CA2684459C - Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis - Google Patents

Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis Download PDF

Info

Publication number
CA2684459C
CA2684459C CA2684459A CA2684459A CA2684459C CA 2684459 C CA2684459 C CA 2684459C CA 2684459 A CA2684459 A CA 2684459A CA 2684459 A CA2684459 A CA 2684459A CA 2684459 C CA2684459 C CA 2684459C
Authority
CA
Canada
Prior art keywords
tool
input device
computer system
move
single axis
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
CA2684459A
Other languages
English (en)
French (fr)
Other versions
CA2684459A1 (en
Inventor
Alexander Greer
Garnette Sutherland
Tim Fielding
Perry Newhook
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Neuroarm Surgical Ltd
Original Assignee
Neuroarm 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 Neuroarm Surgical Ltd filed Critical Neuroarm Surgical Ltd
Publication of CA2684459A1 publication Critical patent/CA2684459A1/en
Application granted granted Critical
Publication of CA2684459C publication Critical patent/CA2684459C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40128—Virtual tether, line on display connects end effector to destination point
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40399—Selection of master-slave operation mode
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
    • 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)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
CA2684459A 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis Expired - Fee Related CA2684459C (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US91214607P 2007-04-16 2007-04-16
US60/912,146 2007-04-16
PCT/IB2008/003323 WO2009037576A2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US2008060541 2008-04-16
USPCT/US2008/060541 2008-04-16

Publications (2)

Publication Number Publication Date
CA2684459A1 CA2684459A1 (en) 2009-03-26
CA2684459C true CA2684459C (en) 2016-10-04

Family

ID=40468504

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2684459A Expired - Fee Related CA2684459C (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Country Status (3)

Country Link
JP (1) JP5543331B2 (enrdf_load_stackoverflow)
CA (1) CA2684459C (enrdf_load_stackoverflow)
WO (1) WO2009037576A2 (enrdf_load_stackoverflow)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
KR101477125B1 (ko) 2006-06-13 2014-12-29 인튜어티브 서지컬 인코포레이티드 미소절개 수술 시스템
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
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
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
CN101802116B (zh) * 2007-09-21 2014-03-12 卡伯特微电子公司 利用经氨基硅烷处理的研磨剂颗粒的抛光组合物和方法
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
EP2384714A1 (en) * 2010-05-03 2011-11-09 Universitat Politècnica de Catalunya A method for defining working space limits in robotic surgery
EP2704658A4 (en) * 2011-05-05 2014-12-03 Univ Johns Hopkins Method and system for analyzing a task trajectory
US9572481B2 (en) 2011-05-13 2017-02-21 Intuitive Surgical Operations, Inc. Medical system with multiple operating modes for steering a medical instrument through linked body passages
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
WO2016089753A1 (en) * 2014-12-03 2016-06-09 Gambro Lundia Ab Medical treatment system training
JP6157792B2 (ja) * 2015-06-01 2017-07-05 オリンパス株式会社 医療用マニピュレータ
CN110381873A (zh) * 2017-03-15 2019-10-25 柯惠Lp公司 机器人外科手术系统、器械和控件
CN110403701A (zh) * 2019-08-30 2019-11-05 山东威高手术机器人有限公司 输入装置、微创外科手术机器人及微创外科手术控制方法
CN118541106A (zh) * 2022-01-21 2024-08-23 索尼集团公司 外科手术机器人系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US7074179B2 (en) * 1992-08-10 2006-07-11 Intuitive Surgical Inc Method and apparatus for performing minimally invasive cardiac procedures
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
JPH08117238A (ja) * 1994-10-25 1996-05-14 Olympus Optical Co Ltd 手術用マニピュレータ
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
JP3377740B2 (ja) * 1996-12-16 2003-02-17 株式会社三協精機製作所 力補助装置の制御方法及びこの方法を利用した制御装置
US6671538B1 (en) * 1999-11-26 2003-12-30 Koninklijke Philips Electronics, N.V. Interface system for use with imaging devices to facilitate visualization of image-guided interventional procedure planning
AU2001243237A1 (en) * 2000-02-25 2001-09-03 The Board Of Trustees Of The Leland Stanford Junior University Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US7121781B2 (en) * 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
JP2006312079A (ja) * 2006-08-09 2006-11-16 Olympus Corp 医療用マニピュレータ
JP5078140B2 (ja) * 2007-09-03 2012-11-21 国立大学法人横浜国立大学 微細構造造形方法

Also Published As

Publication number Publication date
WO2009037576A2 (en) 2009-03-26
WO2009037576A3 (en) 2010-02-04
JP2010525838A (ja) 2010-07-29
JP5543331B2 (ja) 2014-07-09
CA2684459A1 (en) 2009-03-26

Similar Documents

Publication Publication Date Title
CA2684459C (en) Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US9131986B2 (en) Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US20220015832A1 (en) Minimally invasive telesurgical systems with interative user interfaces for 3d operative images
US11819301B2 (en) Systems and methods for onscreen menus in a teleoperational medical system
CA2684472C (en) Methods, devices, and systems for automated movements involving medical robots
CN109791801B (zh) 机器人外科手术系统中的虚拟现实训练、模拟和协作
CN110800033B (zh) 虚拟现实腹腔镜式工具
US8398541B2 (en) Interactive user interfaces for robotic minimally invasive surgical systems
Sutherland et al. Robotics in the neurosurgical treatment of glioma
CN105188590A (zh) 图像采集装置和可操纵装置活动臂受控运动过程中的碰撞避免
CN113271884A (zh) 用于与成像设备集成运动的系统和方法
Abdurahiman et al. Human-computer interfacing for control of angulated scopes in robotic scope assistant systems
US20240375282A1 (en) Techniques for following commands of an input device using a constrained proxy
US20250205900A1 (en) Setting and using software remote centers of motion for computer-assisted systems
US12390214B2 (en) Automated rotation of a needle in a computer-assisted system
Casals et al. Robotic aids for laparoscopic surgery problems
CN120076901A (zh) 控制受运动限制的计算机辅助系统的软件远程运动中心

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20130415

MKLA Lapsed

Effective date: 20220301

MKLA Lapsed

Effective date: 20200831