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

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program 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 leader-follower 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)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (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
USPCT/US2008/060541 2008-04-16
US2008060541 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 (enExample)
CA (1) CA2684459C (enExample)
WO (1) WO2009037576A2 (enExample)

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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
CN104688349B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
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
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
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
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
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
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
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
KR101232442B1 (ko) * 2007-09-21 2013-02-12 캐보트 마이크로일렉트로닉스 코포레이션 아미노실란으로 처리된 연마제 입자를 이용한 연마 조성물 및 방법
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
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
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
WO2012151585A2 (en) * 2011-05-05 2012-11-08 The Johns Hopkins University 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
JP7835824B1 (ja) 2024-11-01 2026-03-25 株式会社ダイヘン ロボットシステム

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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
WO2001062173A2 (en) * 2000-02-25 2001-08-30 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
JP2010525838A (ja) 2010-07-29
WO2009037576A2 (en) 2009-03-26
CA2684459A1 (en) 2009-03-26
WO2009037576A3 (en) 2010-02-04
JP5543331B2 (ja) 2014-07-09

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