DE102006007858A1 - Operation-assistance-system for medial minimal invasive intervention, has electrically measuring- and monitoring system determining force that arises during movement of instrument - Google Patents
Operation-assistance-system for medial minimal invasive intervention, has electrically measuring- and monitoring system determining force that arises during movement of instrument Download PDFInfo
- Publication number
- DE102006007858A1 DE102006007858A1 DE102006007858A DE102006007858A DE102006007858A1 DE 102006007858 A1 DE102006007858 A1 DE 102006007858A1 DE 102006007858 A DE102006007858 A DE 102006007858A DE 102006007858 A DE102006007858 A DE 102006007858A DE 102006007858 A1 DE102006007858 A1 DE 102006007858A1
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- Germany
- Prior art keywords
- instrument
- monitoring system
- measuring
- kinematics
- forces
- 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.)
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
-
- 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
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
Description
Die
Erfindung bezieht sich auf ein Operations-Assistenz-System gemäß Oberbegriff
Patentanspruch 1. Ein derartiges System ist bekannt (
Aufgabe der Erfindung ist es, die Sicherheit eines derartigen Operations-Assistenz-Systems zu verbessern. Zur Lösung dieser Aufgabe ist ein Operations-Assistenz-System entsprechend dem Patentanspruch 1 ausgebildet.task The invention is to improve the security of such an operation assistance system. To the solution This task is an operation-assistance system accordingly formed according to claim 1.
Durch das wenigstens eine Mess- und Überwachungssystem werden während des Einsatzes des Operations-Assistenz-Systems ständig die auf das Instrument einwirkenden und damit auch zwischen diesem Instrument und der Kinematik oder dem Instrumentenhalter wirkenden Kräfte und/oder Momente überwacht, sodass bei Überschreiten vorgegebener Schwellwerte Verletzungen des Patienten vermeidende Maßnahmen veranlasst werden können, beispielsweise die Absetzung eines akustischen und/oder optischen Alarmsignals und/oder einen automatischen Stopp der Bewegung der Kinematik und damit des Instruments usw. Hierdurch können bei minimal invasiven Eingriffen oder Operationen insbesondere auch im Bereich der Vizerealchirurgie Verletzungen innerer Organe des Patienten wirksam verhindert werden.By the at least one measuring and monitoring system be while the use of the operations assistance system constantly the acting on the instrument and thus also between this instrument and forces and / or moments acting on the kinematics or instrument holder, so when crossing predetermined thresholds avoiding injury to the patient activities can be arranged for example, the deposition of an acoustic and / or optical Alarm signal and / or an automatic stop of the movement of Kinematics and thus the instrument, etc. This can be at minimally invasive surgery or surgery in particular In the field of vealeal surgery injuries of internal organs of the Patients are effectively prevented.
Das Mess- und Überwachungssystem, mit welchem die auf das jeweilige Instrument, beispielsweise beim Berühren eines Organs ausgeübten Kräfte ermittelt werden, kann in sehr unterschiedlicher Weise ausgeführt sein, beispielsweise in der Form, dass durch dieses System die Antriebsleistung und/oder -momente der Antriebselemente der Kinematik überwacht werden, sodass dann, wenn die Antriebsleistung oder das Antriebsmoment, beispielsweise der Strom eines oder mehrerer Antriebsmotoren und/oder der Druck an einem oder an mehreren hydraulischen Antriebselementen der Kinematik einen vorgegebenen Schwellwert übersteigt, die den Patienten schützenden Maßnahmen eingeleitet werden.The Measuring and monitoring system, with which the on the respective instrument, for example at Touch of an organ personnel can be determined in very different ways, for example, in the form that the drive power and / or by this system moments of the drive elements of the kinematics are monitored, so that then, if the drive power or the drive torque, for example the flow of one or more drive motors and / or the pressure on one or more hydraulic drive elements of the kinematics exceeds a predetermined threshold, protecting the patient activities be initiated.
Bei einer bevorzugten Ausführungsform werden durch das wenigstens eine Mess- und Überwachungssystem die Kräfte und/oder Momente ermittelt bzw. überwacht, die von dem jeweiligen Instrument auf den Instrumentenhalter bzw. von dem Instrumentenhalter auf das mit diesem versehene Kinematikelement wirken. Bei dieser Ausführungsform ist das wenigstens eine Mess- und Überwachungssystem mit mehreren Kraftmessern ausgebildet, die jeweils in Abhängigkeit von der aus sie einwirkenden mechanischen Kraft oder dem einwirkenden mechanischen Moment ein entsprechendes elektrisches Messsignal erzeugen. Dieses wird dann beispielsweise als analoges oder digitales Messsignal über eine geeignete Übertragungsstrecke an eine elektrische Steuereinrichtung, beispielsweise an einen Rechner übertragen, der die Messsignale auswertet und die Einleitung der den Patienten schützenden Maßnahmen veranlasst.at a preferred embodiment be through the at least one measuring and monitoring system, the forces and / or Determine or monitor moments, from the respective instrument to the instrument holder or from the instrument holder to the provided therewith kinematic element Act. In this embodiment this is at least one measurement and monitoring system with several Force gauges formed, each depending on the acting of them mechanical force or the acting mechanical moment generate corresponding electrical measurement signal. This will then for example, as an analog or digital measurement signal via a suitable transmission path to an electrical control device, for example to a computer, which evaluates the measurement signals and the initiation of the patient protected Initiates action.
Ein wesentlicher Vorteil des erfindungsgemäßen Systems besteht darin, dass für die Überwachungs- und Schutzfunktion keine spezielle Ausbildung der Instrumente erforderlich ist, d. h. handelsübliche Instrumente, beispielsweise handelsübliche Endoskope verwendet werden können. Weiterhin zeichnet sich das erfindungsgemäße System auch hinsichtlich der Überwachungs- und Schutzfunktion durch eine hohe Betriebssicherheit aus.One a significant advantage of the system according to the invention is that for the surveillance and protective function no special training of the instruments required is, d. H. commercial Instruments, such as commercially available endoscopes used can be. Furthermore, the system according to the invention is also characterized with regard to the surveillance and protection function by a high level of operational safety.
Die Erfindung wird im Folgenden anhand der Figuren an einem Ausführungsbeispiel näher erläutert. Es zeigen:The Invention will be described below with reference to the figures of an embodiment explained in more detail. It demonstrate:
In
den Figuren sind
Die
Ansteuerung der einzelnen Antriebe erfolgt über eine elektronische Steuereinrichtung
An
dem freien, dem Arm
Um
Verletzungen von Organen des Patienten
Zur
Erzeugung der Messsignale enthält
das Mess- und Überwachungssystem
Unterschiedliche
Gewichte der Instrumente
Eine
Besonderheit besteht auch darin, dass der Instrumentenhalter
Die beschriebene Ausbildung gestattet es insbesondere auch, herkömmliche Instrumente oder Werkzeuge zu verwenden, ohne das an den Instrumenten oder Werkzeugen Änderungen vorgenommen werden müssen.The described training allows it in particular, conventional To use instruments or tools without the instruments or tools changes must be made.
Die Erfindung wurde voranstehend an einem Ausführungsbeispiel beschrieben. Es versteht sich, dass zahlreiche Änderungen sowie Abwandlungen möglich sind, ohne das dadurch der der Erfindung zugrunde liegende Erfindungsgedanke verlassen wird.The The invention has been described above with reference to an exemplary embodiment. It is understood that numerous changes and modifications are possible, without thereby the inventive idea underlying the invention will leave.
- 11
- Operationstischoperating table
- 22
- Operations-Assistenz-SystemOperations Assistance System
- 33
- Tragsäulesupport column
- 4, 5, 64, 5, 6
- Armpoor
- 77
- Steuereinrichtungcontrol device
- 88th
- Instrumentenhalterinstrument support
- 99
- Werkzeug oder InstrumenteTool or instruments
- 1010
- Trokartrocar
- 1111
- Patientpatient
- 1212
- Messsystemmeasuring system
- 1313
- MessleitungMeasurement line
- 1414
- SpeicherStorage
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006007858A DE102006007858A1 (en) | 2006-02-17 | 2006-02-17 | Operation-assistance-system for medial minimal invasive intervention, has electrically measuring- and monitoring system determining force that arises during movement of instrument |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006007858A DE102006007858A1 (en) | 2006-02-17 | 2006-02-17 | Operation-assistance-system for medial minimal invasive intervention, has electrically measuring- and monitoring system determining force that arises during movement of instrument |
Publications (1)
Publication Number | Publication Date |
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DE102006007858A1 true DE102006007858A1 (en) | 2007-08-30 |
Family
ID=38319709
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102006007858A Ceased DE102006007858A1 (en) | 2006-02-17 | 2006-02-17 | Operation-assistance-system for medial minimal invasive intervention, has electrically measuring- and monitoring system determining force that arises during movement of instrument |
Country Status (1)
Country | Link |
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DE (1) | DE102006007858A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012175081A1 (en) * | 2011-06-24 | 2012-12-27 | Ruprecht-Karls-Universitaet Heidelberg | Robot for holding and for handling medical instruments/equipment |
WO2013045645A1 (en) * | 2011-09-30 | 2013-04-04 | Universite Pierre Et Marie Curie (Paris 6) | Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient |
DE102015101018A1 (en) | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Device for holding and moving a laparoscope during an operation |
CN106068175A (en) * | 2014-03-14 | 2016-11-02 | 索尼公司 | Robot arm equipment, robot arm control method and program |
CN108451643A (en) * | 2013-03-15 | 2018-08-28 | 史赛克公司 | Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes |
CN113633326A (en) * | 2016-01-20 | 2021-11-12 | 直观外科手术操作公司 | System and method for rapidly pausing and resuming motion deviation in a medical device repositionable arm |
US11179210B2 (en) | 2012-08-03 | 2021-11-23 | Stryker Corporation | Surgical manipulator and method for controlling pose of an instrument based on virtual rigid body modelling |
US11471232B2 (en) | 2012-08-03 | 2022-10-18 | Stryker Corporation | Surgical system and method utilizing impulse modeling for controlling an instrument |
Citations (2)
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US5299288A (en) * | 1990-05-11 | 1994-03-29 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
WO2006016390A1 (en) * | 2004-08-09 | 2006-02-16 | Calabrian High Tech Srl | Robotized system for the control and micrometric actuation of an endoscope |
-
2006
- 2006-02-17 DE DE102006007858A patent/DE102006007858A1/en not_active Ceased
Patent Citations (2)
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US5299288A (en) * | 1990-05-11 | 1994-03-29 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
WO2006016390A1 (en) * | 2004-08-09 | 2006-02-16 | Calabrian High Tech Srl | Robotized system for the control and micrometric actuation of an endoscope |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012175081A1 (en) * | 2011-06-24 | 2012-12-27 | Ruprecht-Karls-Universitaet Heidelberg | Robot for holding and for handling medical instruments/equipment |
WO2013045645A1 (en) * | 2011-09-30 | 2013-04-04 | Universite Pierre Et Marie Curie (Paris 6) | Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient |
FR2980683A1 (en) * | 2011-09-30 | 2013-04-05 | Univ Paris Curie | DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED IN A NATURAL PATH OR AN ARTIFICIAL PATH OF A PATIENT |
US9895197B2 (en) | 2011-09-30 | 2018-02-20 | Universite Pierre Et Marie Curie (Paris 6) | Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient |
US11672620B2 (en) | 2012-08-03 | 2023-06-13 | Stryker Corporation | Robotic system and method for removing a volume of material from a patient |
US11639001B2 (en) | 2012-08-03 | 2023-05-02 | Stryker Corporation | Robotic system and method for reorienting a surgical instrument |
US11471232B2 (en) | 2012-08-03 | 2022-10-18 | Stryker Corporation | Surgical system and method utilizing impulse modeling for controlling an instrument |
US11179210B2 (en) | 2012-08-03 | 2021-11-23 | Stryker Corporation | Surgical manipulator and method for controlling pose of an instrument based on virtual rigid body modelling |
US11045958B2 (en) | 2012-08-03 | 2021-06-29 | Stryker Corporation | Surgical robotic system and method for commanding instrument position based on iterative boundary evaluation |
CN108451643B (en) * | 2013-03-15 | 2021-02-26 | 史赛克公司 | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
CN108451643A (en) * | 2013-03-15 | 2018-08-28 | 史赛克公司 | Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes |
JPWO2015137038A1 (en) * | 2014-03-14 | 2017-04-06 | ソニー株式会社 | Robot arm apparatus, robot arm control method and program |
US10675106B2 (en) | 2014-03-14 | 2020-06-09 | Sony Corporation | Robot arm apparatus, robot arm control method, and program |
CN106068175B (en) * | 2014-03-14 | 2020-04-28 | 索尼公司 | Robot arm device, robot arm control method, and program |
JP2019155116A (en) * | 2014-03-14 | 2019-09-19 | ソニー株式会社 | Medical support arm apparatus, medical support arm control method, and program |
US10299868B2 (en) | 2014-03-14 | 2019-05-28 | Sony Corporation | Robot arm apparatus, robot arm control method, and program |
EP3120979A4 (en) * | 2014-03-14 | 2017-11-08 | Sony Corporation | Robot arm device, robot arm control method and program |
CN106068175A (en) * | 2014-03-14 | 2016-11-02 | 索尼公司 | Robot arm equipment, robot arm control method and program |
US10792063B2 (en) | 2015-01-23 | 2020-10-06 | MAQUET GmbH | Device for retaining and moving a laparoscope during an operation |
DE102015101018A1 (en) | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Device for holding and moving a laparoscope during an operation |
CN113633326A (en) * | 2016-01-20 | 2021-11-12 | 直观外科手术操作公司 | System and method for rapidly pausing and resuming motion deviation in a medical device repositionable arm |
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R002 | Refusal decision in examination/registration proceedings | ||
R082 | Change of representative |
Representative=s name: GRAF GLUECK KRITZENBERGER, DE Representative=s name: GLUECK - KRITZENBERGER PATENTANWAELTE PARTGMBB, DE |
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Effective date: 20130320 |