WO2011021788A3 - Remote surgical robot system and method for controlling same, for providing indirect surgical feel - Google Patents

Remote surgical robot system and method for controlling same, for providing indirect surgical feel Download PDF

Info

Publication number
WO2011021788A3
WO2011021788A3 PCT/KR2010/004953 KR2010004953W WO2011021788A3 WO 2011021788 A3 WO2011021788 A3 WO 2011021788A3 KR 2010004953 W KR2010004953 W KR 2010004953W WO 2011021788 A3 WO2011021788 A3 WO 2011021788A3
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
surgical
deformation
displacement
robot system
Prior art date
Application number
PCT/KR2010/004953
Other languages
French (fr)
Korean (ko)
Other versions
WO2011021788A2 (en
Inventor
이민규
최승욱
원종석
Original Assignee
주식회사 래보
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 주식회사 래보 filed Critical 주식회사 래보
Publication of WO2011021788A2 publication Critical patent/WO2011021788A2/en
Publication of WO2011021788A3 publication Critical patent/WO2011021788A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

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)
  • Endoscopes (AREA)

Abstract

The present invention relates to a remote surgical robot system and to a method for controlling same, capable of simply detecting deformation, such as the bending of a surgical instrument mounted on a robot arm when contacting human tissue during endoscopic surgery using a laparoscope, etc., on the basis of an endoscopic image, and enabling that force to be felt through the means for controlling the robot arm, in order to assist in facilitating surgery by providing the surgeon with a similar feel to that of manually performing surgery. The surgical robot control method according to the present invention can calculate the displacement of instrument deformation during the insertion of the instrument into the human body during a surgical procedure, and can determine the force exerted on the instrument inside the human body on the basis of the displacement. In order to induce better deformation of the instrument and to facilitate the measurement of displacement, suitable materials can be used to change the amount of deformation at suitable locations on the shaft of an instrument in accordance with the targeted application.
PCT/KR2010/004953 2009-08-18 2010-07-28 Remote surgical robot system and method for controlling same, for providing indirect surgical feel WO2011021788A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0076257 2009-08-18
KR1020090076257A KR100997194B1 (en) 2009-08-18 2009-08-18 Remote operation robot system for indirectly providing tactile sensation and control method thereof

Publications (2)

Publication Number Publication Date
WO2011021788A2 WO2011021788A2 (en) 2011-02-24
WO2011021788A3 true WO2011021788A3 (en) 2011-06-16

Family

ID=43410210

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/004953 WO2011021788A2 (en) 2009-08-18 2010-07-28 Remote surgical robot system and method for controlling same, for providing indirect surgical feel

Country Status (2)

Country Link
KR (1) KR100997194B1 (en)
WO (1) WO2011021788A2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101181613B1 (en) * 2011-02-21 2012-09-10 윤상진 Surgical robot system for performing surgery based on displacement information determined by user designation and control method therefor
KR20130015441A (en) * 2011-08-03 2013-02-14 주식회사 이턴 Surgical robot system
KR101267914B1 (en) 2011-10-25 2013-05-27 서울대학교산학협력단 Contol Apparatus for surgical robot
US9588515B2 (en) * 2012-12-31 2017-03-07 General Electric Company Systems and methods for remote control of a non-destructive testing system
KR102306959B1 (en) 2013-09-04 2021-10-01 삼성전자주식회사 Surgical robot and control method thereof
WO2019157763A1 (en) 2018-02-15 2019-08-22 Covidien Lp Sheath assembly for a rigid endoscope

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060106369A1 (en) * 2004-11-12 2006-05-18 Desai Jaydev P Haptic interface for force reflection in manipulation tasks
KR100585458B1 (en) * 2004-04-13 2006-06-07 국립암센터 Laparoscopic surgery robot system
US20070233044A1 (en) * 2006-02-22 2007-10-04 Hansen Medical, Inc. Apparatus for measuring distal forces on a working instrument
US20080004632A1 (en) * 2002-08-13 2008-01-03 Sutherland Garnette R Microsurgical robot system
US20080065108A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100778387B1 (en) * 2006-12-26 2007-11-28 한국과학기술원 Surgery robot for laparoscope with multi-degree of freedoms and force measurement method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080004632A1 (en) * 2002-08-13 2008-01-03 Sutherland Garnette R Microsurgical robot system
KR100585458B1 (en) * 2004-04-13 2006-06-07 국립암센터 Laparoscopic surgery robot system
US20060106369A1 (en) * 2004-11-12 2006-05-18 Desai Jaydev P Haptic interface for force reflection in manipulation tasks
US20070233044A1 (en) * 2006-02-22 2007-10-04 Hansen Medical, Inc. Apparatus for measuring distal forces on a working instrument
US20080065108A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical system

Also Published As

Publication number Publication date
KR100997194B1 (en) 2010-11-30
WO2011021788A2 (en) 2011-02-24

Similar Documents

Publication Publication Date Title
EP4257073A3 (en) System and method for force or torque limit compensation
EP2777540A3 (en) Control arrangements for a drive member of a surgical instrument
WO2011021788A3 (en) Remote surgical robot system and method for controlling same, for providing indirect surgical feel
IL187667A0 (en) System and method for navigating a surgical needle toward an organ of the body of a patient
EP4137072A3 (en) Surgical instruments comprising a system for articulation and rotation compensation
WO2013027200A3 (en) Device and method for asissting laparoscopic surgery - rule based approach
WO2009045697A3 (en) Force sensing for surgical instruments
WO2012115360A3 (en) Surgical robot system for performing surgery based on displacement information determined by the specification of the user, and method for controlling same
EP2014218A3 (en) Medical system
EP2163216A3 (en) Laparoscopic instrument
WO2008132664A3 (en) Risk indication for surgical procedures
WO2008083097A3 (en) Steerable ablation device
WO2009155081A3 (en) Actuating and articulating surgical device
WO2010091440A3 (en) Airway management devices, endoscopic conduits, surgical kits, and methods using the same
WO2011146377A8 (en) Surgical instruments and end effectors therefor
ATE509581T1 (en) BIOPSY COLLECTION DEVICE
WO2011075510A3 (en) Advancing system and method of use thereof
JP2015533525A5 (en)
WO2011060139A3 (en) Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
WO2013016251A3 (en) Image guided surgery trackers using multiple asynchronous sensors
WO2007120329A3 (en) Modular force sensor
WO2015041846A3 (en) Alignment features for ultrasonic surgical instrument
WO2014149298A3 (en) Tissue clamping features of surgical instrument end effector
MX345296B (en) Surgical device and method.
WO2012065177A3 (en) Stabilized ablation systems and methods

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10810096

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10810096

Country of ref document: EP

Kind code of ref document: A2