BR112014013073A8 - sistema e método para orientação robótica cirúrgica - Google Patents

sistema e método para orientação robótica cirúrgica

Info

Publication number
BR112014013073A8
BR112014013073A8 BR112014013073A BR112014013073A BR112014013073A8 BR 112014013073 A8 BR112014013073 A8 BR 112014013073A8 BR 112014013073 A BR112014013073 A BR 112014013073A BR 112014013073 A BR112014013073 A BR 112014013073A BR 112014013073 A8 BR112014013073 A8 BR 112014013073A8
Authority
BR
Brazil
Prior art keywords
location
robot
surgical robotic
robotic guidance
probe
Prior art date
Application number
BR112014013073A
Other languages
English (en)
Portuguese (pt)
Other versions
BR112014013073A2 (pt
Inventor
Popovic Aleksandra
Stephen Hall Christopher
Elhawary Haytham
Original Assignee
Koninklijke Philips Nv
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 Koninklijke Philips Nv filed Critical Koninklijke Philips Nv
Publication of BR112014013073A2 publication Critical patent/BR112014013073A2/pt
Publication of BR112014013073A8 publication Critical patent/BR112014013073A8/pt

Links

Classifications

    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J43/00—Normal steroids having a nitrogen-containing hetero ring spiro-condensed or not condensed with the cyclopenta(a)hydrophenanthrene skeleton
    • C07J43/003—Normal steroids having a nitrogen-containing hetero ring spiro-condensed or not condensed with the cyclopenta(a)hydrophenanthrene skeleton not condensed
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K47/00—Medicinal preparations characterised by the non-active ingredients used, e.g. carriers or inert additives; Targeting or modifying agents chemically bound to the active ingredient
    • A61K47/06—Organic compounds, e.g. natural or synthetic hydrocarbons, polyolefins, mineral oil, petrolatum or ozokerite
    • A61K47/26—Carbohydrates, e.g. sugar alcohols, amino sugars, nucleic acids, mono-, di- or oligo-saccharides; Derivatives thereof, e.g. polysorbates, sorbitan fatty acid esters or glycyrrhizin
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K47/00—Medicinal preparations characterised by the non-active ingredients used, e.g. carriers or inert additives; Targeting or modifying agents chemically bound to the active ingredient
    • A61K47/06—Organic compounds, e.g. natural or synthetic hydrocarbons, polyolefins, mineral oil, petrolatum or ozokerite
    • A61K47/28—Steroids, e.g. cholesterol, bile acids or glycyrrhetinic acid
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J31/00—Normal steroids containing one or more sulfur atoms not belonging to a hetero ring
    • C07J31/006—Normal steroids containing one or more sulfur atoms not belonging to a hetero ring not covered by C07J31/003
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J41/00—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring
    • C07J41/0033—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005
    • C07J41/0055—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005 the 17-beta position being substituted by an uninterrupted chain of at least three carbon atoms which may or may not be branched, e.g. cholane or cholestane derivatives, optionally cyclised, e.g. 17-beta-phenyl or 17-beta-furyl derivatives
    • C07J41/0061—Normal steroids containing one or more nitrogen atoms not belonging to a hetero ring not covered by C07J41/0005 the 17-beta position being substituted by an uninterrupted chain of at least three carbon atoms which may or may not be branched, e.g. cholane or cholestane derivatives, optionally cyclised, e.g. 17-beta-phenyl or 17-beta-furyl derivatives one of the carbon atoms being part of an amide group
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J51/00—Normal steroids with unmodified cyclopenta(a)hydrophenanthrene skeleton not provided for in groups C07J1/00 - C07J43/00
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07J—STEROIDS
    • C07J9/00—Normal steroids containing carbon, hydrogen, halogen or oxygen substituted in position 17 beta by a chain of more than two carbon atoms, e.g. cholane, cholestane, coprostane
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07K—PEPTIDES
    • C07K1/00—General methods for the preparation of peptides, i.e. processes for the organic chemical preparation of peptides or proteins of any length
    • C07K1/14—Extraction; Separation; Purification
    • C07K1/145—Extraction; Separation; Purification by extraction or solubilisation
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K9/00—Medicinal preparations characterised by special physical form
    • A61K9/10—Dispersions; Emulsions
    • A61K9/107—Emulsions ; Emulsion preconcentrates; Micelles

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Organic Chemistry (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Medicinal Chemistry (AREA)
  • Biochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Epidemiology (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Analytical Chemistry (AREA)
  • Genetics & Genomics (AREA)
  • Proteomics, Peptides & Aminoacids (AREA)
  • Robotics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Endoscopes (AREA)
BR112014013073A 2011-12-03 2012-11-27 sistema e método para orientação robótica cirúrgica BR112014013073A8 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161566625P 2011-12-03 2011-12-03
PCT/IB2012/056758 WO2013080124A1 (en) 2011-12-03 2012-11-27 Robotic guidance of ultrasound probe in endoscopic surgery

Publications (2)

Publication Number Publication Date
BR112014013073A2 BR112014013073A2 (pt) 2017-06-13
BR112014013073A8 true BR112014013073A8 (pt) 2017-06-13

Family

ID=48539462

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112014013073A BR112014013073A8 (pt) 2011-12-03 2012-11-27 sistema e método para orientação robótica cirúrgica

Country Status (8)

Country Link
US (1) US10414792B2 (enExample)
EP (1) EP2785269B1 (enExample)
JP (1) JP6559956B2 (enExample)
CN (1) CN104105455B (enExample)
BR (1) BR112014013073A8 (enExample)
IN (1) IN2014CN04516A (enExample)
RU (1) RU2014127126A (enExample)
WO (1) WO2013080124A1 (enExample)

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US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
EP2723270B1 (en) 2011-06-27 2019-01-23 Board of Regents of the University of Nebraska On-board tool tracking system of computer assisted surgery
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
WO2013163588A1 (en) 2012-04-26 2013-10-31 Alec Rothmyer Rivers Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
CA2906772C (en) * 2013-03-15 2021-09-21 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
JP6334714B2 (ja) 2014-01-24 2018-05-30 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット手術のための連続画像統合を行う制御ユニット又はロボットガイドシステム
CN106572887B (zh) 2014-07-15 2020-05-12 皇家飞利浦有限公司 X射线套件中的图像整合和机器人内窥镜控制
JP6393432B2 (ja) 2015-04-21 2018-09-19 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 患者モニタリング装置のための調節可能アーム
JP6968700B2 (ja) 2015-05-13 2021-11-17 シェイパー ツールズ, インク.Shaper Tools, Inc. 案内工具用のシステム、方法、および装置
EP3402408B1 (en) * 2016-01-15 2020-09-02 Koninklijke Philips N.V. Automated probe steering to clinical views using annotations in a fused image guidance system
RU2740259C2 (ru) * 2016-04-19 2021-01-12 Конинклейке Филипс Н.В. Позиционирование датчика ультразвуковой визуализации
JP7133474B2 (ja) * 2016-05-31 2022-09-08 コーニンクレッカ フィリップス エヌ ヴェ 内視鏡画像及び超音波画像の画像ベースの融合
CN206063225U (zh) * 2016-06-04 2017-04-05 深圳市前海康启源科技有限公司 用于辅助手术的医疗机器人
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CN106419957B (zh) * 2016-10-09 2019-12-13 深圳华大智造科技有限公司 一种超声扫描装置辅助系统
CN106562804A (zh) * 2016-11-01 2017-04-19 河池学院 一种b超检测机器人
CN110087548B (zh) * 2016-12-19 2023-06-27 皇家飞利浦有限公司 使用生理信息对解剖图像采集的控制
CN117503384A (zh) * 2017-06-28 2024-02-06 直观外科手术操作公司 用于将内窥镜图像数据集映射到三维体积上的系统
WO2019008127A1 (en) * 2017-07-07 2019-01-10 Koninklijke Philips N.V. INTEGRATION OF ROBOTIC INSTRUMENT GUIDE WITH AN ACOUSTIC PROBE
WO2019091962A1 (en) 2017-11-13 2019-05-16 Koninklijke Philips N.V. Multi-stage robot for anatomical structure interventions
CN108403146B (zh) * 2018-03-20 2020-06-30 余夏夏 基于多传感器信息融合的三维超声成像方法及装置
EP3982816A2 (en) * 2019-10-07 2022-04-20 Boston Scientific Scimed Inc. Medical device comprising an articulation joint between a first transducer and a second transducer and an apparatus and storage for its realization
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CN114694442B (zh) * 2020-12-31 2024-07-02 无锡触典科技有限公司 基于虚拟现实的超声培训方法、装置、存储介质及超声设备
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Also Published As

Publication number Publication date
JP6559956B2 (ja) 2019-08-14
BR112014013073A2 (pt) 2017-06-13
IN2014CN04516A (enExample) 2015-09-11
EP2785269B1 (en) 2022-05-11
RU2014127126A (ru) 2016-01-27
US10414792B2 (en) 2019-09-17
US20140343571A1 (en) 2014-11-20
CN104105455B (zh) 2017-04-19
JP2015505686A (ja) 2015-02-26
CN104105455A (zh) 2014-10-15
WO2013080124A1 (en) 2013-06-06
EP2785269A1 (en) 2014-10-08

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