CA3238904A1 - Force feedback for robotic microsurgical procedures - Google Patents

Force feedback for robotic microsurgical procedures Download PDF

Info

Publication number
CA3238904A1
CA3238904A1 CA3238904A CA3238904A CA3238904A1 CA 3238904 A1 CA3238904 A1 CA 3238904A1 CA 3238904 A CA3238904 A CA 3238904A CA 3238904 A CA3238904 A CA 3238904A CA 3238904 A1 CA3238904 A1 CA 3238904A1
Authority
CA
Canada
Prior art keywords
tool
control
component
incision
ophthalmic
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
Application number
CA3238904A
Other languages
English (en)
French (fr)
Inventor
Yoav GOLAN
Ori BEN ZEEV
Tal KORMAN
Daniel Glozman
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.)
Forsight Robotics Ltd
Original Assignee
Forsight Robotics 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 Forsight Robotics Ltd filed Critical Forsight Robotics Ltd
Publication of CA3238904A1 publication Critical patent/CA3238904A1/en
Pending legal-status Critical Current

Links

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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower 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
    • A61B34/20—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
    • A61B34/70—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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
    • A61F9/00754—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments for cutting or perforating the anterior lens capsule, e.g. capsulotomes
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/742—Joysticks

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CA3238904A 2021-12-02 2022-12-01 Force feedback for robotic microsurgical procedures Pending CA3238904A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202163285218P 2021-12-02 2021-12-02
US63/285,218 2021-12-02
US202263406881P 2022-09-15 2022-09-15
US63/406,881 2022-09-15
PCT/IB2022/061636 WO2023100126A1 (en) 2021-12-02 2022-12-01 Force feedback for robotic microsurgical procedures

Publications (1)

Publication Number Publication Date
CA3238904A1 true CA3238904A1 (en) 2023-06-08

Family

ID=84767181

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3238904A Pending CA3238904A1 (en) 2021-12-02 2022-12-01 Force feedback for robotic microsurgical procedures

Country Status (5)

Country Link
US (2) US20230240779A1 (https=)
EP (1) EP4440483A1 (https=)
JP (1) JP2024543877A (https=)
CA (1) CA3238904A1 (https=)
WO (1) WO2023100126A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
WO2025196696A1 (en) 2024-03-21 2025-09-25 Forsight Robotics Ltd. Controlling a surgical tool for performing microsurgical procedures in a robotic manner
WO2025229483A1 (en) 2024-04-28 2025-11-06 Forsight Robotics Ltd. Augmented images for facilitating ophthalmic surgery

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6233504B1 (en) * 1998-04-16 2001-05-15 California Institute Of Technology Tool actuation and force feedback on robot-assisted microsurgery system
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
KR20140090374A (ko) * 2013-01-08 2014-07-17 삼성전자주식회사 싱글 포트 수술 로봇 및 그 제어 방법
EP3689284B1 (en) * 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US10888389B2 (en) * 2015-09-10 2021-01-12 Duke University Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance
CN108882968B (zh) * 2016-06-09 2022-05-13 直观外科手术操作公司 计算机辅助远程操作手术系统和方法
US11564757B2 (en) * 2017-02-27 2023-01-31 The Regents Of The University Of California Laser-assisted surgical alignment
US10952801B2 (en) * 2017-11-10 2021-03-23 Intuitive Surgical Operations, Inc. Systems and methods for controlling a robotic manipulator or associated tool
US11259960B2 (en) * 2018-02-22 2022-03-01 Alcon Inc. Surgical instrument using detected light
US11504200B2 (en) * 2019-01-24 2022-11-22 Verb Surgical Inc. Wearable user interface device
US11179214B2 (en) * 2019-07-16 2021-11-23 Asensus Surgical Us, Inc. Haptic user interface for robotically controlled surgical instruments
EP4360581A3 (en) 2020-07-28 2024-07-31 Forsight Robotics Ltd. Robotic system for microsurgical procedures

Also Published As

Publication number Publication date
JP2024543877A (ja) 2024-11-26
US20230240779A1 (en) 2023-08-03
EP4440483A1 (en) 2024-10-09
WO2023100126A1 (en) 2023-06-08
US20230240890A1 (en) 2023-08-03

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