CN109069207B - 机器人系统及其控制单元和计算机可读存储介质 - Google Patents

机器人系统及其控制单元和计算机可读存储介质 Download PDF

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CN109069207B
CN109069207B CN201780017871.6A CN201780017871A CN109069207B CN 109069207 B CN109069207 B CN 109069207B CN 201780017871 A CN201780017871 A CN 201780017871A CN 109069207 B CN109069207 B CN 109069207B
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end portion
rigid proximal
flexible distal
location
deployment path
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CN109069207A (zh
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A·波波维奇
D·P·努南
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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
    • A61B34/10—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
    • 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
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B2034/2051—Electromagnetic tracking 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/252—User interfaces for surgical systems indicating steps of a 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
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Prostheses (AREA)
CN201780017871.6A 2016-03-17 2017-03-17 机器人系统及其控制单元和计算机可读存储介质 Active CN109069207B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662309758P 2016-03-17 2016-03-17
US62/309,758 2016-03-17
PCT/EP2017/056435 WO2017158180A1 (en) 2016-03-17 2017-03-17 Control unit, system and method for controlling hybrid robot having rigid proximal portion and flexible distal portion

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CN109069207A CN109069207A (zh) 2018-12-21
CN109069207B true CN109069207B (zh) 2021-09-10

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US (1) US12239380B2 (enExample)
EP (1) EP3429496B1 (enExample)
JP (1) JP7041068B6 (enExample)
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WO (1) WO2017158180A1 (enExample)

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US10512511B2 (en) 2013-07-24 2019-12-24 Centre For Surgical Invention And Innovation Multi-function mounting interface for an image-guided robotic system and quick release interventional toolset
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FR3073135B1 (fr) * 2017-11-09 2019-11-15 Quantum Surgical Dispositif robotise pour une intervention medicale mini-invasive sur des tissus mous
WO2019091962A1 (en) 2017-11-13 2019-05-16 Koninklijke Philips N.V. Multi-stage robot for anatomical structure interventions
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CN110537983B (zh) * 2019-09-26 2021-05-14 重庆博仕康科技有限公司 光磁一体穿刺手术导航平台
US12329461B2 (en) * 2019-12-02 2025-06-17 Think Surgical, Inc. System and method for aligning a tool with an axis to perform a medical procedure
KR20220131311A (ko) * 2020-01-23 2022-09-27 프로맥소 인크. 생검용 mri 안내형 로봇 시스템 및 방법
DE102020212086A1 (de) * 2020-09-25 2022-03-31 Siemens Healthcare Gmbh Ermitteln der Qualität einer Positionierung eines in einen Patientenkörper eingeführten Objekts
EP4016455A1 (en) * 2020-12-16 2022-06-22 Koninklijke Philips N.V. Predictive motion mapping for flexible devices
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
CN115120349B (zh) * 2021-03-24 2025-09-05 上海微创医疗机器人（集团）股份有限公司 计算机可读存储介质、电子设备及手术机器人系统
CN115703227B (zh) * 2021-08-03 2025-06-03 武汉联影智融医疗科技有限公司 机器人的控制方法、机器人以及计算机可读存储介质
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Also Published As

Publication number Publication date
EP3429496B1 (en) 2025-07-09
EP3429496A1 (en) 2019-01-23
CN109069207A (zh) 2018-12-21
JP2019512315A (ja) 2019-05-16
WO2017158180A1 (en) 2017-09-21
US20190069955A1 (en) 2019-03-07
US12239380B2 (en) 2025-03-04
JP7041068B2 (ja) 2022-03-23
JP7041068B6 (ja) 2022-05-30

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