CN107635502B - 医疗设备、医疗设备振动检测方法以及手术系统 - Google Patents

医疗设备、医疗设备振动检测方法以及手术系统 Download PDF

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Publication number
CN107635502B
CN107635502B CN201680028770.4A CN201680028770A CN107635502B CN 107635502 B CN107635502 B CN 107635502B CN 201680028770 A CN201680028770 A CN 201680028770A CN 107635502 B CN107635502 B CN 107635502B
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vibration
medical
medical device
sensor
vibration detection
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CN107635502A (zh
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铃木裕之
长阪宪一郎
木下将也
玉田智树
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Sony Corp
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Sony Corp
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    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive 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
    • A61B34/20—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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/70—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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00075—Motion
    • 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
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00297—Means for providing haptic feedback
    • A61B2018/00303—Means for providing haptic feedback active, e.g. with a motor creating vibrations
    • 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
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00773—Sensed parameters
    • A61B2018/0088—Vibration
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
CN201680028770.4A 2015-05-25 2016-05-13 医疗设备、医疗设备振动检测方法以及手术系统 Active CN107635502B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015105241A JP6582549B2 (ja) 2015-05-25 2015-05-25 振動検出モジュール、振動検出装置、振動検出方法及び手術システム
JP2015-105241 2015-05-25
PCT/JP2016/002368 WO2016189819A1 (en) 2015-05-25 2016-05-13 Medical apparatus, medical apparatus vibration detection method, and surgical system

Publications (2)

Publication Number Publication Date
CN107635502A CN107635502A (zh) 2018-01-26
CN107635502B true CN107635502B (zh) 2021-02-19

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Country Link
US (1) US10420625B2 (enExample)
EP (1) EP3267917A1 (enExample)
JP (1) JP6582549B2 (enExample)
CN (1) CN107635502B (enExample)
WO (1) WO2016189819A1 (enExample)

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JP7223493B2 (ja) 2017-05-19 2023-02-16 川崎重工業株式会社 ロボットシステム
CN111263620A (zh) 2017-10-30 2020-06-09 索尼公司 主从系统及其控制方法
JP2019130602A (ja) * 2018-01-30 2019-08-08 ソニー株式会社 情報処理装置、情報処理方法、及びプログラム
JP2021182949A (ja) * 2018-08-13 2021-12-02 ソニーグループ株式会社 医療用装置、医療用装置部品、及びマスタースレーブシステム
CN109040884A (zh) * 2018-08-31 2018-12-18 上海联影医疗科技有限公司 基于医疗设备的语音系统
US12092185B2 (en) 2019-01-18 2024-09-17 Siemens Medical Solutions Usa, Inc. Single axis harmonic absorber for cantilever structure
US11517326B1 (en) 2019-02-07 2022-12-06 Stryker Corporation Methods and systems of determining drill breakthrough during surgical drilling
KR102238991B1 (ko) * 2019-05-23 2021-04-12 울산대학교 산학협력단 가이드와이어 접촉상태 추정 장치 및 방법
CN110169826B (zh) * 2019-06-17 2023-06-02 辽宁科技大学 一种柔性减振手术机器人导丝递送装置及方法
KR20220131311A (ko) * 2020-01-23 2022-09-27 프로맥소 인크. 생검용 mri 안내형 로봇 시스템 및 방법
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US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
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US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12167900B2 (en) 2021-03-31 2024-12-17 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US12178418B2 (en) 2021-03-31 2024-12-31 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
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WO2023126788A1 (en) * 2021-12-28 2023-07-06 Auris Health, Inc. Instrument tip vibration attenuation for a master-slave laparoscopic robotic surgery system
EP4505966A4 (en) * 2022-04-28 2025-06-11 RIVERFIELD Inc. REMOTE CONTROL SYSTEM
KR102531750B1 (ko) * 2022-11-29 2023-05-11 주식회사 에어스메디컬 진동 특성을 이용한 침습 장치 및 방법
US12370001B2 (en) 2023-01-09 2025-07-29 Moon Surgical Sas Co-manipulation surgical system having automated user override detection
US11839442B1 (en) 2023-01-09 2023-12-12 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
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Publication number Publication date
CN107635502A (zh) 2018-01-26
WO2016189819A1 (en) 2016-12-01
US20180071047A1 (en) 2018-03-15
EP3267917A1 (en) 2018-01-17
JP6582549B2 (ja) 2019-10-02
US10420625B2 (en) 2019-09-24
JP2016214715A (ja) 2016-12-22

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