BR112022007463A2 - Sistema de controle para controlar a manipulação de um instrumento cirúrgico - Google Patents
Sistema de controle para controlar a manipulação de um instrumento cirúrgicoInfo
- Publication number
- BR112022007463A2 BR112022007463A2 BR112022007463A BR112022007463A BR112022007463A2 BR 112022007463 A2 BR112022007463 A2 BR 112022007463A2 BR 112022007463 A BR112022007463 A BR 112022007463A BR 112022007463 A BR112022007463 A BR 112022007463A BR 112022007463 A2 BR112022007463 A2 BR 112022007463A2
- Authority
- BR
- Brazil
- Prior art keywords
- end effector
- control system
- surgical instrument
- control
- angle
- Prior art date
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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- 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
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/282—Jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3201—Scissors
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- Urology & Nephrology (AREA)
- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Ophthalmology & Optometry (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
SISTEMA DE CONTROLE PARA CONTROLAR A MANIPULAÇÃO DE UM INSTRUMENTO CIRÚRGICO. Um sistema de controle para controlar a manipulação de um instrumento cirúrgico em resposta à manipulação de um dispositivo de entrada do cirurgião remoto. O instrumento cirúrgico compreende um efetor final com primeiro e segundo elementos efetores finais opostos conectados a uma haste por um acoplamento articulado. O sistema de controle recebe um comando do dispositivo de entrada do cirurgião para (i) mudar a orientação do efetor final e (ii) abrir o primeiro e o segundo elementos efetores finais em relação um ao outro. Em resposta ao comando de mudar a orientação do efetor final, o sistema de controle determina um ângulo ¿ entre o eixo longitudinal do acoplamento articulado e o efetor final. Em resposta ao comando de abrir os primeiro e segundo elementos efetores finais, o sistema de controle determina um ângulo de abertura f entre os primeiro e segundo elementos efetores finais. O sistema de controle compara ¿ a um ângulo máximo ¿max entre o eixo longitudinal do acoplamento articulado e o efetor final, e se ¿ > ¿max, acionar o primeiro e o segundo elementos efetores finais para girar de modo que (i) o ângulo entre o eixo longitudinal do acoplamento articulado e o efetor final seja ¿ max e (ii) o ângulo de abertura entre o primeiro e o segundo elementos efetores finais seja f.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1915270.1A GB2588410B (en) | 2019-10-22 | 2019-10-22 | Controlling a surgical instrument |
PCT/GB2020/052649 WO2021079114A1 (en) | 2019-10-22 | 2020-10-21 | Controlling a surgical instrument |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112022007463A2 true BR112022007463A2 (pt) | 2022-07-12 |
Family
ID=68728181
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112022007463A BR112022007463A2 (pt) | 2019-10-22 | 2020-10-21 | Sistema de controle para controlar a manipulação de um instrumento cirúrgico |
Country Status (9)
Country | Link |
---|---|
US (1) | US11969228B2 (pt) |
EP (1) | EP4048184A1 (pt) |
JP (1) | JP7450711B2 (pt) |
CN (1) | CN114630636A (pt) |
AU (1) | AU2020370820B2 (pt) |
BR (1) | BR112022007463A2 (pt) |
CL (1) | CL2022001009A1 (pt) |
GB (1) | GB2588410B (pt) |
WO (1) | WO2021079114A1 (pt) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2589380B (en) * | 2019-11-29 | 2024-02-21 | Cmr Surgical Ltd | Controlling a surgical instrument |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5954731A (en) * | 1997-07-29 | 1999-09-21 | Yoon; Inbae | Surgical instrument with multiple rotatably mounted spreadable end effectors |
US6587750B2 (en) * | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
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 |
DE102013013504A1 (de) * | 2013-08-16 | 2015-02-19 | How To Organize (H2O) Gmbh | Endoskopisches Instrument |
WO2017083201A1 (en) * | 2015-11-11 | 2017-05-18 | Intuitive Surgical Operations, Inc. | Reconfigurable end effector architecture |
WO2017151996A1 (en) * | 2016-03-04 | 2017-09-08 | Covidien Lp | Inverse kinematic control systems for robotic surgical system |
CN109069138B (zh) * | 2016-08-31 | 2021-07-20 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
GB2560384B (en) * | 2017-03-10 | 2022-07-20 | Cmr Surgical Ltd | Controlling a surgical instrument |
-
2019
- 2019-10-22 GB GB1915270.1A patent/GB2588410B/en active Active
-
2020
- 2020-10-21 AU AU2020370820A patent/AU2020370820B2/en active Active
- 2020-10-21 WO PCT/GB2020/052649 patent/WO2021079114A1/en unknown
- 2020-10-21 CN CN202080073857.XA patent/CN114630636A/zh active Pending
- 2020-10-21 EP EP20800250.1A patent/EP4048184A1/en active Pending
- 2020-10-21 JP JP2022523698A patent/JP7450711B2/ja active Active
- 2020-10-21 BR BR112022007463A patent/BR112022007463A2/pt unknown
- 2020-10-21 US US17/075,773 patent/US11969228B2/en active Active
-
2022
- 2022-04-21 CL CL2022001009A patent/CL2022001009A1/es unknown
Also Published As
Publication number | Publication date |
---|---|
GB2588410B (en) | 2024-05-29 |
EP4048184A1 (en) | 2022-08-31 |
WO2021079114A1 (en) | 2021-04-29 |
JP7450711B2 (ja) | 2024-03-15 |
AU2020370820B2 (en) | 2023-11-23 |
GB201915270D0 (en) | 2019-12-04 |
CN114630636A (zh) | 2022-06-14 |
AU2020370820A1 (en) | 2022-05-26 |
US20210113287A1 (en) | 2021-04-22 |
JP2022553974A (ja) | 2022-12-27 |
CL2022001009A1 (es) | 2023-01-20 |
GB2588410A (en) | 2021-04-28 |
US11969228B2 (en) | 2024-04-30 |
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