CL2022001009A1 - Controlador de un instrumento quirúrgico - Google Patents
Controlador de un instrumento quirúrgicoInfo
- Publication number
- CL2022001009A1 CL2022001009A1 CL2022001009A CL2022001009A CL2022001009A1 CL 2022001009 A1 CL2022001009 A1 CL 2022001009A1 CL 2022001009 A CL2022001009 A CL 2022001009A CL 2022001009 A CL2022001009 A CL 2022001009A CL 2022001009 A1 CL2022001009 A1 CL 2022001009A1
- Authority
- CL
- Chile
- Prior art keywords
- end effector
- control system
- angle
- elements
- surgical instrument
- Prior art date
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—Master-slave 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/282—Jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3201—Scissors
-
- 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
- A61B34/71—Manipulators operated by drive cable 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
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- Urology & Nephrology (AREA)
- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Ophthalmology & Optometry (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Un sistema de control para controlar la manipulación de un instrumento quirúrgico en respuesta a la manipulación de un dispositivo de entrada remoto del cirujano. El instrumento quirúrgico comprende un efector final que tiene el primer y segundo elementos opuestos del efector final conectados a un eje mediante un acoplamiento articulado. El sistema de control recibe una instrucción desde el dispositivo de entrada del cirujano para tanto (i) cambiar la orientación del efector final como (ii) abrir el primer y segundo elementos del efector final uno con relación al otro. en respuesta a la instrucción de cambiar la orientación del efector final, el sistema de control determina un ángulo ? entre el eje longitudinal del acoplamiento articulado y el efector final. En respuesta a la instrucción de abrir el primer y segundo elementos del efector final, el sistema de control determina un ángulo de abertura f entre el primer y segundo elementos del efector final. El sistema de control compara ? con un ángulo máximo ?máx entre el eje longitudinal del acoplamiento articulado y el efector final, y si ? > ?máx, acciona el primer y segundo elementos del efector final para que giren de manera que (i) el ángulo entre el eje longitudinal del acoplamiento articulado y el efector final sea ?máx, y (ii) que el ángulo de abertura entre el primer y segundo elementos del efector final sea ?.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1915270.1A GB2588410B (en) | 2019-10-22 | 2019-10-22 | Controlling a surgical instrument |
Publications (1)
Publication Number | Publication Date |
---|---|
CL2022001009A1 true CL2022001009A1 (es) | 2023-01-20 |
Family
ID=68728181
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CL2022001009A CL2022001009A1 (es) | 2019-10-22 | 2022-04-21 | Controlador de un instrumento quirúrgico |
Country Status (9)
Country | Link |
---|---|
US (1) | US11969228B2 (es) |
EP (1) | EP4048184A1 (es) |
JP (1) | JP7450711B2 (es) |
CN (1) | CN114630636A (es) |
AU (1) | AU2020370820B2 (es) |
BR (1) | BR112022007463A2 (es) |
CL (1) | CL2022001009A1 (es) |
GB (1) | GB2588410B (es) |
WO (1) | WO2021079114A1 (es) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2589380B (en) * | 2019-11-29 | 2024-02-21 | Cmr Surgical Ltd | Controlling a surgical instrument |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5954731A (en) * | 1997-07-29 | 1999-09-21 | Yoon; Inbae | Surgical instrument with multiple rotatably mounted spreadable end effectors |
US6587750B2 (en) * | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
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 |
DE102013013504A1 (de) * | 2013-08-16 | 2015-02-19 | How To Organize (H2O) Gmbh | Endoskopisches Instrument |
WO2017083201A1 (en) * | 2015-11-11 | 2017-05-18 | Intuitive Surgical Operations, Inc. | Reconfigurable end effector architecture |
WO2017151996A1 (en) * | 2016-03-04 | 2017-09-08 | Covidien Lp | Inverse kinematic control systems for robotic surgical system |
CN109069138B (zh) * | 2016-08-31 | 2021-07-20 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
GB2560384B (en) * | 2017-03-10 | 2022-07-20 | Cmr Surgical Ltd | Controlling a surgical instrument |
-
2019
- 2019-10-22 GB GB1915270.1A patent/GB2588410B/en active Active
-
2020
- 2020-10-21 AU AU2020370820A patent/AU2020370820B2/en active Active
- 2020-10-21 WO PCT/GB2020/052649 patent/WO2021079114A1/en unknown
- 2020-10-21 CN CN202080073857.XA patent/CN114630636A/zh active Pending
- 2020-10-21 EP EP20800250.1A patent/EP4048184A1/en active Pending
- 2020-10-21 JP JP2022523698A patent/JP7450711B2/ja active Active
- 2020-10-21 BR BR112022007463A patent/BR112022007463A2/pt unknown
- 2020-10-21 US US17/075,773 patent/US11969228B2/en active Active
-
2022
- 2022-04-21 CL CL2022001009A patent/CL2022001009A1/es unknown
Also Published As
Publication number | Publication date |
---|---|
GB2588410B (en) | 2024-05-29 |
EP4048184A1 (en) | 2022-08-31 |
WO2021079114A1 (en) | 2021-04-29 |
JP7450711B2 (ja) | 2024-03-15 |
BR112022007463A2 (pt) | 2022-07-12 |
AU2020370820B2 (en) | 2023-11-23 |
GB201915270D0 (en) | 2019-12-04 |
CN114630636A (zh) | 2022-06-14 |
AU2020370820A1 (en) | 2022-05-26 |
US20210113287A1 (en) | 2021-04-22 |
JP2022553974A (ja) | 2022-12-27 |
GB2588410A (en) | 2021-04-28 |
US11969228B2 (en) | 2024-04-30 |
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