CL2022001086A1 - Control de un instrumento quirúrgico - Google Patents

Control de un instrumento quirúrgico

Info

Publication number
CL2022001086A1
CL2022001086A1 CL2022001086A CL2022001086A CL2022001086A1 CL 2022001086 A1 CL2022001086 A1 CL 2022001086A1 CL 2022001086 A CL2022001086 A CL 2022001086A CL 2022001086 A CL2022001086 A CL 2022001086A CL 2022001086 A1 CL2022001086 A1 CL 2022001086A1
Authority
CL
Chile
Prior art keywords
elements
end effector
configuration
grip
surgeon
Prior art date
Application number
CL2022001086A
Other languages
English (en)
Inventor
Luke David Ronald Hares
Graham John Veitch
David Smith
Original Assignee
Cmr 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 Cmr Surgical Ltd filed Critical Cmr Surgical Ltd
Publication of CL2022001086A1 publication Critical patent/CL2022001086A1/es

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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • 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
    • A61B34/30—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
    • A61B34/70—Manipulators specially adapted for use in 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
    • A61B34/70—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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Electrotherapy Devices (AREA)
  • Laser Surgery Devices (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 que comprende el primer y segundo elementos del efector final oponibles conectados a un eje mediante un acoplamiento articulado, el acoplamiento articulado que comprende una primera articulación accionable por un primer par de elementos de accionamiento para permitir que el primer elemento del efector final gire, y una segunda articulación accionable por un segundo par de elementos de accionamiento para permitir que el segundo elemento del efector final gire, el sistema de control configurado para: detectar un cambio de configuración del dispositivo de entrada del cirujano a una configuración de agarre en el tiempo t; responder al cambio de configuración del dispositivo de entrada del cirujano a la configuración de agarre ordenando que se apliquen fuerzas de agarre al primer y segundo par de elementos de accionamiento, para hacer que el primer y segundo elementos del efector final giren en direcciones de rotación opuestas una hacia la otra con una fuerza de cierre de agarre a una configuración cerrada; y si el primer y segundo elementos del efector final todavía están en la configuración cerrada en el tiempo t+T, ordenar una reducción en la fuerza aplicada al primer y segundo par de elementos de accionamiento, provocando de esta manera que el primer y segundo elementos del efector final se mantengan posteriormente en una configuración más cerrada con una fuerza de cierre reducida.
CL2022001086A 2019-10-28 2022-04-28 Control de un instrumento quirúrgico CL2022001086A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1915581.1A GB2590593B (en) 2019-10-28 2019-10-28 Controlling a surgical instrument

Publications (1)

Publication Number Publication Date
CL2022001086A1 true CL2022001086A1 (es) 2023-02-03

Family

ID=68768987

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2022001086A CL2022001086A1 (es) 2019-10-28 2022-04-28 Control de un instrumento quirúrgico

Country Status (9)

Country Link
US (1) US11832906B2 (es)
EP (1) EP4051159A1 (es)
JP (2) JP2022554243A (es)
CN (1) CN114599305A (es)
AU (1) AU2020376338B2 (es)
BR (1) BR112022007786A2 (es)
CL (1) CL2022001086A1 (es)
GB (1) GB2590593B (es)
WO (1) WO2021084232A1 (es)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021108271A1 (en) * 2019-11-26 2021-06-03 Teradyne, Inc. Multi-angle end effector

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6594552B1 (en) * 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
US8935003B2 (en) 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
JP6000641B2 (ja) 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
CN107693121B (zh) 2011-10-21 2021-12-31 直观外科手术操作公司 用于机器人外科手术器械末端执行器的夹持力控制
WO2016187006A1 (en) 2015-05-15 2016-11-24 Intuitive Surgical Operations, Inc. System and method for minimally invasive cutting instrument operation
US10813703B2 (en) * 2016-08-16 2020-10-27 Ethicon Llc Robotic surgical system with energy application controls
WO2018142559A1 (ja) * 2017-02-03 2018-08-09 オリンパス株式会社 医療用マニピュレータ
GB2560384B (en) 2017-03-10 2022-07-20 Cmr Surgical Ltd Controlling a surgical instrument
CN111757712B (zh) * 2018-02-21 2024-06-18 直观外科手术操作公司 用于在能量递送期间自动夹持调节的系统和方法

Also Published As

Publication number Publication date
AU2020376338A1 (en) 2022-06-02
US20210121254A1 (en) 2021-04-29
GB201915581D0 (en) 2019-12-11
BR112022007786A2 (pt) 2022-07-05
US11832906B2 (en) 2023-12-05
CN114599305A (zh) 2022-06-07
EP4051159A1 (en) 2022-09-07
WO2021084232A1 (en) 2021-05-06
GB2590593A (en) 2021-07-07
GB2590593B (en) 2023-09-13
AU2020376338B2 (en) 2023-11-02
JP2024054315A (ja) 2024-04-16
JP2022554243A (ja) 2022-12-28

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