CN108472095B - 用于机器人外科手术的使用虚拟现实设备的系统、控制器和方法 - Google Patents

用于机器人外科手术的使用虚拟现实设备的系统、控制器和方法 Download PDF

Info

Publication number
CN108472095B
CN108472095B CN201680076991.9A CN201680076991A CN108472095B CN 108472095 B CN108472095 B CN 108472095B CN 201680076991 A CN201680076991 A CN 201680076991A CN 108472095 B CN108472095 B CN 108472095B
Authority
CN
China
Prior art keywords
robot
head
tracking data
processor
tracking
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN201680076991.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN108472095A (zh
Inventor
A·波波维奇
D·P·努南
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
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of CN108472095A publication Critical patent/CN108472095A/zh
Application granted granted Critical
Publication of CN108472095B publication Critical patent/CN108472095B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • 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
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Processing Or Creating Images (AREA)
  • Manipulator (AREA)
CN201680076991.9A 2015-12-29 2016-12-27 用于机器人外科手术的使用虚拟现实设备的系统、控制器和方法 Active CN108472095B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562272512P 2015-12-29 2015-12-29
US62/272,512 2015-12-29
PCT/EP2016/082716 WO2017114834A1 (en) 2015-12-29 2016-12-27 System, controller and method using virtual reality device for robotic surgery

Publications (2)

Publication Number Publication Date
CN108472095A CN108472095A (zh) 2018-08-31
CN108472095B true CN108472095B (zh) 2021-11-02

Family

ID=57714596

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680076991.9A Active CN108472095B (zh) 2015-12-29 2016-12-27 用于机器人外科手术的使用虚拟现实设备的系统、控制器和方法

Country Status (5)

Country Link
US (2) US10646289B2 (cg-RX-API-DMAC7.html)
EP (1) EP3397185A1 (cg-RX-API-DMAC7.html)
JP (1) JP6714085B2 (cg-RX-API-DMAC7.html)
CN (1) CN108472095B (cg-RX-API-DMAC7.html)
WO (1) WO2017114834A1 (cg-RX-API-DMAC7.html)

Families Citing this family (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10179407B2 (en) * 2014-11-16 2019-01-15 Robologics Ltd. Dynamic multi-sensor and multi-robot interface system
JP6824967B2 (ja) 2015-09-18 2021-02-03 オーリス ヘルス インコーポレイテッド 管状網のナビゲーション
JP6714085B2 (ja) * 2015-12-29 2020-06-24 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法
EP3531953A1 (en) * 2016-10-25 2019-09-04 Novartis AG Medical spatial orientation system
JP6850183B2 (ja) * 2017-04-11 2021-03-31 川崎重工業株式会社 ロボットシステム及びその運転方法
US11589937B2 (en) * 2017-04-20 2023-02-28 Intuitive Surgical Operations, Inc. Systems and methods for constraining a virtual reality surgical system
US11779192B2 (en) * 2017-05-03 2023-10-10 Covidien Lp Medical image viewer control from surgeon's camera
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
CN107566510B (zh) * 2017-09-20 2020-12-01 歌尔光学科技有限公司 远程医疗诊断服务系统
US11351005B2 (en) 2017-10-23 2022-06-07 Intuitive Surgical Operations, Inc. Systems and methods for presenting augmented reality in a display of a teleoperational system
WO2019139935A1 (en) * 2018-01-10 2019-07-18 Covidien Lp Guidance for positioning a patient and surgical robot
US20190254753A1 (en) * 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
TWI741196B (zh) * 2018-06-26 2021-10-01 華宇藥品股份有限公司 整合擴增實境之手術導航方法及系統
TWI733151B (zh) * 2018-08-01 2021-07-11 鈦隼生物科技股份有限公司 病患位置之術中追蹤方法、系統與可讀取儲存媒體
US11612438B2 (en) * 2018-09-05 2023-03-28 Point Robotics Medtech Inc. Navigation system and method for medical operation by a robotic system using a tool
GB2577719B (en) 2018-10-03 2023-04-26 Cmr Surgical Ltd Navigational aid
GB2577718B (en) 2018-10-03 2022-08-24 Cmr Surgical Ltd Feature identification
US11989930B2 (en) 2018-10-25 2024-05-21 Beyeonics Surgical Ltd. UI for head mounted display system
DE102018128848A1 (de) * 2018-11-16 2020-05-20 Olympus Winter & Ibe Gmbh Verfahren und Vorrichtung zur Ausführung verschiedener Funktionen im Zusammenhang mit chirurgischen Geräten
CN109410680A (zh) * 2018-11-19 2019-03-01 叶哲伟 一种基于混合现实的虚拟手术训练方法及系统
CN113395945A (zh) * 2018-12-11 2021-09-14 项目莫里股份有限公司 用于机器人导管和其他用途的用户界面和模拟系统的混合维增强现实和/或配准
US12471994B2 (en) 2019-01-31 2025-11-18 Intuitive Surgical Operations, Inc. Systems and methods for facilitating insertion of a surgical instrument into a surgical space
KR102297517B1 (ko) * 2019-03-06 2021-09-02 서울대학교 산학협력단 최소 침습 수술을 위한 수술로봇 시스템 및 상기 수술로봇 시스템의 구동방법
EP4031050A4 (en) * 2019-11-05 2024-01-10 Vicarious Surgical Inc. SURGICAL VIRTUAL REALITY USER INTERFACE
US11871904B2 (en) * 2019-11-08 2024-01-16 Covidien Ag Steerable endoscope system with augmented view
US12400750B1 (en) 2019-11-15 2025-08-26 Verily Life Sciences Llc Automatic content tagging in videos of minimally invasive surgeries
WO2021126447A1 (en) * 2019-12-19 2021-06-24 Covidien Lp Systems and methods for mitigating collision of a robotic system
US20230017738A1 (en) * 2019-12-19 2023-01-19 Sony Group Corporation Method, apparatus and system for controlling an image capture device during surgery
US11409091B2 (en) 2019-12-31 2022-08-09 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11048072B1 (en) * 2019-12-31 2021-06-29 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11864841B2 (en) 2019-12-31 2024-01-09 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11607287B2 (en) * 2019-12-31 2023-03-21 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
WO2021140513A1 (en) * 2020-01-06 2021-07-15 Beyeonics Surgical Ltd. User interface for controlling a surgical system
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
GB2593473B (en) * 2020-03-23 2024-09-04 Cmr Surgical Ltd Virtual console for controlling a surgical robot
US11690674B2 (en) * 2020-04-03 2023-07-04 Verb Surgical Inc. Mobile virtual reality system for surgical robotic systems
FR3109078B1 (fr) 2020-04-10 2022-05-06 Virtualisurg Dispositif de simulation chirurgicale
FR3109237B1 (fr) 2020-04-10 2022-08-05 Virtualisurg Système de connexion d’un dispositif d’entraînement chirurgical à un dispositif virtuel
US11607277B2 (en) 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
CN113689949A (zh) * 2020-05-18 2021-11-23 日本电气株式会社 信息处理方法、电子设备和计算机存储介质
CN115699195A (zh) * 2020-05-29 2023-02-03 美敦力公司 智能辅助(ia)生态系统
CN112914730B (zh) * 2021-01-19 2022-12-16 上海市第十人民医院 一种基于vr技术的远程介入治疗系统
US12251167B2 (en) * 2021-05-24 2025-03-18 Biosense Webster (Israel) Ltd. Gesture based selection of portion of catheter
JP7701774B2 (ja) * 2021-08-04 2025-07-02 浩太郎 久保 教育ｖｒ用コンテンツ提供プログラム及び医療教育ｖｒ用コンテンツ提供システム
US20230053189A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
CN113766267B (zh) * 2021-09-15 2023-10-24 深圳市道通智能航空技术股份有限公司 基于无人机的多路视频直播方法、系统、设备及存储介质
CN114305695B (zh) * 2021-12-06 2023-12-26 上海微创医疗机器人（集团）股份有限公司 移动指引方法及系统、可读存储介质、及手术机器人系统
CN114972415B (zh) * 2021-12-28 2023-03-28 广东东软学院 机器人视觉跟踪方法、系统、电子设备及介质
US12149624B2 (en) 2022-09-02 2024-11-19 Bank Of America Corporation System and method for pre-authenticating user devices within a metaverse
CN115607294B (zh) * 2022-11-02 2025-09-26 苏州微创畅行机器人有限公司 手术机器人系统和数据处理方法
CN118542635B (zh) * 2024-07-24 2024-10-22 显微智能科技(湖南)有限公司 一种基于眼球运动识别的内窥镜控制系统
CN119257733A (zh) * 2024-09-20 2025-01-07 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术机器人规划导航方法、装置、设备和存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101034308A (zh) * 2007-04-10 2007-09-12 南京航空航天大学 基于人体表面肌电信息的头盔显示器虚拟视觉时延补偿系统及方法
CN103793049A (zh) * 2012-10-26 2014-05-14 波音公司 虚拟现实显示系统
CN104035760A (zh) * 2014-03-04 2014-09-10 苏州天魂网络科技有限公司 跨移动平台实现沉浸式虚拟现实的系统
WO2015143067A1 (en) * 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods using eye gaze tracking

Family Cites Families (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5641288A (en) * 1996-01-11 1997-06-24 Zaenglein, Jr.; William G. Shooting simulating process and training device using a virtual reality display screen
US6139490A (en) * 1996-02-22 2000-10-31 Precision Optics Corporation Stereoscopic endoscope with virtual reality viewing
US6847336B1 (en) * 1996-10-02 2005-01-25 Jerome H. Lemelson Selectively controllable heads-up display system
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
EP1531749A2 (en) * 2002-08-13 2005-05-25 Microbotics Corporation Microsurgical robot system
EP1779178A4 (en) * 2004-08-03 2009-01-28 Silverbrook Res Pty Ltd VISIOCASQUE WITH MODULATOR OF WAVE FRONTS
WO2008004222A2 (en) * 2006-07-03 2008-01-10 Yissum Research Development Company Of The Hebrew University Of Jerusalem Computer image-aided method and system for guiding instruments through hollow cavities
GB0712690D0 (en) * 2007-06-29 2007-08-08 Imp Innovations Ltd Imagee processing
GB2464092A (en) 2008-09-25 2010-04-07 Prosurgics Ltd Surgical mechanism control system
CN102791214B (zh) * 2010-01-08 2016-01-20 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
EP2523621B1 (en) 2010-01-13 2016-09-28 Koninklijke Philips N.V. Image integration based registration and navigation for endoscopic surgery
IT1401669B1 (it) * 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
JP5704833B2 (ja) * 2010-05-10 2015-04-22 オリンパス株式会社 操作入力装置およびマニピュレータシステム
WO2013027201A2 (en) 2011-08-21 2013-02-28 M.S.T. Medical Surgery Technologies.Ltd. Device and method for asissting laparoscopic surgery- rule based approach
US20190029765A1 (en) * 2012-06-21 2019-01-31 Globus Medical, Inc. Surgical robotic systems providing transfer of registration and related methods and computer program products
JP2016032485A (ja) * 2012-12-27 2016-03-10 国立大学法人 東京医科歯科大学 内視鏡下手術支援システム及び画像制御方法
KR101811817B1 (ko) * 2013-02-14 2018-01-25 세이코 엡슨 가부시키가이샤 두부 장착형 표시 장치 및 두부 장착형 표시 장치의 제어 방법
KR20140112207A (ko) * 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
KR20140121581A (ko) 2013-04-08 2014-10-16 삼성전자주식회사 수술 로봇 시스템
US20170115736A1 (en) * 2013-04-10 2017-04-27 Google Inc. Photo-Based Unlock Patterns
US10274287B2 (en) * 2013-05-09 2019-04-30 Shooting Simulator, Llc System and method for marksmanship training
US10584940B2 (en) * 2013-05-09 2020-03-10 Shooting Simulator, Llc System and method for marksmanship training
US9592095B2 (en) * 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
EP3022672A2 (en) * 2013-07-16 2016-05-25 Seiko Epson Corporation Information processing apparatus, information processing method, and information processing system
JP6252004B2 (ja) * 2013-07-16 2017-12-27 セイコーエプソン株式会社 情報処理装置、情報処理方法、および、情報処理システム
JP2015192697A (ja) * 2014-03-31 2015-11-05 ソニー株式会社 制御装置および制御方法、並びに撮影制御システム
WO2015171614A1 (en) * 2014-05-05 2015-11-12 Vicarious Surgical Inc. Virtual reality surgical device
AU2015302050B2 (en) * 2014-08-10 2020-01-30 Autonomix Medical, Inc. Ans assessment systems, kits, and methods
US10034508B2 (en) * 2014-08-12 2018-07-31 Microsoft Technology Licensing, Llc Weight-distributing headband for head-worn assembly
US10702353B2 (en) * 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
WO2016092698A1 (ja) * 2014-12-12 2016-06-16 キヤノン株式会社 画像処理装置、画像処理方法およびプログラム
US10154239B2 (en) * 2014-12-30 2018-12-11 Onpoint Medical, Inc. Image-guided surgery with surface reconstruction and augmented reality visualization
US9538962B1 (en) * 2014-12-31 2017-01-10 Verily Life Sciences Llc Heads-up displays for augmented reality network in a medical environment
US10013808B2 (en) * 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
JP6709796B2 (ja) * 2015-02-20 2020-06-17 コヴィディエン リミテッド パートナーシップ 手術室及び手術部位認識
JP5944600B1 (ja) * 2015-08-28 2016-07-05 株式会社タカラトミー 頭部装着型ディスプレイを備えた情報処理装置
WO2017091704A1 (en) * 2015-11-25 2017-06-01 Camplex, Inc. Surgical visualization systems and displays
EP3174267B1 (en) 2015-11-30 2018-11-07 Sap Se Interaction pattern for a mobile telecommunication device
US10786319B2 (en) * 2015-12-29 2020-09-29 Koninklijke Philips N.V. System, control unit and method for control of a surgical robot
JP6714085B2 (ja) * 2015-12-29 2020-06-24 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法
EP3426179B1 (en) * 2016-03-12 2023-03-22 Philipp K. Lang Devices for surgery
JP7041068B6 (ja) * 2016-03-17 2022-05-30 コーニンクレッカ フィリップス エヌ ヴェ 剛性近位部及びフレキシブル遠位部を有するハイブリッドロボットを制御するための制御ユニット、システム、及び方法
US10990169B2 (en) * 2016-06-28 2021-04-27 Rec Room Inc. Systems and methods for assisting virtual gestures based on viewing frustum
CN109791295A (zh) * 2016-07-25 2019-05-21 奇跃公司 使用增强和虚拟现实眼镜的成像修改、显示和可视化
US9844321B1 (en) * 2016-08-04 2017-12-19 Novartis Ag Enhanced ophthalmic surgical experience using a virtual reality head-mounted display
US10499997B2 (en) * 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
EP3529686A4 (en) * 2017-01-13 2019-09-25 Samsung Electronics Co., Ltd. METHOD AND DEVICE FOR PROVIDING A GUIDANCE IN A VIRTUAL ENVIRONMENT
US10416769B2 (en) * 2017-02-14 2019-09-17 Microsoft Technology Licensing, Llc Physical haptic feedback system with spatial warping
KR20230106716A (ko) * 2017-04-07 2023-07-13 아우리스 헬스, 인코포레이티드 환자 삽입기(Introducer) 정렬
US20180356880A1 (en) * 2017-04-14 2018-12-13 Colopl, Inc. Information processing method and apparatus, and program for executing the information processing method on computer
US10861236B2 (en) * 2017-09-08 2020-12-08 Surgical Theater, Inc. Dual mode augmented reality surgical system and method
CN111801704B (zh) * 2018-01-03 2025-02-11 皇家飞利浦有限公司 用于使用血管特征检测异常组织的系统和方法
US20190254753A1 (en) * 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
EP4454591A3 (en) * 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
WO2019245861A2 (en) * 2018-06-19 2019-12-26 Tornier, Inc. Mixed reality-aided depth tracking in orthopedic surgical procedures
EP3820373A4 (en) * 2018-08-07 2022-04-27 Auris Health, Inc. COMBINATION OF STRAIN-BASED FORM MEASUREMENT WITH CATHETER CONTROL
CA3121279A1 (en) * 2018-11-30 2020-06-04 Joseph J.K. MA Ocular systems, devices, and methods
WO2020154448A1 (en) * 2019-01-23 2020-07-30 Eloupes, Inc. Aligning pre-operative scan images to real-time operative images for a mediated-reality view of a surgical site
CN113454696A (zh) * 2019-02-05 2021-09-28 史密夫和内修有限公司 使用机器人手术数据进行训练

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101034308A (zh) * 2007-04-10 2007-09-12 南京航空航天大学 基于人体表面肌电信息的头盔显示器虚拟视觉时延补偿系统及方法
CN103793049A (zh) * 2012-10-26 2014-05-14 波音公司 虚拟现实显示系统
CN104035760A (zh) * 2014-03-04 2014-09-10 苏州天魂网络科技有限公司 跨移动平台实现沉浸式虚拟现实的系统
WO2015143067A1 (en) * 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods using eye gaze tracking

Also Published As

Publication number Publication date
US10646289B2 (en) 2020-05-12
WO2017114834A1 (en) 2017-07-06
JP2019506922A (ja) 2019-03-14
EP3397185A1 (en) 2018-11-07
US20190008595A1 (en) 2019-01-10
US11413099B2 (en) 2022-08-16
US20200268462A1 (en) 2020-08-27
CN108472095A (zh) 2018-08-31
JP6714085B2 (ja) 2020-06-24

Similar Documents

Publication Publication Date Title
US11413099B2 (en) System, controller and method using virtual reality device for robotic surgery
US12364543B2 (en) Patient introducer alignment
CN108472090B (zh) 用于控制外科手术机器人的系统、控制单元和方法
US11007023B2 (en) System and method of registration between devices with movable arms
US12239380B2 (en) Control unit, system and method for controlling hybrid robot having rigid proximal portion and flexible distal portion
US11406255B2 (en) System and method for detecting abnormal tissue using vascular features
JP2017505202A (ja) 外科用器具可視性のロボット制御
KR20200047737A (ko) 입력 장치의 오퍼레이터가 볼 수 있는 디스플레이 영역으로 기구가 진입할 때 기구의 제어를 입력 장치로 전환하는 방법
US20250134610A1 (en) Systems and methods for remote mentoring in a robot assisted medical system
CN107847111A (zh) 根据体积图像的交互式平面切片的内窥镜引导
Staub et al. Setup of a Scientific Research Platform for Robot-Assisted Minimally Invasive Heart Surgery Scenarios

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant