CA3053233A1 - Controller for surgical tools - Google Patents
Controller for surgical tools Download PDFInfo
- Publication number
- CA3053233A1 CA3053233A1 CA3053233A CA3053233A CA3053233A1 CA 3053233 A1 CA3053233 A1 CA 3053233A1 CA 3053233 A CA3053233 A CA 3053233A CA 3053233 A CA3053233 A CA 3053233A CA 3053233 A1 CA3053233 A1 CA 3053233A1
- Authority
- CA
- Canada
- Prior art keywords
- controller
- movement
- respect
- user
- surgical tool
- 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.)
- Pending
Links
- 210000003811 finger Anatomy 0.000 claims description 33
- 239000012636 effector Substances 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 4
- 210000005224 forefinger Anatomy 0.000 claims description 2
- 210000003813 thumb Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 description 15
- 238000004891 communication Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 208000000659 Autoimmune lymphoproliferative syndrome Diseases 0.000 description 1
- 208000032544 Cicatrix Diseases 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 239000004952 Polyamide Substances 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 229920002647 polyamide Polymers 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000003708 urethra Anatomy 0.000 description 1
- 210000003932 urinary bladder Anatomy 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- 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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/741—Glove like input devices, e.g. "data gloves"
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
- A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201762462447P | 2017-02-23 | 2017-02-23 | |
| US62/462,447 | 2017-02-23 | ||
| PCT/IL2018/050127 WO2018154559A1 (en) | 2017-02-23 | 2018-02-05 | Controller for surgical tools |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3053233A1 true CA3053233A1 (en) | 2018-08-30 |
Family
ID=63254174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3053233A Pending CA3053233A1 (en) | 2017-02-23 | 2018-02-05 | Controller for surgical tools |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US20200000539A1 (enExample) |
| EP (1) | EP3585293A4 (enExample) |
| JP (1) | JP2020509798A (enExample) |
| KR (1) | KR20190113988A (enExample) |
| CN (1) | CN110312487A (enExample) |
| AU (1) | AU2018224505A1 (enExample) |
| BR (1) | BR112019017414A2 (enExample) |
| CA (1) | CA3053233A1 (enExample) |
| IL (1) | IL268830A (enExample) |
| MX (1) | MX2019009608A (enExample) |
| WO (1) | WO2018154559A1 (enExample) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044261A (zh) * | 2018-09-27 | 2018-12-21 | 深圳市儿童医院 | 一种腹腔镜用机械手 |
| US11504200B2 (en) | 2019-01-24 | 2022-11-22 | Verb Surgical Inc. | Wearable user interface device |
| CN111685884A (zh) * | 2019-11-13 | 2020-09-22 | 成都博恩思医学机器人有限公司 | 用于手术机器人的远程控制器 |
| CN112276974B (zh) * | 2019-11-13 | 2024-05-28 | 成都博恩思医学机器人有限公司 | 抓取控制组件及远程控制器 |
| US20220392065A1 (en) | 2020-01-07 | 2022-12-08 | Cleerly, Inc. | Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking |
| US11969280B2 (en) | 2020-01-07 | 2024-04-30 | Cleerly, Inc. | Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking |
| WO2021141921A1 (en) | 2020-01-07 | 2021-07-15 | Cleerly, Inc. | Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking |
| CN111281649B (zh) * | 2020-03-03 | 2021-08-13 | 西安交通大学 | 一种眼科手术机器人系统及其控制方法 |
| US11806107B2 (en) | 2020-12-07 | 2023-11-07 | Virtuoso Surgical, Inc. | Physician input device for a concentric tube surgical robot |
| KR20230154256A (ko) | 2021-10-05 | 2023-11-07 | 코린더스 인코포레이티드 | 세장형 의료 디바이스들의 로봇 작동 |
| CN113854950B (zh) * | 2021-10-29 | 2024-09-24 | 佗道医疗科技有限公司 | 一种复用腹腔镜 |
| US20250143657A1 (en) | 2022-03-10 | 2025-05-08 | Cleerly, Inc. | Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination |
| US12440180B2 (en) | 2022-03-10 | 2025-10-14 | Cleerly, Inc. | Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination |
| US12406365B2 (en) | 2022-03-10 | 2025-09-02 | Cleerly, Inc. | Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination |
| US20250217981A1 (en) | 2022-03-10 | 2025-07-03 | Cleerly, Inc. | Systems, methods, and devices for image-based plaque analysis and risk determination |
Family Cites Families (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6788999B2 (en) * | 1992-01-21 | 2004-09-07 | Sri International, Inc. | Surgical system |
| JP3476878B2 (ja) * | 1993-11-15 | 2003-12-10 | オリンパス株式会社 | 手術用マニピュレータ |
| US5624398A (en) * | 1996-02-08 | 1997-04-29 | Symbiosis Corporation | Endoscopic robotic surgical tools and methods |
| US7963913B2 (en) | 1996-12-12 | 2011-06-21 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
| US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| US6839612B2 (en) * | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
| US6793653B2 (en) | 2001-12-08 | 2004-09-21 | Computer Motion, Inc. | Multifunctional handle for a medical robotic system |
| JP2006334695A (ja) * | 2005-05-31 | 2006-12-14 | Kyoto Univ | 遠隔操縦装置 |
| US8398541B2 (en) | 2006-06-06 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| JP4821516B2 (ja) * | 2006-08-31 | 2011-11-24 | 旭光電機株式会社 | 多関節構造体 |
| JP2009028157A (ja) | 2007-07-25 | 2009-02-12 | Terumo Corp | 医療用マニピュレータシステム |
| US9050120B2 (en) | 2007-09-30 | 2015-06-09 | Intuitive Surgical Operations, Inc. | Apparatus and method of user interface with alternate tool mode for robotic surgical tools |
| US8332072B1 (en) | 2008-08-22 | 2012-12-11 | Titan Medical Inc. | Robotic hand controller |
| US8720448B2 (en) | 2008-11-07 | 2014-05-13 | Hansen Medical, Inc. | Sterile interface apparatus |
| US20120271283A1 (en) * | 2009-08-26 | 2012-10-25 | Carefusion 2200, Inc. | Articulated surgical tool |
| US8521331B2 (en) | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| WO2012073789A1 (ja) * | 2010-11-30 | 2012-06-07 | オリンパス株式会社 | マスタ操作入力装置及びマスタスレーブマニピュレータ |
| JP2013255966A (ja) * | 2012-06-13 | 2013-12-26 | Olympus Corp | 自重補償付き直動機構、操作入力装置、及び手術支援システム |
| JP6053455B2 (ja) * | 2012-10-29 | 2016-12-27 | 新日鐵住金株式会社 | 多軸ジョイスティック |
| CN105101903B (zh) | 2013-02-04 | 2018-08-24 | 儿童国家医疗中心 | 混合控制外科机器人系统 |
| KR20140102465A (ko) | 2013-02-14 | 2014-08-22 | 삼성전자주식회사 | 수술 로봇 및 그 제어방법 |
| JP6296236B2 (ja) * | 2013-05-27 | 2018-03-20 | パナソニックＩｐマネジメント株式会社 | マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置 |
| JP6458036B2 (ja) * | 2013-09-01 | 2019-01-23 | ヒューマン エクステンションズ リミテッド | 医療装置のための制御ユニット |
| JP6064095B2 (ja) * | 2015-01-06 | 2017-01-18 | オリンパス株式会社 | 操作入力装置および医療用マニピュレータシステム |
-
2018
- 2018-02-05 AU AU2018224505A patent/AU2018224505A1/en not_active Abandoned
- 2018-02-05 CN CN201880013024.7A patent/CN110312487A/zh active Pending
- 2018-02-05 WO PCT/IL2018/050127 patent/WO2018154559A1/en not_active Ceased
- 2018-02-05 BR BR112019017414-1A patent/BR112019017414A2/pt not_active Application Discontinuation
- 2018-02-05 EP EP18757115.3A patent/EP3585293A4/en active Pending
- 2018-02-05 US US16/487,870 patent/US20200000539A1/en not_active Abandoned
- 2018-02-05 CA CA3053233A patent/CA3053233A1/en active Pending
- 2018-02-05 KR KR1020197027618A patent/KR20190113988A/ko not_active Withdrawn
- 2018-02-05 MX MX2019009608A patent/MX2019009608A/es unknown
- 2018-02-05 JP JP2019544897A patent/JP2020509798A/ja active Pending
-
2019
- 2019-08-21 IL IL26883019A patent/IL268830A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| BR112019017414A2 (pt) | 2020-03-31 |
| US20200000539A1 (en) | 2020-01-02 |
| CN110312487A (zh) | 2019-10-08 |
| EP3585293A1 (en) | 2020-01-01 |
| IL268830A (en) | 2019-10-31 |
| KR20190113988A (ko) | 2019-10-08 |
| WO2018154559A1 (en) | 2018-08-30 |
| EP3585293A4 (en) | 2020-12-16 |
| JP2020509798A (ja) | 2020-04-02 |
| MX2019009608A (es) | 2019-10-14 |
| AU2018224505A1 (en) | 2019-10-03 |
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