CN105073042B - 使用定制套管针对机器人远程运动中心点的定位 - Google Patents

使用定制套管针对机器人远程运动中心点的定位 Download PDF

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Publication number
CN105073042B
CN105073042B CN201480018818.4A CN201480018818A CN105073042B CN 105073042 B CN105073042 B CN 105073042B CN 201480018818 A CN201480018818 A CN 201480018818A CN 105073042 B CN105073042 B CN 105073042B
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CN
China
Prior art keywords
marker
robot
motion
instrument
coordinate system
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Expired - Fee Related
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CN201480018818.4A
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English (en)
Chinese (zh)
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CN105073042A (zh
Inventor
H·埃尔哈瓦林
A·波波维奇
A·K·贾殷
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Koninklijke Philips NV
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Koninklijke Philips Electronics NV
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • 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
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
CN201480018818.4A 2013-03-28 2014-03-21 使用定制套管针对机器人远程运动中心点的定位 Expired - Fee Related CN105073042B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361805947P 2013-03-28 2013-03-28
US61/805,947 2013-03-28
PCT/IB2014/060020 WO2014155257A1 (en) 2013-03-28 2014-03-21 Localization of robotic remote center of motion point using custom trocar

Publications (2)

Publication Number Publication Date
CN105073042A CN105073042A (zh) 2015-11-18
CN105073042B true CN105073042B (zh) 2019-03-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480018818.4A Expired - Fee Related CN105073042B (zh) 2013-03-28 2014-03-21 使用定制套管针对机器人远程运动中心点的定位

Country Status (5)

Country Link
US (1) US9782198B2 (https=)
EP (1) EP3003180B1 (https=)
JP (1) JP6290372B2 (https=)
CN (1) CN105073042B (https=)
WO (1) WO2014155257A1 (https=)

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Also Published As

Publication number Publication date
EP3003180A1 (en) 2016-04-13
US9782198B2 (en) 2017-10-10
US20160045269A1 (en) 2016-02-18
EP3003180B1 (en) 2019-02-27
WO2014155257A1 (en) 2014-10-02
CN105073042A (zh) 2015-11-18
JP2016520345A (ja) 2016-07-14
JP6290372B2 (ja) 2018-03-07

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