BR112012011277A2 - dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo - Google Patents

dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo

Info

Publication number
BR112012011277A2
BR112012011277A2 BR112012011277A BR112012011277A BR112012011277A2 BR 112012011277 A2 BR112012011277 A2 BR 112012011277A2 BR 112012011277 A BR112012011277 A BR 112012011277A BR 112012011277 A BR112012011277 A BR 112012011277A BR 112012011277 A2 BR112012011277 A2 BR 112012011277A2
Authority
BR
Brazil
Prior art keywords
minimally invasive
invasive surgical
surgical system
location
tracking
Prior art date
Application number
BR112012011277A
Other languages
English (en)
Other versions
BR112012011277B1 (pt
Inventor
Brandon D Itkowitz
Karlin Y Bark
Simon Dimaio
Original Assignee
Intuitive Surgical Operations
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
Priority claimed from US12/617,937 external-priority patent/US8521331B2/en
Application filed by Intuitive Surgical Operations filed Critical Intuitive Surgical Operations
Publication of BR112012011277A2 publication Critical patent/BR112012011277A2/pt
Publication of BR112012011277B1 publication Critical patent/BR112012011277B1/pt

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • 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
    • A61B34/37—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture 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
    • A61B2034/2046—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
    • A61B2034/2065—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/741—Glove like input devices, e.g. "data gloves"

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo. a presente invenção refere-se a um sistema cirúrgico minimamente invasivo, um sistema de rastreamento da mão rastreia a localização de um elemento sensor montado sobre parte de uma mão humana. um parâmetro de controle do sistema é gerado baseado na localização da parte da mão humana. a operação do sistema cirúrgico minimamente invasivo é controlada usando o parâmetro de controle do sistema. deste modo, o sistema cirúrgico minimamente invasivo inclui um sistema de rastreamento da mão. o sistema de rastreamento da mão rastreia uma localização de parte de uma mão humana. um controlador acoplado ao sistema de rastreamento da mão converte a localização para um parâmetro de controle do sistema, e injeta dentro do sistema cirúrgico minimamente invasivo um comando baseado no parâmetro de controle do sistema.
BR112012011277-5A 2009-11-13 2010-11-11 dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo BR112012011277B1 (pt)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/617,937 2009-11-13
US12/617,937 US8521331B2 (en) 2009-11-13 2009-11-13 Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
US12/887,254 US8543240B2 (en) 2009-11-13 2010-09-21 Master finger tracking device and method of use in a minimally invasive surgical system
US12/887,254 2010-09-21
PCT/US2010/056409 WO2011060187A1 (en) 2009-11-13 2010-11-11 A master finger tracking device and method of use in a minimally invasive surgical system

Publications (2)

Publication Number Publication Date
BR112012011277A2 true BR112012011277A2 (pt) 2016-04-12
BR112012011277B1 BR112012011277B1 (pt) 2020-10-13

Family

ID=43501524

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112012011277-5A BR112012011277B1 (pt) 2009-11-13 2010-11-11 dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo

Country Status (7)

Country Link
US (1) US8543240B2 (pt)
EP (2) EP3092969A3 (pt)
JP (2) JP5699158B2 (pt)
KR (1) KR101762631B1 (pt)
CN (1) CN102596086B (pt)
BR (1) BR112012011277B1 (pt)
WO (1) WO2011060187A1 (pt)

Families Citing this family (110)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9266239B2 (en) 2005-12-27 2016-02-23 Intuitive Surgical Operations, Inc. Constraint based control in a minimally invasive surgical apparatus
US10532466B2 (en) * 2008-08-22 2020-01-14 Titan Medical Inc. Robotic hand controller
US8332072B1 (en) 2008-08-22 2012-12-11 Titan Medical Inc. Robotic hand controller
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8120301B2 (en) * 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
US20110172550A1 (en) 2009-07-21 2011-07-14 Michael Scott Martin Uspa: systems and methods for ems device communication interface
US8996173B2 (en) 2010-09-21 2015-03-31 Intuitive Surgical Operations, Inc. Method and apparatus for hand gesture control in a minimally invasive surgical system
US8935003B2 (en) 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
US8543240B2 (en) * 2009-11-13 2013-09-24 Intuitive Surgical Operations, Inc. Master finger tracking device and method of use in a minimally invasive surgical system
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
WO2011085815A1 (en) * 2010-01-14 2011-07-21 Brainlab Ag Controlling a surgical navigation system
EP4053760A1 (en) 2010-04-09 2022-09-07 Zoll Medical Corporation Systems and methods for ems device communications interface
US9283675B2 (en) 2010-11-11 2016-03-15 The Johns Hopkins University Human-machine collaborative robotic systems
WO2012073789A1 (ja) * 2010-11-30 2012-06-07 オリンパス株式会社 マスタ操作入力装置及びマスタスレーブマニピュレータ
JP5800616B2 (ja) * 2011-07-15 2015-10-28 オリンパス株式会社 マニピュレータシステム
JP5936914B2 (ja) 2011-08-04 2016-06-22 オリンパス株式会社 操作入力装置およびこれを備えるマニピュレータシステム
EP2740434A4 (en) 2011-08-04 2015-03-18 Olympus Corp MEDICAL MANIPULATOR AND CONTROL METHOD THEREOF
JP6009840B2 (ja) 2011-08-04 2016-10-19 オリンパス株式会社 医療機器
JP6000641B2 (ja) 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
EP2740433B1 (en) 2011-08-04 2016-04-27 Olympus Corporation Surgical implement and medical treatment manipulator
JP6021353B2 (ja) 2011-08-04 2016-11-09 オリンパス株式会社 手術支援装置
JP5953058B2 (ja) 2011-08-04 2016-07-13 オリンパス株式会社 手術支援装置およびその着脱方法
JP6081061B2 (ja) 2011-08-04 2017-02-15 オリンパス株式会社 手術支援装置
JP5841451B2 (ja) 2011-08-04 2016-01-13 オリンパス株式会社 手術器具およびその制御方法
JP5931497B2 (ja) 2011-08-04 2016-06-08 オリンパス株式会社 手術支援装置およびその組立方法
JP6021484B2 (ja) 2011-08-04 2016-11-09 オリンパス株式会社 医療用マニピュレータ
JP6005950B2 (ja) 2011-08-04 2016-10-12 オリンパス株式会社 手術支援装置及びその制御方法
WO2013018908A1 (ja) 2011-08-04 2013-02-07 オリンパス株式会社 医療用マニピュレータおよび手術支援装置
US20130060166A1 (en) * 2011-09-01 2013-03-07 The Regents Of The University Of California Device and method for providing hand rehabilitation and assessment of hand function
WO2013049861A1 (en) * 2011-09-29 2013-04-04 Magic Leap, Inc. Tactile glove for human-computer interaction
US9924907B2 (en) 2011-09-30 2018-03-27 Google Technology Holdings LLC Method and system for identifying location of a touched body part
KR101929451B1 (ko) * 2012-02-03 2018-12-14 삼성전자주식회사 로봇의 제어 장치 및 방법
US9445876B2 (en) * 2012-02-27 2016-09-20 Covidien Lp Glove with sensory elements incorporated therein for controlling at least one surgical instrument
JP5941762B2 (ja) * 2012-06-14 2016-06-29 オリンパス株式会社 マニピュレータシステム
JP6053358B2 (ja) * 2012-07-03 2016-12-27 オリンパス株式会社 手術支援装置
CN109846553B (zh) 2012-09-17 2022-03-08 直观外科手术操作公司 针对远程操作的手术器械功能分配输入设备的方法和系统
US9911166B2 (en) 2012-09-28 2018-03-06 Zoll Medical Corporation Systems and methods for three-dimensional interaction monitoring in an EMS environment
US10631939B2 (en) 2012-11-02 2020-04-28 Intuitive Surgical Operations, Inc. Systems and methods for mapping flux supply paths
US10864048B2 (en) 2012-11-02 2020-12-15 Intuitive Surgical Operations, Inc. Flux disambiguation for teleoperated surgical systems
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
EP3626179B1 (en) * 2013-03-15 2022-05-04 SRI International Electromechanical surgical system
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
CN105228550A (zh) * 2013-04-25 2016-01-06 直观外科手术操作公司 外科手术设备的控制输入可视化视野
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US9211644B1 (en) * 2013-10-25 2015-12-15 Vecna Technologies, Inc. System and method for instructing a device
JP6358463B2 (ja) * 2013-11-13 2018-07-18 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
US11977998B2 (en) 2014-05-15 2024-05-07 Storz Endoskop Produktions Gmbh Surgical workflow support system
US9211643B1 (en) * 2014-06-25 2015-12-15 Microsoft Technology Licensing, Llc Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
US9363640B2 (en) 2014-08-05 2016-06-07 Samsung Electronics Co., Ltd. Electronic system with transformable mode mechanism and method of operation thereof
EP3750502A1 (en) 2014-09-04 2020-12-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US9811555B2 (en) * 2014-09-27 2017-11-07 Intel Corporation Recognition of free-form gestures from orientation tracking of a handheld or wearable device
CN104503576A (zh) * 2014-12-22 2015-04-08 山东超越数控电子有限公司 一种基于手势识别的计算机操作方法
DE102015200428B3 (de) 2015-01-14 2016-03-17 Kuka Roboter Gmbh Verfahren zur Ausrichtung eines mehrachsigen Manipulators mit einem Eingabegerät
CN104622429B (zh) * 2015-01-17 2017-06-16 深圳市前海安测信息技术有限公司 医生端、患者端辅助诊疗设备以及远程诊疗系统和方法
US10606341B2 (en) 2015-02-22 2020-03-31 Technion Research & Development Foundation Limited Gesture recognition using multi-sensory data
KR20170140179A (ko) * 2015-02-24 2017-12-20 에스알아이 인터내셔널 하이퍼덱스테러스 시스템 사용자 인터페이스
EP3270815B1 (en) * 2015-03-17 2023-05-03 Intuitive Surgical Operations, Inc. Systems and methods for onscreen identification of instruments in a teleoperational medical system
US10600015B2 (en) 2015-06-24 2020-03-24 Karl Storz Se & Co. Kg Context-aware user interface for integrated operating room
KR101697185B1 (ko) * 2015-07-29 2017-01-17 국립암센터 무구속 힘 반향 마스터 디바이스 및 이를 포함하는 수술 로봇 시스템
CA2984729C (en) * 2015-08-11 2024-02-27 Mordehai Sholev Control unit for a flexible endoscope
WO2017025456A1 (en) 2015-08-13 2017-02-16 Siemens Healthcare Gmbh Device and method for controlling a system comprising an imaging modality
WO2017031132A1 (en) * 2015-08-17 2017-02-23 Intuitive Surgical Operations, Inc. Unground master control devices and methods of use
JP2017077609A (ja) * 2015-10-21 2017-04-27 ファナック株式会社 ロボットの手首部の機構パラメータを校正する校正装置および校正方法
US9925013B2 (en) * 2016-01-14 2018-03-27 Synaptive Medical (Barbados) Inc. System and method for configuring positions in a surgical positioning system
US10151606B1 (en) 2016-02-24 2018-12-11 Ommo Technologies, Inc. Tracking position and movement using a magnetic field
DK3219283T3 (da) 2016-03-09 2021-02-22 Memic Innovative Surgery Ltd Modulær kirurgisk indretning, der omfatter mekaniske arme
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
CN108289600A (zh) * 2016-10-03 2018-07-17 威博外科公司 用于机器人外科手术的沉浸式三维显示器
US10099368B2 (en) 2016-10-25 2018-10-16 Brandon DelSpina System for controlling light and for tracking tools in a three-dimensional space
CN115553922A (zh) * 2016-11-29 2023-01-03 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
KR20180064821A (ko) * 2016-12-06 2018-06-15 한화에어로스페이스 주식회사 경계면 설정 장치 및 방법
GB2571692B (en) * 2016-12-08 2022-01-05 Synaptive Medical Inc Optical-based input for medical devices
WO2018112227A2 (en) 2016-12-15 2018-06-21 Intuitive Surgical Operations, Inc. Actuated grips for controller
WO2018112216A1 (en) 2016-12-15 2018-06-21 Intuitive Surgical Operations, Inc. Detection of user touch on controller handle
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
CN107220507B (zh) * 2017-06-06 2021-04-13 吕煜 远程医疗操控装置以及操控方法
CN107411822A (zh) * 2017-06-07 2017-12-01 佛山市蓝瑞欧特信息服务有限公司 远程医疗用双工具操控系统以及使用方法
CN107224327A (zh) * 2017-06-07 2017-10-03 佛山市蓝瑞欧特信息服务有限公司 用于远程医疗的单工具操控系统以及使用方法
US10678338B2 (en) * 2017-06-09 2020-06-09 At&T Intellectual Property I, L.P. Determining and evaluating data representing an action to be performed by a robot
KR101971882B1 (ko) * 2017-08-18 2019-04-24 재단법인 실감교류인체감응솔루션연구단 3차원 자기 센서 기반의 손가락 모션 캡쳐 인터페이스 장치
CN107608509A (zh) * 2017-09-14 2018-01-19 国家电网公司 一种vr控制器及巡检头戴设备
US11351005B2 (en) 2017-10-23 2022-06-07 Intuitive Surgical Operations, Inc. Systems and methods for presenting augmented reality in a display of a teleoperational system
US11925373B2 (en) 2017-10-30 2024-03-12 Cilag Gmbh International Surgical suturing instrument comprising a non-circular needle
JP6902208B2 (ja) * 2017-11-14 2021-07-14 オムロン株式会社 把持方法、把持システム及びプログラム
EP3709924A4 (en) 2017-11-15 2021-12-15 Intuitive Surgical Operations, Inc. MASTER CONTROL DEVICE AND ASSOCIATED PROCESSES
MX2020005642A (es) * 2017-11-30 2020-08-20 Michael Munoz Sistema de sensor inalambrico habilitado para internet de las cosas (iot) que permite el control de procesos, mantenimiento predictivo de redes de distribucion electrica, tuberias de liquido y gas y monitoreo de contaminantes del aire que incluye agentes nucleares, quimicos y biologicos que utiliza sensores electromagneticos pasivos integrados y adjuntos.
CN110831534B (zh) 2017-12-08 2023-04-28 奥瑞斯健康公司 用于医疗仪器导航和瞄准的系统和方法
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US11986233B2 (en) 2018-03-08 2024-05-21 Cilag Gmbh International Adjustment of complex impedance to compensate for lost power in an articulating ultrasonic device
WO2019222495A1 (en) 2018-05-18 2019-11-21 Auris Health, Inc. Controllers for robotically-enabled teleoperated systems
EP3840681A1 (en) 2018-08-22 2021-06-30 Intuitive Surgical Operations, Inc. Control switch position sensing across a rotational joint
US10838486B2 (en) * 2019-02-28 2020-11-17 Microsoft Technology Licensing, Llc Virtual reality controller
US20220015851A1 (en) * 2019-03-12 2022-01-20 Intuitive Surgical Operations, Inc. Layered functionality for a user input mechanism in a computer-assisted surgical system
JP2020162916A (ja) * 2019-03-29 2020-10-08 ソニー株式会社 制御装置及びマスタスレーブシステム
KR102225106B1 (ko) * 2019-04-25 2021-03-09 울산대학교 산학협력단 원격제어 마스터 장치
WO2020264418A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Console overlay and methods of using same
WO2021041253A1 (en) 2019-08-23 2021-03-04 Intuitive Surgical Operations, Inc. Moveable display unit on track
KR20220054617A (ko) 2019-08-23 2022-05-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 이동 가능한 디스플레이 시스템
EP4042263A1 (en) 2019-10-08 2022-08-17 Intuitive Surgical Operations, Inc. Hand presence sensing at control input device
RU2716353C1 (ru) * 2019-11-25 2020-03-11 Ассистирующие Хирургические Технологии (Аст), Лтд Контроллер кисти для использования в контроллере оператора роботохирургического комплекса
RU2718568C1 (ru) * 2019-11-25 2020-04-08 Ассистирующие Хирургические Технологии (Аст), Лтд Контроллер запястья для использования в контроллере оператора роботохирургического комплекса
WO2022081908A2 (en) 2020-10-15 2022-04-21 Intuitive Surgical Operations, Inc. Detection and mitigation of predicted collisions of objects with user control system
EP4251090A1 (en) 2020-11-30 2023-10-04 Intuitive Surgical Operations, Inc. Haptic profiles for input controls of a computer-assisted device
GB2605812B (en) * 2021-04-14 2024-03-20 Prec Robotics Limited An apparatus, computer-implemented method and computer program
CN114099005B (zh) * 2021-11-24 2023-09-15 重庆金山医疗机器人有限公司 器械是否在视野内、是否被遮挡的判断法及能量显示方法
WO2024014592A1 (ko) * 2022-07-15 2024-01-18 엘지전자 주식회사 Xr 디바이스, xr 디바이스의 컨트롤러 장치, 이들을 이용한 xr 디바이스의 동작 방법

Family Cites Families (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0573118A (ja) * 1991-09-17 1993-03-26 Yaskawa Electric Corp ロボツト制御装置
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
ES2115776T3 (es) * 1992-08-14 1998-07-01 British Telecomm Sistema de localizacion de posicion.
DE4306786C1 (de) 1993-03-04 1994-02-10 Wolfgang Daum Chirurgischer Manipulator
US6463361B1 (en) * 1994-09-22 2002-10-08 Computer Motion, Inc. Speech interface for an automated endoscopic system
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US7699855B2 (en) * 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6809462B2 (en) 2000-04-05 2004-10-26 Sri International Electroactive polymer sensors
US6110130A (en) 1997-04-21 2000-08-29 Virtual Technologies, Inc. Exoskeleton device for directly measuring fingertip position and inferring finger joint angle
US6049327A (en) * 1997-04-23 2000-04-11 Modern Cartoons, Ltd System for data management based onhand gestures
EP2080595A3 (en) 1997-05-12 2017-08-30 Immersion Corporation Force-feedback interface device for the hand
US7472047B2 (en) 1997-05-12 2008-12-30 Immersion Corporation System and method for constraining a graphical hand from penetrating simulated graphical objects
US6126373A (en) * 1997-12-19 2000-10-03 Fanuc Usa Corporation Method and apparatus for realtime remote robotics command
US6799065B1 (en) 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US7236618B1 (en) * 2000-07-07 2007-06-26 Chee-Kong Chui Virtual surgery system with force feedback
JP2002059380A (ja) * 2000-08-22 2002-02-26 Olympus Optical Co Ltd マスタースレーブ装置
JP4014792B2 (ja) * 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
US7410483B2 (en) * 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP3783011B2 (ja) * 2003-10-02 2006-06-07 株式会社日立製作所 操作入力装置および遠隔操作システムおよび遠隔操作方法
JP2005224528A (ja) 2004-02-16 2005-08-25 Olympus Corp 内視鏡
US7976559B2 (en) * 2004-11-04 2011-07-12 Dynamic Surgical Inventions, Llc Articulated surgical probe and method for use
JP2006167867A (ja) * 2004-12-16 2006-06-29 Fuji Heavy Ind Ltd 遠隔操作装置
US7598942B2 (en) * 2005-02-08 2009-10-06 Oblong Industries, Inc. System and method for gesture based control system
US9492240B2 (en) 2009-06-16 2016-11-15 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US7907166B2 (en) 2005-12-30 2011-03-15 Intuitive Surgical Operations, Inc. Stereo telestration for robotic surgery
US20070167702A1 (en) 2005-12-30 2007-07-19 Intuitive Surgical Inc. Medical robotic system providing three-dimensional telestration
US7845537B2 (en) * 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
JP2006137001A (ja) * 2006-02-06 2006-06-01 Yaskawa Electric Corp 把持物体の位置、姿勢修正方法
US20070225562A1 (en) * 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US20080065101A1 (en) 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical apparatus with side exit instruments
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US9696808B2 (en) * 2006-07-13 2017-07-04 Northrop Grumman Systems Corporation Hand-gesture recognition method
WO2008133956A2 (en) * 2007-04-23 2008-11-06 Hansen Medical, Inc. Robotic instrument control system
US20090138025A1 (en) 2007-05-04 2009-05-28 Hansen Medical, Inc. Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity
US7843158B2 (en) * 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
US8167793B2 (en) * 2008-04-26 2012-05-01 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using time duplexing
KR101652535B1 (ko) * 2008-06-18 2016-08-30 오블롱 인더스트리즈, 인크 차량 인터페이스를 위한 제스처 기반 제어 시스템
US8830224B2 (en) 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
US9155592B2 (en) 2009-06-16 2015-10-13 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US8543240B2 (en) * 2009-11-13 2013-09-24 Intuitive Surgical Operations, Inc. Master finger tracking device and method of use in a minimally invasive surgical system

Also Published As

Publication number Publication date
US8543240B2 (en) 2013-09-24
JP2013510675A (ja) 2013-03-28
KR20120102647A (ko) 2012-09-18
EP3092969A3 (en) 2017-03-01
JP6000387B2 (ja) 2016-09-28
CN102596086A (zh) 2012-07-18
CN102596086B (zh) 2016-01-20
WO2011060187A1 (en) 2011-05-19
KR101762631B1 (ko) 2017-07-28
JP2015107377A (ja) 2015-06-11
US20110118753A1 (en) 2011-05-19
EP2480156B1 (en) 2016-06-29
BR112012011277B1 (pt) 2020-10-13
EP3092969A2 (en) 2016-11-16
EP2480156A1 (en) 2012-08-01
JP5699158B2 (ja) 2015-04-08

Similar Documents

Publication Publication Date Title
BR112012011277A2 (pt) dispositivo de rastreamento do dedo mestre e um método de uso num sistema cirúrgico minimamente invasivo
BR112012011321A2 (pt) método e sistema para controle manual de um instrumento cirúrgico auxiliar teleoperado minimamente invasivo
BR112012011422A2 (pt) método e aparelho para o controle de gesticulação manual em um sistema cirúrgico minimamente invasivo
WO2011094735A3 (en) Surgical retractor instrument systems and methods of using the same
BRPI0906414A2 (pt) Unidade de parafuso pedicular para posicionar um membro alongado dentro de um paciente, e, implante
BRPI0901726B8 (pt) aparelho de grampeamento cirúrgico
BR112015022564A2 (pt) sistema de sensor de espessura de tecido para cartucho de grampos
BR112014032611A2 (pt) disposições de acoplamento para fixação de atuadores de extremidade cirúrgicos a sistemas de acionamento para os mesmos
BR112013002061A2 (pt) sistema de suporte e posicionamento cirúrgico
BRPI1008186B8 (pt) aparelho de fecho cirúrgico
WO2013049297A3 (en) Occupancy driven patient room environmental control
EP4331522A3 (en) System and method for patient-side instrument control
BR112013002147A2 (pt) dispositivo de prendedor cirúrgico acionado a motor com mecanismos de ajuste de um vão de tecido no efetor de extremidade
WO2014158882A3 (en) Sensor arrangements for absolute positioning system for surgical instruments
WO2012065177A3 (en) Stabilized ablation systems and methods
MX2016002348A (es) Arreglos de bloqueo de gatillo de disparo para instrumentos quirurgicos.
BR112013030553A2 (pt) instrumento cirúrgico acionado roboticamente com acionador de feixe eletrônico
MX353027B (es) Instrumentos aplicadores que tienen tapas de extremo distal para facilitar la colocación precisa de sujetadores quirúrgicos durante procedimientos abiertos de reparación.
WO2014160086A3 (en) Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
BRPI0819622A2 (pt) Controle de transferência de energia adaptado para um sistema de dispositivo médico
BR112014030047A2 (pt) instrumento cirúrgico com detecção de orientação
WO2012166501A8 (en) Robotically-controlled shaft based rotary drive systems for surgical instruments
EP2754383A3 (en) Device and method for assisting laparoscopic surgery - rule based approach
CO6771409A2 (es) Acidos 1-bencilcicloalquilcarboxilicos sustituidos y su uso
UY32970A (es) Acidos 3-fenilpropionicos sustituidos y su uso

Legal Events

Date Code Title Description
B15K Others concerning applications: alteration of classification

Ipc: G06F 3/01 (2006.01), A61B 34/30 (2016.01), A61B 34

B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 11/11/2010, OBSERVADAS AS CONDICOES LEGAIS.