CN108348299B - 远程运动中心机器人的光学配准 - Google Patents

远程运动中心机器人的光学配准 Download PDF

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Publication number
CN108348299B
CN108348299B CN201680066685.7A CN201680066685A CN108348299B CN 108348299 B CN108348299 B CN 108348299B CN 201680066685 A CN201680066685 A CN 201680066685A CN 108348299 B CN108348299 B CN 108348299B
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robot
patient
rcm
effector
registration
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CN201680066685.7A
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Chinese (zh)
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CN108348299A (zh
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D·P·努南
A·波波维奇
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Koninklijke Philips NV
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Koninklijke Philips NV
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    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
CN201680066685.7A 2015-09-28 2016-09-26 远程运动中心机器人的光学配准 Expired - Fee Related CN108348299B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562233664P 2015-09-28 2015-09-28
US62/233,664 2015-09-28
PCT/IB2016/055743 WO2017055990A1 (en) 2015-09-28 2016-09-26 Optical registration of a remote center of motion robot

Publications (2)

Publication Number Publication Date
CN108348299A CN108348299A (zh) 2018-07-31
CN108348299B true CN108348299B (zh) 2021-11-02

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Country Link
US (1) US20200246085A1 (enExample)
EP (1) EP3355822A1 (enExample)
JP (1) JP6865739B2 (enExample)
CN (1) CN108348299B (enExample)
WO (1) WO2017055990A1 (enExample)

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US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
EP3102139B1 (en) 2014-02-03 2018-06-13 DistalMotion SA Mechanical teleoperated device comprising an interchangeable distal instrument
US11564757B2 (en) * 2017-02-27 2023-01-31 The Regents Of The University Of California Laser-assisted surgical alignment
EP3749243A1 (en) 2018-02-07 2020-12-16 Distalmotion SA Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) * 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11789099B2 (en) * 2018-08-20 2023-10-17 Children's Hospital Medical Center System and method for guiding an invasive device
KR20220113730A (ko) 2019-12-02 2022-08-16 씽크 써지컬, 인크. 의료 절차를 수행하기 위해 축에 도구를 정렬하기 위한 시스템 및 방법
CN116096322A (zh) * 2020-09-04 2023-05-09 上海联影医疗科技股份有限公司 用于辅助将手术器械放置到对象中的系统和方法
CN113180828B (zh) * 2021-03-25 2023-05-12 北京航空航天大学 基于旋量理论的手术机器人约束运动控制方法
CN115590618B (zh) * 2021-06-28 2025-11-11 敏捷医疗科技(苏州)有限公司 交互系统、手术机器人导航定位系统及其控制方法
WO2023026191A1 (en) * 2021-08-23 2023-03-02 Momentis Surgical Ltd. Positioning systems for robotic-surgery devices
DE102021133060A1 (de) * 2021-12-14 2023-06-15 B. Braun New Ventures GmbH Chirurgisches Robotersystem und Steuerverfahren
CN116269668B (zh) * 2023-01-31 2025-10-14 杭州华匠医学机器人有限公司 定位器、内窥镜系统及远心定位方法
WO2024210161A1 (ja) * 2023-04-06 2024-10-10 国立研究開発法人量子科学技術研究開発機構 マニピュレータの位置決め装置及びマニピュレータの位置決め方法
EP4477181A1 (de) * 2023-06-15 2024-12-18 Siemens Healthineers AG Biopsieeinrichtung, unterstützungsverfahren und biopsiegerät
CN119423982B (zh) * 2023-07-31 2025-11-25 武汉联影智融医疗科技有限公司 光磁一体标记物、定位方法、系统和计算机设备

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CN103209656A (zh) * 2010-09-10 2013-07-17 约翰霍普金斯大学 配准过的表面下解剖部的可视化
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CN104411248A (zh) * 2012-06-28 2015-03-11 皇家飞利浦有限公司 在内窥镜外科手术中用于最佳图像采集的c型臂轨迹规划

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CN103209656A (zh) * 2010-09-10 2013-07-17 约翰霍普金斯大学 配准过的表面下解剖部的可视化
CN103299355A (zh) * 2010-11-04 2013-09-11 约翰霍普金斯大学 用于微创手术技能的评估或改进的系统和方法
CN104411248A (zh) * 2012-06-28 2015-03-11 皇家飞利浦有限公司 在内窥镜外科手术中用于最佳图像采集的c型臂轨迹规划

Also Published As

Publication number Publication date
CN108348299A (zh) 2018-07-31
JP2018530383A (ja) 2018-10-18
WO2017055990A1 (en) 2017-04-06
JP6865739B2 (ja) 2021-04-28
US20200246085A1 (en) 2020-08-06
EP3355822A1 (en) 2018-08-08

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