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 (https=)
EP (1) EP3429496B1 (https=)
JP (1) JP7041068B6 (https=)
CN (1) CN109069207B (https=)
WO (1) WO2017158180A1 (https=)

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CA2918879A1 (en) 2013-07-24 2015-01-29 Centre For Surgical Invention & Innovation Multi-function mounting interface for an image-guided robotic system and quick release interventional toolset
CN108472095B (zh) * 2015-12-29 2021-11-02 皇家飞利浦有限公司 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
FR3073135B1 (fr) * 2017-11-09 2019-11-15 Quantum Surgical Dispositif robotise pour une intervention medicale mini-invasive sur des tissus mous
JP7383608B2 (ja) 2017-11-13 2023-11-20 コーニンクレッカ フィリップス エヌ ヴェ 解剖学的構造介入用の多段ロボット
IT201800005507A1 (it) * 2018-05-18 2019-11-18 Robot per chirurgia mininvasiva
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
JP2023505164A (ja) * 2019-12-02 2023-02-08 シンク サージカル， インコーポレイテッド 医療処置を施行するために道具を軸と整列させるためのシステム及び方法
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
CN116670711B (zh) * 2020-12-16 2026-01-20 皇家飞利浦有限公司 对柔性设备的预测性运动映射
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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Publication number Publication date
JP2019512315A (ja) 2019-05-16
US12239380B2 (en) 2025-03-04
EP3429496B1 (en) 2025-07-09
WO2017158180A1 (en) 2017-09-21
JP7041068B6 (ja) 2022-05-30
EP3429496A1 (en) 2019-01-23
CN109069207A (zh) 2018-12-21
JP7041068B2 (ja) 2022-03-23
US20190069955A1 (en) 2019-03-07

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