AU2022341973A1 - Systems and methods for robotic surgical control and navigation - Google Patents

Systems and methods for robotic surgical control and navigation Download PDF

Info

Publication number
AU2022341973A1
AU2022341973A1 AU2022341973A AU2022341973A AU2022341973A1 AU 2022341973 A1 AU2022341973 A1 AU 2022341973A1 AU 2022341973 A AU2022341973 A AU 2022341973A AU 2022341973 A AU2022341973 A AU 2022341973A AU 2022341973 A1 AU2022341973 A1 AU 2022341973A1
Authority
AU
Australia
Prior art keywords
robot
surgical
processors
patient
instrument
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
Application number
AU2022341973A
Other languages
English (en)
Inventor
Avinash LAL
Benjamin Hoyoung LEE
Jose Maria Amich MANERO
Raahil Mohammed SHA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zeta Surgical Inc
Original Assignee
Zeta Surgical Inc
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 Zeta Surgical Inc filed Critical Zeta Surgical Inc
Publication of AU2022341973A1 publication Critical patent/AU2022341973A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled 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
    • 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
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • 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
    • A61B34/20—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
    • A61B2034/2065—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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • A61B2090/3979—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active infrared
    • 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
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gynecology & Obstetrics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
AU2022341973A 2021-09-07 2022-09-06 Systems and methods for robotic surgical control and navigation Pending AU2022341973A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202163241285P 2021-09-07 2021-09-07
US63/241,285 2021-09-07
US202263355497P 2022-06-24 2022-06-24
US63/355,497 2022-06-24
PCT/US2022/042659 WO2023038906A1 (en) 2021-09-07 2022-09-06 Systems and methods for robotic surgical control and navigation

Publications (1)

Publication Number Publication Date
AU2022341973A1 true AU2022341973A1 (en) 2024-04-18

Family

ID=83691176

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2022341973A Pending AU2022341973A1 (en) 2021-09-07 2022-09-06 Systems and methods for robotic surgical control and navigation

Country Status (5)

Country Link
US (1) US20240293939A1 (https=)
EP (1) EP4398832A1 (https=)
JP (1) JP2024534273A (https=)
AU (1) AU2022341973A1 (https=)
WO (1) WO2023038906A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10285764B2 (en) * 2014-02-20 2019-05-14 Intuitive Surgical Operations, Inc. Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
EP4429576A4 (en) * 2021-11-10 2025-08-20 Genesis Medtech Usa Inc INTEGRATED DIGITAL SURGICAL SYSTEM
CN116363203A (zh) * 2023-03-27 2023-06-30 网易（杭州）网络有限公司 穴位追踪方法、按摩方法、装置及电子设备
CN118485809B (zh) * 2024-07-09 2024-09-27 深圳市德壹医疗科技有限公司 一种面部理疗机器人6d姿态轨迹自动生成方法

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9084622B2 (en) * 2006-08-02 2015-07-21 Omnitek Partners Llc Automated laser-treatment system with real-time integrated 3D vision system for laser debridement and the like
FR2983059B1 (fr) * 2011-11-30 2014-11-28 Medtech Procede assiste par robotique de positionnement d'instrument chirurgical par rapport au corps d'un patient et dispositif de mise en oeuvre.
FR3048872B1 (fr) * 2016-03-21 2018-04-13 Medtech Sa Procede et dispositif de recalage automatise pour un robot chirurgical
EP3503834B1 (en) * 2016-08-23 2024-06-12 Intuitive Surgical Operations, Inc. Systems for monitoring patient motion during a medical procedure
CN109009438B (zh) * 2018-09-13 2021-06-01 上海逸动医学科技有限公司 柔性无创定位装置及其在术中手术路径规划的应用及系统
CN109925055B (zh) * 2019-03-04 2021-04-30 北京和华瑞博医疗科技有限公司 全数字化全膝关节置换手术机器人系统及其模拟手术方法
US12446969B2 (en) * 2019-05-20 2025-10-21 Icahn School Of Medicine At Mount Sinai Robot mounted camera registration and tracking system for orthopedic and neurological surgery
US11432828B1 (en) * 2019-07-23 2022-09-06 Onpoint Medical, Inc. Controls for power tools or instruments including bone saws and drills including safety and directional control and haptic feedback
WO2021222564A1 (en) * 2020-04-29 2021-11-04 Seva Robotics Llc A collaborative surgical robotic platform for autonomous task execution
US11737831B2 (en) * 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
CN112842536A (zh) * 2021-01-13 2021-05-28 极限人工智能有限公司 一种手术器械及手术方法
US12433683B2 (en) * 2021-04-08 2025-10-07 Mazor Robotics Ltd. Tracking soft tissue changes intraoperatively
US11857273B2 (en) * 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation

Also Published As

Publication number Publication date
JP2024534273A (ja) 2024-09-18
US20240293939A1 (en) 2024-09-05
EP4398832A1 (en) 2024-07-17
WO2023038906A1 (en) 2023-03-16

Similar Documents

Publication Publication Date Title
US20240293939A1 (en) Robotic surgical control and navigation
US11779408B2 (en) Robotic navigation of robotic surgical systems
US11813030B2 (en) Robotic navigation of robotic surgical systems
US20230301723A1 (en) Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US10687901B2 (en) Methods and systems for registration of virtual space with real space in an augmented reality system
ES2718543T3 (es) Sistema y procedimiento para la navegación basada en imágenes fusionadas con la colocación de marcador tardío
US11338445B2 (en) End effector force sensor and manual actuation assistance
US10555788B2 (en) Surgical system with haptic feedback based upon quantitative three-dimensional imaging
CN118986524A (zh) 一种手术机器人系统及其使用方法
US12320646B2 (en) Systems, method and devices for assisting or performing guiding interventional procedures using inertial measurement units and magnetometer sensors
FR2908628A1 (fr) Procede et systeme de pilotage d'un instrument medical
CN105611877A (zh) 引导超声图像采集的方法和系统
CN118251189A (zh) 用于机器人手术控制和导航的系统和方法
US11083526B2 (en) Medical system, apparatus and method for shape sensing
HK40112366A (zh) 用於机器人手术控制和导航的系统和方法
CN119745516B (zh) 应用于手术机器人的手术工具定位和移动方法、装置、电子设备、存储介质和计算机程序产品
US11389250B2 (en) Position detection system by fiber Bragg grating based optical sensors in surgical fields
HK1257573A1 (en) Robotic navigation of robotic surgical systems