BR112022010364A2 - Sistema de controle para controlar a manipulação de um instrumento cirúrgico - Google Patents

Sistema de controle para controlar a manipulação de um instrumento cirúrgico

Info

Publication number
BR112022010364A2
BR112022010364A2 BR112022010364A BR112022010364A BR112022010364A2 BR 112022010364 A2 BR112022010364 A2 BR 112022010364A2 BR 112022010364 A BR112022010364 A BR 112022010364A BR 112022010364 A BR112022010364 A BR 112022010364A BR 112022010364 A2 BR112022010364 A2 BR 112022010364A2
Authority
BR
Brazil
Prior art keywords
surgical instrument
control system
control
rod
handling
Prior art date
Application number
BR112022010364A
Other languages
English (en)
Inventor
David Ronald Hares Luke
Thomas Deane Gordon
James Wildin Tucker Edward
John Veitch Graham
Original Assignee
Cmr Surgical Ltd
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 Cmr Surgical Ltd filed Critical Cmr Surgical Ltd
Publication of BR112022010364A2 publication Critical patent/BR112022010364A2/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
    • 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
    • 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
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • 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
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • 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
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • 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
    • A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls
    • 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
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • 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
    • 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
    • A61B2034/742—Joysticks
    • 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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (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 em um console do cirurgião remoto, o instrumento cirúrgico sendo apoiado por um braço robótico cirúrgico, o instrumento cirúrgico compreendendo um efetor de extremidade conectado à uma extremidade distal de uma haste por um acoplamento articulado, o acoplamento articulado compreendendo uma ou mais juntas, permitindo que o efetor de extremidade adote uma gama de atitudes em relação à extremidade distal da haste, o sistema de controle sendo configurado para: receber um comando de uma entrada acionada por um usuário para alinhar o instrumento cirúrgico; e em resposta ao comando recebido, comandar as forças de acionamento a serem aplicadas às juntas do acoplamento articulado para acionar o instrumento a adotar uma configuração predeterminada, em que o perfil do efetor de extremidade está mais alinhado com o perfil da extremidade distal da haste.
BR112022010364A 2019-11-29 2020-11-27 Sistema de controle para controlar a manipulação de um instrumento cirúrgico BR112022010364A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1917491.1A GB2589380B (en) 2019-11-29 2019-11-29 Controlling a surgical instrument
PCT/GB2020/053040 WO2021105703A1 (en) 2019-11-29 2020-11-27 Controlling a surgical instrument

Publications (1)

Publication Number Publication Date
BR112022010364A2 true BR112022010364A2 (pt) 2022-08-16

Family

ID=69146950

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112022010364A BR112022010364A2 (pt) 2019-11-29 2020-11-27 Sistema de controle para controlar a manipulação de um instrumento cirúrgico

Country Status (8)

Country Link
US (1) US20210161606A1 (pt)
EP (1) EP4065026A1 (pt)
JP (1) JP7411804B2 (pt)
CN (1) CN114760949A (pt)
AU (1) AU2020392895B2 (pt)
BR (1) BR112022010364A2 (pt)
GB (1) GB2589380B (pt)
WO (1) WO2021105703A1 (pt)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113384347B (zh) * 2021-06-16 2022-07-08 瑞龙诺赋(上海)医疗科技有限公司 一种机器人标定方法、装置、设备及存储介质
US20230077141A1 (en) * 2021-09-08 2023-03-09 Cilag Gmbh International Robotically controlled uterine manipulator
CN116965938A (zh) * 2022-04-23 2023-10-31 深圳市精锋医疗科技股份有限公司 手术机器人、医疗器械退出方法及可读存储介质
GB2621588A (en) * 2022-08-15 2024-02-21 Cmr Surgical Ltd Surgical instrument disengagement

Family Cites Families (20)

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US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
KR101477133B1 (ko) * 2006-06-13 2014-12-29 인튜어티브 서지컬 인코포레이티드 미소절개 수술 시스템
US8784435B2 (en) * 2006-06-13 2014-07-22 Intuitive Surgical Operations, Inc. Surgical system entry guide
US9469034B2 (en) * 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9138129B2 (en) * 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9084623B2 (en) * 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US11589771B2 (en) * 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
GB2534558B (en) * 2015-01-21 2020-12-30 Cmr Surgical Ltd Robot tool retraction
GB201504787D0 (en) * 2015-03-20 2015-05-06 Cambridge Medical Robotics Ltd User interface for a robot
GB2538326B (en) * 2015-05-07 2019-06-05 Cmr Surgical Ltd A surgical drape for transferring drive
GB2538710B (en) * 2015-05-22 2020-09-23 Cmr Surgical Ltd Surgical robot driving mechanism
GB201509341D0 (en) * 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
US10052164B2 (en) * 2015-10-02 2018-08-21 Ethicon Llc System and method of converting user input into motion of a surgical instrument via a robotic surgical system
GB201521810D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Supporting body of a surgical instrument articulation
WO2017098259A1 (en) * 2015-12-10 2017-06-15 Cambridge Medical Robotics Limited Robotic system
GB201521805D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Guiding engagement of a robot arm and surgical instrument
GB2552540B (en) * 2016-07-29 2021-11-24 Cmr Surgical Ltd Interface structure
GB2560384B (en) * 2017-03-10 2022-07-20 Cmr Surgical Ltd Controlling a surgical instrument
GB2588410B (en) * 2019-10-22 2024-05-29 Cmr Surgical Ltd Controlling a surgical instrument

Also Published As

Publication number Publication date
GB2589380A (en) 2021-06-02
CN114760949A (zh) 2022-07-15
AU2020392895A1 (en) 2022-06-23
GB201917491D0 (en) 2020-01-15
GB2589380B (en) 2024-02-21
EP4065026A1 (en) 2022-10-05
JP2023504095A (ja) 2023-02-01
JP7411804B2 (ja) 2024-01-11
WO2021105703A1 (en) 2021-06-03
US20210161606A1 (en) 2021-06-03
AU2020392895B2 (en) 2024-01-18

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