CN108601626A - 基于图像的机器人引导 - Google Patents

基于图像的机器人引导 Download PDF

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Publication number
CN108601626A
CN108601626A CN201680080556.3A CN201680080556A CN108601626A CN 108601626 A CN108601626 A CN 108601626A CN 201680080556 A CN201680080556 A CN 201680080556A CN 108601626 A CN108601626 A CN 108601626A
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CN
China
Prior art keywords
robot
image
end effector
capture
planning
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Pending
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CN201680080556.3A
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English (en)
Chinese (zh)
Inventor
A·波波维奇
D·P·努南
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Koninklijke Philips NV
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Koninklijke Philips NV
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Publication of CN108601626A publication Critical patent/CN108601626A/zh
Pending legal-status Critical Current

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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
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • 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
    • 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
    • A61B2034/2055—Optical tracking systems

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN201680080556.3A 2015-12-30 2016-12-21 基于图像的机器人引导 Pending CN108601626A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562272737P 2015-12-30 2015-12-30
US62/272,737 2015-12-30
PCT/IB2016/057863 WO2017115227A1 (en) 2015-12-30 2016-12-21 Image based robot guidance

Publications (1)

Publication Number Publication Date
CN108601626A true CN108601626A (zh) 2018-09-28

Family

ID=57838433

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680080556.3A Pending CN108601626A (zh) 2015-12-30 2016-12-21 基于图像的机器人引导

Country Status (5)

Country Link
US (1) US20200261155A1 (enExample)
EP (1) EP3397187A1 (enExample)
JP (1) JP6912481B2 (enExample)
CN (1) CN108601626A (enExample)
WO (1) WO2017115227A1 (enExample)

Cited By (7)

* Cited by examiner, † Cited by third party
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CN109223176A (zh) * 2018-10-26 2019-01-18 中南大学湘雅三医院 一种手术规划系统
CN112932669A (zh) * 2021-01-18 2021-06-11 中山大学 一种执行视网膜层防渗漏隧道的机械臂控制方法
CN113687627A (zh) * 2021-08-18 2021-11-23 太仓中科信息技术研究院 一种基于摄像机器人的目标跟踪方法
CN113766083A (zh) * 2021-09-09 2021-12-07 杭州思看科技有限公司 跟踪式扫描系统的参数配置方法、电子装置和存储介质
CN115192092A (zh) * 2022-07-04 2022-10-18 合肥工业大学 面向体内柔性动态环境的机器人自主活检取样方法
CN117103286A (zh) * 2023-10-25 2023-11-24 杭州汇萃智能科技有限公司 一种机械手手眼标定方法、系统和可读存储介质
CN118766505A (zh) * 2024-08-23 2024-10-15 合肥工业大学 用于腹部超声检测的rcm装置及机器人

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WO2018052966A1 (en) 2016-09-16 2018-03-22 Zimmer, Inc. Augmented reality surgical technique guidance
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11432877B2 (en) * 2017-08-02 2022-09-06 Medtech S.A. Surgical field camera system that only uses images from cameras with an unobstructed sight line for tracking
WO2019148428A1 (en) 2018-02-01 2019-08-08 Abb Schweiz Ag Vision-based operation for robot
CN113490464B (zh) 2019-02-28 2025-07-18 皇家飞利浦有限公司 对末端执行器的前馈连续定位控制
EP3824839A1 (en) 2019-11-19 2021-05-26 Koninklijke Philips N.V. Robotic positioning of a device
KR102278149B1 (ko) * 2020-01-08 2021-07-16 최홍희 의료용 다목적 레이저 포인팅장치
RU2753118C2 (ru) * 2020-01-09 2021-08-11 Федеральное государственное автономное образовательное учреждение высшего образования "Севастопольский государственный университет" Роботизированная система для удержания и перемещения хирургического инструмента при проведении лапароскопических операций
WO2021173541A1 (en) * 2020-02-24 2021-09-02 Intuitive Surgical Operations, Inc. Systems and methods for registration feature integrity checking
CN115361930A (zh) * 2020-04-10 2022-11-18 川崎重工业株式会社 医疗用移动体系统及其运行方法
EP4066749B1 (en) * 2021-02-05 2024-08-14 Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Soft apparatus for opening eyelids and method therefor
CN115194760B (zh) * 2022-06-07 2025-02-07 西安电子科技大学 一种多自由度嫁接机器人的时序运动控制方法与系统
CN119344872B (zh) * 2024-12-03 2025-11-14 北京瞳沐医疗科技有限公司 眼底手术机器人远心不动点标定方法、系统、介质及设备

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US20030120283A1 (en) * 2001-11-08 2003-06-26 Dan Stoianovici System and method for robot targeting under fluoroscopy based on image servoing
CN101687103A (zh) * 2007-06-12 2010-03-31 皇家飞利浦电子股份有限公司 图像引导的治疗
US20130066335A1 (en) * 2010-05-25 2013-03-14 Ronny Bärwinkel Method for moving an instrument arm of a laparoscopy robot into a predeterminable relative position with respect to a trocar
WO2015118422A1 (en) * 2014-02-04 2015-08-13 Koninklijke Philips N.V. Remote center of motion definition using light sources for robot systems
CN105025787A (zh) * 2013-03-05 2015-11-04 伊卓诺股份有限公司 用于图像引导过程的系统

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US6187018B1 (en) * 1999-10-27 2001-02-13 Z-Kat, Inc. Auto positioner
US20110071541A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8934003B2 (en) 2010-01-08 2015-01-13 Koninklijkle Philips N.V. Uncalibrated visual servoing using real-time velocity optimization
JP5795599B2 (ja) 2010-01-13 2015-10-14 コーニンクレッカ フィリップス エヌ ヴェ 内視鏡手術のための画像統合ベースレジストレーション及びナビゲーション
WO2012035492A1 (en) 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
KR20140090374A (ko) * 2013-01-08 2014-07-17 삼성전자주식회사 싱글 포트 수술 로봇 및 그 제어 방법
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
DE102014209368A1 (de) * 2014-05-16 2015-11-19 Siemens Aktiengesellschaft Magnetresonanztomographie-System und Verfahren zur Unterstützung einer Person bei der Positionierung eines medizinischen Instruments für eine perkutane Intervention

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US20030120283A1 (en) * 2001-11-08 2003-06-26 Dan Stoianovici System and method for robot targeting under fluoroscopy based on image servoing
CN101687103A (zh) * 2007-06-12 2010-03-31 皇家飞利浦电子股份有限公司 图像引导的治疗
US20130066335A1 (en) * 2010-05-25 2013-03-14 Ronny Bärwinkel Method for moving an instrument arm of a laparoscopy robot into a predeterminable relative position with respect to a trocar
CN105025787A (zh) * 2013-03-05 2015-11-04 伊卓诺股份有限公司 用于图像引导过程的系统
WO2015118422A1 (en) * 2014-02-04 2015-08-13 Koninklijke Philips N.V. Remote center of motion definition using light sources for robot systems

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109223176A (zh) * 2018-10-26 2019-01-18 中南大学湘雅三医院 一种手术规划系统
CN109223176B (zh) * 2018-10-26 2021-06-25 中南大学湘雅三医院 一种手术规划系统
CN112932669A (zh) * 2021-01-18 2021-06-11 中山大学 一种执行视网膜层防渗漏隧道的机械臂控制方法
CN112932669B (zh) * 2021-01-18 2024-03-15 广州市微眸医疗器械有限公司 一种执行视网膜层防渗漏隧道的机械臂控制方法
CN113687627A (zh) * 2021-08-18 2021-11-23 太仓中科信息技术研究院 一种基于摄像机器人的目标跟踪方法
CN113687627B (zh) * 2021-08-18 2022-08-19 太仓中科信息技术研究院 一种基于摄像机器人的目标跟踪方法
CN113766083A (zh) * 2021-09-09 2021-12-07 杭州思看科技有限公司 跟踪式扫描系统的参数配置方法、电子装置和存储介质
CN113766083B (zh) * 2021-09-09 2024-05-14 思看科技(杭州)股份有限公司 跟踪式扫描系统的参数配置方法、电子装置和存储介质
CN115192092A (zh) * 2022-07-04 2022-10-18 合肥工业大学 面向体内柔性动态环境的机器人自主活检取样方法
CN117103286A (zh) * 2023-10-25 2023-11-24 杭州汇萃智能科技有限公司 一种机械手手眼标定方法、系统和可读存储介质
CN117103286B (zh) * 2023-10-25 2024-03-19 杭州汇萃智能科技有限公司 一种机械手手眼标定方法、系统和可读存储介质
CN118766505A (zh) * 2024-08-23 2024-10-15 合肥工业大学 用于腹部超声检测的rcm装置及机器人

Also Published As

Publication number Publication date
JP2019502462A (ja) 2019-01-31
WO2017115227A1 (en) 2017-07-06
US20200261155A1 (en) 2020-08-20
JP6912481B2 (ja) 2021-08-04
EP3397187A1 (en) 2018-11-07

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