BR112023026576A2 - Método para calibrar um instrumento cirúrgico de um sistema de cirurgia robótica teleoperada e sistema de cirurgia robótica teleoperada - Google Patents
Método para calibrar um instrumento cirúrgico de um sistema de cirurgia robótica teleoperada e sistema de cirurgia robótica teleoperadaInfo
- Publication number
- BR112023026576A2 BR112023026576A2 BR112023026576A BR112023026576A BR112023026576A2 BR 112023026576 A2 BR112023026576 A2 BR 112023026576A2 BR 112023026576 A BR112023026576 A BR 112023026576A BR 112023026576 A BR112023026576 A BR 112023026576A BR 112023026576 A2 BR112023026576 A2 BR 112023026576A2
- Authority
- BR
- Brazil
- Prior art keywords
- surgical instrument
- surgery system
- motorized actuators
- end effector
- robotic surgery
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 6
- 238000002432 robotic surgery Methods 0.000 title abstract 6
- 230000005540 biological transmission Effects 0.000 abstract 9
- 239000012636 effector Substances 0.000 abstract 6
- 230000033001 locomotion Effects 0.000 abstract 4
- 210000002435 tendon Anatomy 0.000 abstract 2
- 230000000644 propagated effect Effects 0.000 abstract 1
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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- 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
- A61B34/72—Micromanipulators
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- 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
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45117—Medical, radio surgery manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
Abstract
método para calibrar um instrumento cirúrgico de um sistema de cirurgia robótica teleoperada e sistema de cirurgia robótica teleoperada. é descrito um método para calibrar um instrumento cirúrgico 20 de um sistema de cirurgia robótica teleoperado 1. o instrumento cirúrgico 20 compreende uma pluralidade de elementos de transmissão 21, 22, 23, 24, 25, 26 associados a uma respectiva pluralidade de tendões 31, 32, 33, 34, 35, 36 e um dispositivo efetor terminal articulado 40, que é mecanicamente conectável através dos respectivos tendões aos elementos de transmissão, de modo a determinar uma correlação única entre um conjunto de movimentos dos elementos de transmissão e um respectivo movimento ou posição do dispositivo efetor terminal articulado 40. o sistema de cirurgia robótica teleoperado 1 compreende, além do referido instrumento cirúrgico 20, uma pluralidade de acionadores motorizados 11, 12, 13, 14, 15, 16 e meios de controle 9. os acionadores motorizados 11, 12, 13, 14, 15, 16 são conectáveis operacionalmente aos respectivos elementos de transmissão 21, 22, 23, 24, 25, 26 para propagar movimento aos elementos de transmissão sob controle dos meios de controle. o método compreende primeiro uma etapa de organizar e travar o dispositivo efetor terminal articulado 40 em uma posição conhecida predeterminada, considerada como a posição de referência do dispositivo efetor terminal articulado 40. a referida posição de referência do dispositivo efetor terminal articulado 40 está univocamente associada a uma respectiva posição resultante de cada um dos elementos de transmissão 21, 22, 23, 24, 25, 26. o método fornece então as etapas de acionamento dos acionadores motorizados 11, 12, 13, 14, 15, 16 de modo que cada um dos acionadores motorizados entre em contato com um respectivo elemento de transmissão 21, 22, 23, 24, 25, 26 e armazene a posição dos acionadores motorizados 11, 12, 13, 14, 15, 16 quando cada acionador motorizado entra em contato com um respectivo elemento de transmissão e considere o conjunto de posições armazenadas dos acionadores motorizados como uma posição de referência dos acionadores motorizados associados univocamente à posição de referência do dispositivo efetor terminal. o método fornece, então, definir uma condição zero cinemática, associando a acima mencionada posição de referência armazenada dos acionadores motorizados a um ponto zero virtual em relação ao qual os movimentos propagados pelos meios de controle 9 aos acionadores motorizados 11, 12, 13, 14, 15, 16 devem ser referidos. a etapa de acionamento acima mencionada compreende controlar os acionadores motorizados 11, 12, 13, 14, 15, 16 de modo que eles apliquem uma força maior que zero e menor ou igual a uma força limiar no respectivo elemento de transmissão do instrumento cirúrgico.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102021000015899A IT202100015899A1 (it) | 2021-06-17 | 2021-06-17 | Metodo di calibrazione di uno strumento microchirurgico di un sistema robotico teleoperato per chirurgia |
| PCT/IB2022/055584 WO2022264080A1 (en) | 2021-06-17 | 2022-06-16 | Method for calibrating a microsurgical instrument of a teleoperated robotic surgery system and related system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| BR112023026576A2 true BR112023026576A2 (pt) | 2024-03-05 |
Family
ID=77801922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| BR112023026576A BR112023026576A2 (pt) | 2021-06-17 | 2022-06-16 | Método para calibrar um instrumento cirúrgico de um sistema de cirurgia robótica teleoperada e sistema de cirurgia robótica teleoperada |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US20240277431A1 (pt) |
| EP (1) | EP4355243A1 (pt) |
| JP (1) | JP2024526105A (pt) |
| KR (1) | KR20240046482A (pt) |
| CN (1) | CN118139595A (pt) |
| AU (1) | AU2022292194A1 (pt) |
| BR (1) | BR112023026576A2 (pt) |
| CA (1) | CA3221175A1 (pt) |
| IT (1) | IT202100015899A1 (pt) |
| WO (1) | WO2022264080A1 (pt) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8821480B2 (en) | 2008-07-16 | 2014-09-02 | Intuitive Surgical Operations, Inc. | Four-cable wrist with solid surface cable channels |
| ITUB20155057A1 (it) | 2015-10-16 | 2017-04-16 | Medical Microinstruments S R L | Assieme robotico di chirurgia |
| EP3522813A2 (en) * | 2016-10-04 | 2019-08-14 | Imperial Innovations Limited | Coupling for a robotic surgical instrument |
| US10327854B2 (en) * | 2017-02-02 | 2019-06-25 | Ethicon Llc | Robotic surgical system and methods for articulation calibration |
| IT201700042116A1 (it) | 2017-04-14 | 2018-10-14 | Medical Microinstruments Spa | Assieme robotico per chirurgia |
| WO2019164856A1 (en) * | 2018-02-20 | 2019-08-29 | Intuitive Surgical Operations, Inc. | Systems and methods for control of end effectors |
| US11759269B2 (en) | 2018-08-20 | 2023-09-19 | Verb Surgical Inc. | Engagement and/or homing of a surgical tool in a surgical robotic system |
-
2021
- 2021-06-17 IT IT102021000015899A patent/IT202100015899A1/it unknown
-
2022
- 2022-06-16 BR BR112023026576A patent/BR112023026576A2/pt unknown
- 2022-06-16 WO PCT/IB2022/055584 patent/WO2022264080A1/en active Application Filing
- 2022-06-16 JP JP2023577521A patent/JP2024526105A/ja active Pending
- 2022-06-16 CN CN202280056033.0A patent/CN118139595A/zh active Pending
- 2022-06-16 KR KR1020247001887A patent/KR20240046482A/ko unknown
- 2022-06-16 AU AU2022292194A patent/AU2022292194A1/en active Pending
- 2022-06-16 US US18/570,380 patent/US20240277431A1/en active Pending
- 2022-06-16 EP EP22738000.3A patent/EP4355243A1/en active Pending
- 2022-06-16 CA CA3221175A patent/CA3221175A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| JP2024526105A (ja) | 2024-07-17 |
| EP4355243A1 (en) | 2024-04-24 |
| US20240277431A1 (en) | 2024-08-22 |
| KR20240046482A (ko) | 2024-04-09 |
| AU2022292194A1 (en) | 2023-12-21 |
| CA3221175A1 (en) | 2022-12-22 |
| CN118139595A (zh) | 2024-06-04 |
| WO2022264080A1 (en) | 2022-12-22 |
| IT202100015899A1 (it) | 2022-12-17 |
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