CA2924565A1 - System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure - Google Patents
System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure Download PDFInfo
- Publication number
- CA2924565A1 CA2924565A1 CA2924565A CA2924565A CA2924565A1 CA 2924565 A1 CA2924565 A1 CA 2924565A1 CA 2924565 A CA2924565 A CA 2924565A CA 2924565 A CA2924565 A CA 2924565A CA 2924565 A1 CA2924565 A1 CA 2924565A1
- Authority
- CA
- Canada
- Prior art keywords
- anatomy
- instrument
- response
- force
- characteristic
- 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.)
- Abandoned
Links
- 210000003484 anatomy Anatomy 0.000 title claims abstract description 242
- 238000000034 method Methods 0.000 title claims abstract description 91
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 31
- 230000004044 response Effects 0.000 claims abstract description 63
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 238000013016 damping Methods 0.000 claims description 11
- 230000004913 activation Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 description 7
- 210000000988 bone and bone Anatomy 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus, e.g. for MRI, optical tomography or impedance tomography apparatus; Arrangements of imaging apparatus in a room
- A61B5/0036—Features or image-related aspects of imaging apparatus, e.g. for MRI, optical tomography or impedance tomography apparatus; Arrangements of imaging apparatus in a room including treatment, e.g., using an implantable medical device, ablating, ventilating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4504—Bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient; User input means
- A61B5/742—Details of notification to user or communication with user or patient; User input means using visual displays
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- 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
-
- 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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
- A61G13/06—Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Physiology (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361884500P | 2013-09-30 | 2013-09-30 | |
| US61/884,500 | 2013-09-30 | ||
| PCT/US2014/058225 WO2015048714A1 (en) | 2013-09-30 | 2014-09-30 | System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2924565A1 true CA2924565A1 (en) | 2015-04-02 |
Family
ID=51842790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2924565A Abandoned CA2924565A1 (en) | 2013-09-30 | 2014-09-30 | System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure |
Country Status (8)
| Country | Link |
|---|---|
| US (3) | US10390737B2 (enExample) |
| EP (3) | EP3821868B1 (enExample) |
| JP (3) | JP6484226B2 (enExample) |
| KR (4) | KR102770570B1 (enExample) |
| CN (1) | CN105592817B (enExample) |
| AU (4) | AU2014324557B2 (enExample) |
| CA (1) | CA2924565A1 (enExample) |
| WO (1) | WO2015048714A1 (enExample) |
Families Citing this family (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3007636B1 (en) | 2013-06-11 | 2017-09-27 | Minmaxmedical | System for positioning a surgical device |
| US10390737B2 (en) * | 2013-09-30 | 2019-08-27 | Stryker Corporation | System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure |
| US10507063B2 (en) * | 2014-11-21 | 2019-12-17 | Think Surgical, Inc. | Visible light communication system for transmitting data between visual tracking systems and tracking markers |
| CN105266869A (zh) * | 2015-10-26 | 2016-01-27 | 屠高良 | 一种用于骨科手术的打孔器固定装置 |
| US11229489B2 (en) | 2016-06-16 | 2022-01-25 | Zimmer, Inc. | Soft tissue balancing in articular surgery |
| US10136952B2 (en) * | 2016-06-16 | 2018-11-27 | Zimmer, Inc. | Soft tissue balancing in articular surgery |
| US10695134B2 (en) | 2016-08-25 | 2020-06-30 | Verily Life Sciences Llc | Motion execution of a robotic system |
| AU2017340607B2 (en) | 2016-10-05 | 2022-10-27 | Nuvasive, Inc. | Surgical navigation system and related methods |
| US11202682B2 (en) * | 2016-12-16 | 2021-12-21 | Mako Surgical Corp. | Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site |
| US11432885B2 (en) * | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
| US11344374B2 (en) * | 2018-08-13 | 2022-05-31 | Verily Life Sciences Llc | Detection of unintentional movement of a user interface device |
| KR20250067945A (ko) * | 2018-09-17 | 2025-05-15 | 아우리스 헬스, 인코포레이티드 | 동시 의료 절차를 위한 시스템 및 방법 |
| US11957629B2 (en) | 2019-02-14 | 2024-04-16 | Stryker Australia Pty Ltd | Systems and methods for assisting surgery |
| US12408999B2 (en) | 2019-05-03 | 2025-09-09 | Universiteit Gent | Patient specific robotic bone implant positioning |
| US11612440B2 (en) | 2019-09-05 | 2023-03-28 | Nuvasive, Inc. | Surgical instrument tracking devices and related methods |
| JP2021049198A (ja) * | 2019-09-25 | 2021-04-01 | 株式会社日立製作所 | 手術支援装置及び手術ナビゲーションシステム |
| JP7704743B2 (ja) | 2019-10-01 | 2025-07-08 | マコ サージカル コーポレーション | ロボットマニピュレータを誘導するための外科システム及び方法 |
| CN110638601B (zh) * | 2019-10-10 | 2021-11-23 | 南方医科大学第五附属医院 | 一种耳鼻喉综合诊疗台 |
| DK180673B1 (en) * | 2019-12-29 | 2021-11-25 | Universal Robots As | Method of obtaining vibrational properties of robot arm |
| WO2021235804A1 (ko) * | 2020-05-18 | 2021-11-25 | 주식회사 루닛 | 메디컬 장치의 이상을 결정하는 방법 및 시스템 |
| JP2022020592A (ja) * | 2020-07-20 | 2022-02-01 | ソニーグループ株式会社 | 医療用アーム制御システム、医療用アーム制御方法、及びプログラム |
| US12167984B2 (en) * | 2020-10-06 | 2024-12-17 | P Tech, Llc | Robotic systems, operating room systems, insulated conductor including biologically active material, microplastic filter, and combinations thereof |
| AU2021369677B2 (en) | 2020-10-30 | 2025-10-02 | Mako Surgical Corp. | Robotic surgical system with recovery alignment |
| US12042241B2 (en) | 2021-03-31 | 2024-07-23 | Moon Surgical Sas | Co-manipulation surgical system having automated preset robot arm configurations |
| US12178418B2 (en) | 2021-03-31 | 2024-12-31 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
| US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
| US12167900B2 (en) | 2021-03-31 | 2024-12-17 | Moon Surgical Sas | Co-manipulation surgical system having automated preset robot arm configurations |
| US11844583B2 (en) | 2021-03-31 | 2023-12-19 | Moon Surgical Sas | Co-manipulation surgical system having an instrument centering mode for automatic scope movements |
| US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
| CA3212211A1 (en) | 2021-03-31 | 2022-10-06 | David Paul Noonan | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery |
| US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
| CN114617649B (zh) * | 2022-03-09 | 2024-08-13 | 田义得 | 一种口腔科多功能牙钻组件 |
| EP4510963A1 (en) * | 2022-04-18 | 2025-02-26 | MAKO Surgical Corp. | Systems and methods for guided placement of a robotic manipulator |
| US11986165B1 (en) | 2023-01-09 | 2024-05-21 | Moon Surgical Sas | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force |
| US12370001B2 (en) | 2023-01-09 | 2025-07-29 | Moon Surgical Sas | Co-manipulation surgical system having automated user override detection |
| US11832910B1 (en) | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
| US20250000444A1 (en) | 2023-06-30 | 2025-01-02 | Mako Surgical Corp. | Motorized Orthopedic Tensor And Methods Of Using The Same |
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| KR101181613B1 (ko) | 2011-02-21 | 2012-09-10 | 윤상진 | 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 |
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| US9566022B2 (en) * | 2013-03-14 | 2017-02-14 | Hospital For Special Surgery | Apparatus and method for determining 3D load displacement response of a joint |
| US10390737B2 (en) | 2013-09-30 | 2019-08-27 | Stryker Corporation | System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure |
-
2014
- 2014-09-29 US US14/500,280 patent/US10390737B2/en active Active
- 2014-09-30 EP EP20205569.5A patent/EP3821868B1/en active Active
- 2014-09-30 CA CA2924565A patent/CA2924565A1/en not_active Abandoned
- 2014-09-30 WO PCT/US2014/058225 patent/WO2015048714A1/en not_active Ceased
- 2014-09-30 EP EP25179260.2A patent/EP4582071A3/en active Pending
- 2014-09-30 JP JP2016518078A patent/JP6484226B2/ja active Active
- 2014-09-30 EP EP14790844.6A patent/EP3052043B1/en active Active
- 2014-09-30 KR KR1020247001329A patent/KR102770570B1/ko active Active
- 2014-09-30 KR KR1020227046255A patent/KR102626744B1/ko active Active
- 2014-09-30 KR KR1020227004832A patent/KR102484188B1/ko active Active
- 2014-09-30 CN CN201480053882.6A patent/CN105592817B/zh active Active
- 2014-09-30 KR KR1020167008706A patent/KR102364888B1/ko active Active
- 2014-09-30 AU AU2014324557A patent/AU2014324557B2/en active Active
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2019
- 2019-02-14 JP JP2019024256A patent/JP6880090B2/ja active Active
- 2019-07-11 US US16/508,790 patent/US11406284B2/en active Active
- 2019-09-13 AU AU2019229454A patent/AU2019229454B2/en active Active
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2021
- 2021-04-30 JP JP2021077282A patent/JP7200291B2/ja active Active
- 2021-08-06 AU AU2021212127A patent/AU2021212127B2/en active Active
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2022
- 2022-06-29 US US17/852,440 patent/US12419542B2/en active Active
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2023
- 2023-11-16 AU AU2023266336A patent/AU2023266336B2/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |
Effective date: 20220330 |
|
| FZDE | Discontinued |
Effective date: 20220330 |