US11950863B2 (en) | 2018-12-20 | 2024-04-09 | Auris Health, Inc | Shielding for wristed instruments |
EP3677186A1 (en) * | 2019-01-03 | 2020-07-08 | Siemens Healthcare GmbH | Medical imaging device, system, and method for generating a motion-compensated image, and corresponding storage medium |
JP6898366B2 (ja) * | 2019-01-22 | 2021-07-07 | ファナック株式会社 | ロボット装置及び熱変位量推定装置 |
US11589913B2 (en) | 2019-01-25 | 2023-02-28 | Auris Health, Inc. | Vessel sealer with heating and cooling capabilities |
CN109717953B (zh) * | 2019-02-01 | 2021-01-08 | 杭州晟视科技有限公司 | 一种血流量的确定方法、装置、电子设备和计算机存储介质 |
EP3908201B1 (en) | 2019-03-25 | 2024-04-24 | Auris Health, Inc. | Instruments for medical stapling |
CN114025699A (zh) | 2019-05-31 | 2022-02-08 | 佳能美国公司 | 具有被动弯曲模式的主动控制可转向医疗设备 |
WO2020263629A1 (en) | 2019-06-27 | 2020-12-30 | Auris Health, Inc. | Systems and methods for a medical clip applier |
EP3989863A4 (en) | 2019-06-28 | 2023-10-11 | Auris Health, Inc. | MEDICAL INSTRUMENTS WITH WRISTS WITH HYBRID DIVERSION SURFACES |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
WO2021059099A1 (en) | 2019-09-26 | 2021-04-01 | Auris Health, Inc. | Systems and methods for collision detection and avoidance |
US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
JP2023508718A (ja) | 2019-12-31 | 2023-03-03 | オーリス ヘルス インコーポレイテッド | 高度バスケット駆動モード |
CN111281544B (zh) * | 2020-02-26 | 2023-05-12 | 陕西中医药大学 | 体内医疗器械自动引导机器人***及其自动引导方法 |
US11786106B2 (en) | 2020-05-26 | 2023-10-17 | Canon U.S.A., Inc. | Robotic endoscope probe having orientation reference markers |
WO2022003485A1 (en) | 2020-06-29 | 2022-01-06 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
US11931901B2 (en) | 2020-06-30 | 2024-03-19 | Auris Health, Inc. | Robotic medical system with collision proximity indicators |
US11357586B2 (en) | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
CN113945589B (zh) * | 2021-07-06 | 2024-03-08 | 上海优医基医疗影像设备有限公司 | 一种带防脱落检测的口腔种植手术机器人及控制方法 |
CN113812902B (zh) * | 2021-11-22 | 2022-02-18 | 极限人工智能有限公司 | 柔性器械末端的控制方法、装置、电子设备及存储介质 |
CN116269155B (zh) * | 2023-03-22 | 2024-03-22 | 新光维医疗科技(苏州)股份有限公司 | 图像诊断方法、图像诊断装置、及图像诊断程序 |
Family Cites Families (56)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9517106B2 (en) * | 1999-09-17 | 2016-12-13 | Intuitive Surgical Operations, Inc. | Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space |
WO2001062173A2 (en) * | 2000-02-25 | 2001-08-30 | The Board Of Trustees Of The Leland Stanford Junior University | Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body |
US6610007B2 (en) * | 2000-04-03 | 2003-08-26 | Neoguide Systems, Inc. | Steerable segmented endoscope and method of insertion |
DE10108547B4 (de) * | 2001-02-22 | 2006-04-20 | Siemens Ag | Operationssystem zur Steuerung chirurgischer Instrumente auf Basis von intra-operativen Röngtenbildern |
US7607440B2 (en) * | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US6835173B2 (en) | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US10555775B2 (en) * | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
ATE540634T1 (de) * | 2005-06-06 | 2012-01-15 | Intuitive Surgical Operations | Laparoskopisches ultraschall-robotersystem für chirurgische zwecke |
US9636188B2 (en) * | 2006-03-24 | 2017-05-02 | Stryker Corporation | System and method for 3-D tracking of surgical instrument in relation to patient body |
US20090124891A1 (en) * | 2006-03-31 | 2009-05-14 | Koninklijke Philips Electronics N.V. | Image guided surgery system |
US10258425B2 (en) * | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US20080177279A1 (en) * | 2007-01-09 | 2008-07-24 | Cyberheart, Inc. | Depositing radiation in heart muscle under ultrasound guidance |
US8233963B2 (en) * | 2007-02-19 | 2012-07-31 | Medtronic Navigation, Inc. | Automatic identification of tracked surgical devices using an electromagnetic localization system |
US9370627B2 (en) * | 2007-02-20 | 2016-06-21 | Siemens Medical Solutions Usa, Inc. | Needle guidance with a dual-headed laser |
CN100468295C (zh) * | 2007-04-10 | 2009-03-11 | 南京航空航天大学 | 基于人体表面肌电信息的头盔显示器虚拟视觉时延补偿***及方法 |
US9084623B2 (en) * | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US8315689B2 (en) * | 2007-09-24 | 2012-11-20 | MRI Interventions, Inc. | MRI surgical systems for real-time visualizations using MRI image data and predefined data of surgical tools |
CN104382650B (zh) * | 2008-05-28 | 2017-04-12 | 泰克尼恩研究和发展基金有限公司 | 用于柔性针操纵的超声引导机器人 |
US20100016710A1 (en) * | 2008-07-11 | 2010-01-21 | Dinesh Kumar | Prostate treatment apparatus |
KR100936928B1 (ko) * | 2008-07-25 | 2010-01-20 | (주)미래컴퍼니 | 수술용 로봇 |
RU2011120186A (ru) | 2008-10-20 | 2012-11-27 | Конинклейке Филипс Электроникс, Н.В. | Способ и система локализации на основе изображений |
US8194862B2 (en) * | 2009-07-31 | 2012-06-05 | Activevideo Networks, Inc. | Video game system with mixing of independent pre-encoded digital audio bitstreams |
JP5814938B2 (ja) * | 2010-01-08 | 2015-11-17 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | リアルタイム速度最適化を使用した校正不要のビジュアルサーボ |
RU2556593C2 (ru) * | 2010-01-13 | 2015-07-10 | Конинклейке Филипс Электроникс Н.В. | Совмещение и навигация для эндоскопической хирургии на основе интеграции изображений |
IT1401669B1 (it) * | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
JP5704833B2 (ja) * | 2010-05-10 | 2015-04-22 | オリンパス株式会社 | 操作入力装置およびマニピュレータシステム |
US20130303887A1 (en) * | 2010-08-20 | 2013-11-14 | Veran Medical Technologies, Inc. | Apparatus and method for four dimensional soft tissue navigation |
KR101598773B1 (ko) * | 2010-10-21 | 2016-03-15 | (주)미래컴퍼니 | 수술용 로봇의 움직임 제어/보상 방법 및 장치 |
US9254169B2 (en) * | 2011-02-28 | 2016-02-09 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices and methods |
EP2688632B1 (en) * | 2011-03-22 | 2016-05-18 | Corindus Inc. | Robotic catheter system including imaging system control |
US9259289B2 (en) * | 2011-05-13 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Estimation of a position and orientation of a frame used in controlling movement of a tool |
US20130156893A1 (en) * | 2011-08-23 | 2013-06-20 | Pepsico, Inc. | Processing of Whole or Portions of Genus Musa and Related Species |
BR112014005451B1 (pt) * | 2011-09-13 | 2021-11-09 | Koninklijke Philips N.V. | Sistema de registro |
CN103957832B (zh) | 2011-10-26 | 2016-09-28 | 皇家飞利浦有限公司 | 血管树图像的内窥镜配准 |
US9280823B2 (en) * | 2012-02-06 | 2016-03-08 | Koninklijke Philips N.V. | Invisible bifurcation detection within vessel tree images |
JP6174676B2 (ja) * | 2012-04-19 | 2017-08-02 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 術前及び術中3d画像を用いて内視鏡を手動操作するガイダンスツール及びガイド下内視鏡ナビゲーションのための装置の作動方法 |
JP6323974B2 (ja) * | 2012-05-18 | 2018-05-16 | オリンパス株式会社 | 手術支援装置 |
CN104470457B (zh) * | 2012-06-15 | 2018-05-08 | 皇家飞利浦有限公司 | 用于内窥镜微创外科手术的受引导切口规划 |
JP6310455B2 (ja) | 2012-08-02 | 2018-04-11 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | ロボット遠隔運動中心のコントローラ定義 |
US9226796B2 (en) * | 2012-08-03 | 2016-01-05 | Stryker Corporation | Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
US9058053B2 (en) * | 2012-10-26 | 2015-06-16 | The Boeing Company | Virtual reality display system |
US20140188440A1 (en) * | 2012-12-31 | 2014-07-03 | Intuitive Surgical Operations, Inc. | Systems And Methods For Interventional Procedure Planning |
GB201303917D0 (en) * | 2013-03-05 | 2013-04-17 | Ezono Ag | System for image guided procedure |
SG11201507612XA (en) * | 2013-03-15 | 2015-10-29 | Synaptive Medical Barbados Inc | Systems and methods for navigation and simulation of minimally invasive therapy |
MY179739A (en) * | 2013-03-15 | 2020-11-12 | Synaptive Medical Inc | Planning, navigation and simulation systems and methods for minimally invasive therapy |
CA2904766C (en) * | 2013-03-15 | 2022-02-08 | Synaptive Medical (Barbados) Inc. | Method, system and apparatus for controlling a surgical navigation system |
CN105050525B (zh) * | 2013-03-15 | 2018-07-31 | 直观外科手术操作公司 | 用于跟踪介入器械的形状传感器***以及使用方法 |
EP3015050A4 (en) * | 2013-06-28 | 2017-03-08 | Olympus Corporation | Endoscope system |
CN103575271B (zh) * | 2013-10-29 | 2016-08-17 | 复旦大学 | 基于电控旋转磁场的电磁跟踪***及方法 |
CN103705307B (zh) * | 2013-12-10 | 2017-02-22 | 中国科学院深圳先进技术研究院 | 手术导航***及医疗机器人 |
CN106061402B (zh) * | 2014-02-26 | 2019-10-25 | 皇家飞利浦有限公司 | 用于执行管腔外冠状动脉旁路手术的***及其操作方法 |
WO2015128817A1 (en) * | 2014-02-26 | 2015-09-03 | Koninklijke Philips N.V. | System for performing transluminal coronary bypass and method of operation thereof |
CN104035760A (zh) * | 2014-03-04 | 2014-09-10 | 苏州天魂网络科技有限公司 | 跨移动平台实现沉浸式虚拟现实的*** |
WO2015143067A1 (en) * | 2014-03-19 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Medical devices, systems, and methods using eye gaze tracking |
EP3811891A3 (en) * | 2014-05-14 | 2021-05-05 | Stryker European Holdings I, LLC | Navigation system and processor arrangement for tracking the position of a work target |
-
2016
- 2016-12-28 WO PCT/EP2016/082760 patent/WO2017114855A1/en active Application Filing
- 2016-12-28 JP JP2018533728A patent/JP6835850B2/ja active Active
- 2016-12-28 CN CN201680077225.4A patent/CN108472090B/zh not_active Expired - Fee Related
- 2016-12-28 US US16/065,891 patent/US10786319B2/en active Active
- 2016-12-28 EP EP16829249.8A patent/EP3397184A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
JP2019503766A (ja) | 2019-02-14 |
EP3397184A1 (en) | 2018-11-07 |
WO2017114855A1 (en) | 2017-07-06 |
CN108472090A (zh) | 2018-08-31 |
US20180368929A1 (en) | 2018-12-27 |
CN108472090B (zh) | 2021-06-18 |
US10786319B2 (en) | 2020-09-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6835850B2 (ja) | 手術ロボットの制御のためのシステム、制御ユニット、及び方法 | |
US11759266B2 (en) | Robotic systems for determining a roll of a medical device in luminal networks | |
JP6714085B2 (ja) | ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法 | |
US11850008B2 (en) | Image-based branch detection and mapping for navigation | |
AU2018378810B2 (en) | System and method for medical instrument navigation and targeting | |
CN109069207B (zh) | 机器人***及其控制单元和计算机可读存储介质 | |
KR20200139197A (ko) | 기구의 추정된 위치를 디스플레이하기 위한 시스템 및 방법 | |
CN115334993A (zh) | 用于医疗器械的约束运动控制的***和方法 | |
WO2023218295A1 (en) | Pre-docking pose optimization | |
JP2023553816A (ja) | 器具の回転のための視覚化調整 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191227 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20191227 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20201228 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210108 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210204 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6835850 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |