BR112015003964A2 - dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô - Google Patents

dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô

Info

Publication number
BR112015003964A2
BR112015003964A2 BR112015003964A BR112015003964A BR112015003964A2 BR 112015003964 A2 BR112015003964 A2 BR 112015003964A2 BR 112015003964 A BR112015003964 A BR 112015003964A BR 112015003964 A BR112015003964 A BR 112015003964A BR 112015003964 A2 BR112015003964 A2 BR 112015003964A2
Authority
BR
Brazil
Prior art keywords
robotic
guided
robot
systems
image
Prior art date
Application number
BR112015003964A
Other languages
English (en)
Inventor
Tsekos Nikolaos
Original Assignee
Univ Houston
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 Univ Houston filed Critical Univ Houston
Publication of BR112015003964A2 publication Critical patent/BR112015003964A2/pt

Links

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
    • A61B34/30—Surgical robots
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
    • F16C1/20—Construction of flexible members moved to and fro in the sheathing
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B2090/374—NMR or MRI
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/20—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows with loose spacing bodies, e.g. balls, between the bearing balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Manipulator (AREA)

Abstract

abstract provided herein are robotic systems, for example, mri guided robots, for image-guided robot- assisted surgical procedures and methods for using the same to perform such surgical procedures on a patient. the robotic systems comprise a robotic manipulator device or global positioner, means for actuating the robotic manipulator or global positioner that is mechanically linked thereto and a computer having a memory, a processor and at least one network connection in electronic communication with the robotic system. the actuating means comprises at least one transmission line having a flexible component comprising a displaceable medium, a rigid component comprising rigid pistons or a combination through which actuation is transmitted to the robotic manipulator or global positioner. the computer tangibly stores in memory software modules comprising processor- executable instructions to provide interfaces between the robotic system, an imaging system and an operator and to control operation thereof. tradução do resumo resumo patente de invenção: "dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô". a presente invenção refere-se a sistemas robóticos, por e-xemplo, robôs guiados por mri para procedimento cirúrgicos assistidos por robô guiado por imagem e métodos para utilizar os mesmos para executar tais procedimentos cirúrgicos em um paciente. os sistemas robóticos compreendem um dispositivo manipulador robótico ou um posicionador global, o meio para atuar o manipulador robótico ou o posicionador global que está mecanicamente ligado a este e um com-putador que tem uma memória, um processador e pelo menos uma conexão de rede em comunicação eletrônica com o sistema de robô. o meio de atuação compreende pelo menos uma linha de transmissão que tem um componente flexível que compreende um meio deslocável, um componente rígido que compreende pistões rígidos ou uma combinação através dos quais a atuação é transmitida para o manipulador robótico ou o posicionador global. o computador tangivelmente armazena na memória módulos de software que compreendem instruções executáveis por processador para prover interfaces entre o sistema robótico, um sistema de formação de imagem e um operador e para controlar a sua operação.
BR112015003964A 2012-08-24 2013-08-26 dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô BR112015003964A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261692943P 2012-08-24 2012-08-24
PCT/US2013/056654 WO2014032046A1 (en) 2012-08-24 2013-08-26 Robotic device and systems for image-guided and robot-assisted surgery

Publications (1)

Publication Number Publication Date
BR112015003964A2 true BR112015003964A2 (pt) 2017-07-04

Family

ID=50148673

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112015003964A BR112015003964A2 (pt) 2012-08-24 2013-08-26 dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô

Country Status (12)

Country Link
US (1) US9539058B2 (pt)
EP (1) EP2887903A4 (pt)
KR (1) KR20150058250A (pt)
CN (1) CN104736097B (pt)
AU (1) AU2013305559A1 (pt)
BR (1) BR112015003964A2 (pt)
CA (1) CA2893369A1 (pt)
HK (1) HK1211820A1 (pt)
MX (1) MX2015002400A (pt)
RU (1) RU2015110290A (pt)
WO (1) WO2014032046A1 (pt)
ZA (1) ZA201501899B (pt)

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