CN105934216B - 机器人引导系统、控制单元和装置 - Google Patents

机器人引导系统、控制单元和装置 Download PDF

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Publication number
CN105934216B
CN105934216B CN201580005449.XA CN201580005449A CN105934216B CN 105934216 B CN105934216 B CN 105934216B CN 201580005449 A CN201580005449 A CN 201580005449A CN 105934216 B CN105934216 B CN 105934216B
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China
Prior art keywords
endoscope
robot
image
anatomical region
integration module
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CN201580005449.XA
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English (en)
Chinese (zh)
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CN105934216A (zh
Inventor
A·波波维奇
A·L·赖因施泰因
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.)
Koninklijke Philips NV
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Koninklijke Philips Electronics NV
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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
    • 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
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (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)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
CN201580005449.XA 2014-01-24 2015-01-14 机器人引导系统、控制单元和装置 Active CN105934216B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461931168P 2014-01-24 2014-01-24
US61/931,168 2014-01-24
PCT/IB2015/050271 WO2015110934A1 (en) 2014-01-24 2015-01-14 Continuous image integration for robotic surgery

Publications (2)

Publication Number Publication Date
CN105934216A CN105934216A (zh) 2016-09-07
CN105934216B true CN105934216B (zh) 2019-09-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580005449.XA Active CN105934216B (zh) 2014-01-24 2015-01-14 机器人引导系统、控制单元和装置

Country Status (5)

Country Link
US (1) US11083529B2 (enExample)
EP (1) EP3096703B1 (enExample)
JP (1) JP6334714B2 (enExample)
CN (1) CN105934216B (enExample)
WO (1) WO2015110934A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170084036A1 (en) * 2015-09-21 2017-03-23 Siemens Aktiengesellschaft Registration of video camera with medical imaging
US11259876B2 (en) * 2015-09-28 2022-03-01 Koninklijke Philips N.V. Single-port surgical procedure using image guided articulated robot
WO2018046094A1 (de) * 2016-09-09 2018-03-15 Siemens Aktiengesellschaft Verfahren zum betreiben eines endoskops, endoskop sowie vitalparametermonitor
IT201800000673U1 (it) * 2018-01-11 2019-07-11 Apparato robotizzato per operazioni chirurgiche
JP6990292B2 (ja) 2018-02-21 2022-01-12 オリンパス株式会社 医療システムおよび医療システムの作動方法
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
US11508089B2 (en) * 2021-03-05 2022-11-22 Black Sesame Technologies Inc. LiDAR assisted wheel encoder to camera calibration
US20230053189A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
US12433691B1 (en) * 2024-04-05 2025-10-07 Mariner Endosurgery Minimally invasive surgical apparatus, system, and related methods

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102197990A (zh) * 2008-04-26 2011-09-28 直观外科手术操作公司 用于手术机器人的放大立体可视化
CN102711650A (zh) * 2010-01-13 2012-10-03 皇家飞利浦电子股份有限公司 用于内窥镜手术的基于图像整合的配准和导航
CN102791214A (zh) * 2010-01-08 2012-11-21 皇家飞利浦电子股份有限公司 采用实时速度优化的不经校准的视觉伺服
WO2013061225A1 (en) * 2011-10-26 2013-05-02 Koninklijke Philips Electronics N.V. Endoscopic registration of vessel tree images
CN103108602A (zh) * 2010-09-15 2013-05-15 皇家飞利浦电子股份有限公司 从血管树图像对内窥镜的机器人控制

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3236070B2 (ja) * 1992-06-04 2001-12-04 オリンパス光学工業株式会社 スコープ保持装置およびスコープ装置
JP2006198032A (ja) * 2005-01-18 2006-08-03 Olympus Corp 手術支援システム
US8900131B2 (en) * 2011-05-13 2014-12-02 Intuitive Surgical Operations, Inc. Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery
BR112014013073A2 (pt) 2011-12-03 2017-06-13 Koninklijke Philips Nv sistema e método para orientação robótica cirúrgica
US20140347353A1 (en) 2011-12-21 2014-11-27 Koninklijke Philips N.V. Overlay and motion compensation of structures from volumetric modalities onto video of an uncalibrated endoscope

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102197990A (zh) * 2008-04-26 2011-09-28 直观外科手术操作公司 用于手术机器人的放大立体可视化
CN102791214A (zh) * 2010-01-08 2012-11-21 皇家飞利浦电子股份有限公司 采用实时速度优化的不经校准的视觉伺服
CN102711650A (zh) * 2010-01-13 2012-10-03 皇家飞利浦电子股份有限公司 用于内窥镜手术的基于图像整合的配准和导航
CN103108602A (zh) * 2010-09-15 2013-05-15 皇家飞利浦电子股份有限公司 从血管树图像对内窥镜的机器人控制
WO2013061225A1 (en) * 2011-10-26 2013-05-02 Koninklijke Philips Electronics N.V. Endoscopic registration of vessel tree images

Also Published As

Publication number Publication date
CN105934216A (zh) 2016-09-07
JP6334714B2 (ja) 2018-05-30
US11083529B2 (en) 2021-08-10
EP3096703B1 (en) 2018-03-14
JP2017508499A (ja) 2017-03-30
US20160331475A1 (en) 2016-11-17
EP3096703A1 (en) 2016-11-30
WO2015110934A1 (en) 2015-07-30

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