CN110049742B - 用于机器人控制的图像引导的运动缩放 - Google Patents

用于机器人控制的图像引导的运动缩放 Download PDF

Info

Publication number
CN110049742B
CN110049742B CN201780075882.XA CN201780075882A CN110049742B CN 110049742 B CN110049742 B CN 110049742B CN 201780075882 A CN201780075882 A CN 201780075882A CN 110049742 B CN110049742 B CN 110049742B
Authority
CN
China
Prior art keywords
motion
scaling
surgical robotic
surgical
image
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
CN201780075882.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN110049742A (zh
Inventor
A·波波维奇
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 CN110049742A publication Critical patent/CN110049742A/zh
Application granted granted Critical
Publication of CN110049742B publication Critical patent/CN110049742B/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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
CN201780075882.XA 2016-12-07 2017-12-05 用于机器人控制的图像引导的运动缩放 Active CN110049742B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662430994P 2016-12-07 2016-12-07
US62/430,994 2016-12-07
PCT/EP2017/081423 WO2018104252A1 (en) 2016-12-07 2017-12-05 Image guided motion scaling for robot control

Publications (2)

Publication Number Publication Date
CN110049742A CN110049742A (zh) 2019-07-23
CN110049742B true CN110049742B (zh) 2023-01-03

Family

ID=60954988

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780075882.XA Active CN110049742B (zh) 2016-12-07 2017-12-05 用于机器人控制的图像引导的运动缩放

Country Status (5)

Country Link
US (2) US11213364B2 (enExample)
EP (1) EP3551117B1 (enExample)
JP (1) JP7132922B2 (enExample)
CN (1) CN110049742B (enExample)
WO (1) WO2018104252A1 (enExample)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7746073B2 (ja) * 2021-08-31 2025-09-30 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
US11583358B2 (en) * 2017-09-06 2023-02-21 Covidien Lp Boundary scaling of surgical robots
US11304692B2 (en) 2018-07-16 2022-04-19 Cilag Gmbh International Singular EMR source emitter assembly
US11992282B2 (en) 2019-03-15 2024-05-28 Cilag Gmbh International Motion capture controls for robotic surgery
US11284957B2 (en) 2019-03-15 2022-03-29 Cilag Gmbh International Robotic surgical controls with force feedback
US11471229B2 (en) 2019-03-15 2022-10-18 Cilag Gmbh International Robotic surgical systems with selectively lockable end effectors
US11701190B2 (en) 2019-03-15 2023-07-18 Cilag Gmbh International Selectable variable response of shaft motion of surgical robotic systems
US11490981B2 (en) 2019-03-15 2022-11-08 Cilag Gmbh International Robotic surgical controls having feedback capabilities
US11583350B2 (en) 2019-03-15 2023-02-21 Cilag Gmbh International Jaw coordination of robotic surgical controls
US11690690B2 (en) 2019-03-15 2023-07-04 Cilag Gmbh International Segmented control inputs for surgical robotic systems
US11666401B2 (en) 2019-03-15 2023-06-06 Cilag Gmbh International Input controls for robotic surgery
US12257013B2 (en) * 2019-03-15 2025-03-25 Cilag Gmbh International Robotic surgical systems with mechanisms for scaling camera magnification according to proximity of surgical tool to tissue
JP2020163522A (ja) * 2019-03-29 2020-10-08 ソニー株式会社 制御装置及びマスタスレーブシステム
US11776144B2 (en) 2019-12-30 2023-10-03 Cilag Gmbh International System and method for determining, adjusting, and managing resection margin about a subject tissue
US11284963B2 (en) 2019-12-30 2022-03-29 Cilag Gmbh International Method of using imaging devices in surgery
US11219501B2 (en) 2019-12-30 2022-01-11 Cilag Gmbh International Visualization systems using structured light
US11744667B2 (en) 2019-12-30 2023-09-05 Cilag Gmbh International Adaptive visualization by a surgical system
US12207881B2 (en) 2019-12-30 2025-01-28 Cilag Gmbh International Surgical systems correlating visualization data and powered surgical instrument data
US12002571B2 (en) 2019-12-30 2024-06-04 Cilag Gmbh International Dynamic surgical visualization systems
US11832996B2 (en) 2019-12-30 2023-12-05 Cilag Gmbh International Analyzing surgical trends by a surgical system
US11648060B2 (en) 2019-12-30 2023-05-16 Cilag Gmbh International Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ
US11896442B2 (en) 2019-12-30 2024-02-13 Cilag Gmbh International Surgical systems for proposing and corroborating organ portion removals
US12453592B2 (en) 2019-12-30 2025-10-28 Cilag Gmbh International Adaptive surgical system control according to surgical smoke cloud characteristics
US12053223B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Adaptive surgical system control according to surgical smoke particulate characteristics
US11759283B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto
CN112155613B (zh) * 2020-09-14 2021-10-22 武汉联影智融医疗科技有限公司 一种微创医疗手术设备
US12070287B2 (en) 2020-12-30 2024-08-27 Cilag Gmbh International Robotic surgical tools having dual articulation drives
US12059170B2 (en) 2020-12-30 2024-08-13 Cilag Gmbh International Surgical tool with tool-based translation and lock for the same
US12239404B2 (en) 2020-12-30 2025-03-04 Cilag Gmbh International Torque-based transition between operating gears
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
JP7716276B2 (ja) * 2021-08-31 2025-07-31 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
US20250345940A1 (en) * 2022-01-14 2025-11-13 Ntt Docomo, Inc. Human augmentation platform device and physical ability augmentation method
IT202200006332A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare, tramite diminuzione di velocità o potenza impartita, un dispositivo slave comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, e relativo sistema robotico
IT202200006338A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare un dispositivo slave, comandato da un dispositivo master movimentabile da un operatore in un sistema robotico per teleoperazione medica o chirurgica, in prossimità di limiti di movimento del dispositivo slave, e relativo sistema robotico
US12137904B2 (en) 2022-06-15 2024-11-12 Cilag Gmbh International Impact mechanism for grasp clamp fire
GB2625105B (en) * 2022-12-06 2025-05-28 Cmr Surgical Ltd Control system for a surgical robotic system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101947130A (zh) * 2009-05-08 2011-01-19 恩杜森斯公司 用于在基于导管的消融治疗中控制损伤尺寸的方法和装置
CN102614019A (zh) * 2010-12-17 2012-08-01 伊顿株式会社 手术机器人系统及其自适应控制方法
CN104622585A (zh) * 2015-03-13 2015-05-20 中国科学院重庆绿色智能技术研究院 一种腹腔镜微创手术机器人主从同构式遥操作主手
CN105188594A (zh) * 2013-05-09 2015-12-23 皇家飞利浦有限公司 根据解剖特征对内窥镜的机器人控制
WO2016028858A1 (en) * 2014-08-22 2016-02-25 Intuitive Surgical Operations, Inc. Systems and methods for adaptive input mapping

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5382885A (en) 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6468265B1 (en) * 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US8944070B2 (en) * 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US20190090967A1 (en) * 1999-12-14 2019-03-28 Intuitive Surgical Operations, Inc. Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device
US7198630B2 (en) * 2002-12-17 2007-04-03 Kenneth I. Lipow Method and apparatus for controlling a surgical robot to mimic, harmonize and enhance the natural neurophysiological behavior of a surgeon
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US9867669B2 (en) * 2008-12-31 2018-01-16 Intuitive Surgical Operations, Inc. Configuration marker design and detection for instrument tracking
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US8079950B2 (en) 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
EP2139422B1 (en) * 2007-03-26 2016-10-26 Hansen Medical, Inc. Robotic catheter systems and methods
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
KR20100120183A (ko) * 2008-01-30 2010-11-12 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 로봇을 이용한 미세수술 스텐트 시술을 위한 시스템, 디바이스 및 방법
US8155479B2 (en) * 2008-03-28 2012-04-10 Intuitive Surgical Operations Inc. Automated panning and digital zooming for robotic surgical systems
EP2542296A4 (en) * 2010-03-31 2014-11-26 St Jude Medical Atrial Fibrill INTUITIVE USER INTERFACE CONTROL FOR REMOTE NAVIGATION OF A CATHETER AND 3D MAPPING AND VISUALIZATION SYSTEMS
WO2012035492A1 (en) 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
US8918215B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
KR101802464B1 (ko) 2011-08-03 2017-11-28 주식회사 미래컴퍼니 수술용 로봇의 마스터 암 구조 및 수술용 마스터 로봇의 제어방법
JP5841451B2 (ja) 2011-08-04 2016-01-13 オリンパス株式会社 手術器具およびその制御方法
EP2793680A2 (en) 2011-12-21 2014-10-29 Koninklijke Philips N.V. Overlay and motion compensation of structures from volumetric modalities onto video of an uncalibrated endoscope
US8880223B2 (en) * 2012-07-16 2014-11-04 Florida Institute for Human & Maching Cognition Anthro-centric multisensory interface for sensory augmentation of telesurgery
ES2804681T3 (es) 2013-02-04 2021-02-09 Childrens Nat Medical Ct Sistema robótico quirúrgico de control híbrido
AU2015259635B2 (en) * 2014-05-15 2019-04-18 Covidien Lp Systems and methods for controlling a camera position in a surgical robotic system
CN106714722A (zh) 2014-09-29 2017-05-24 柯惠Lp公司 用于控制机器人手术系统的动态输入缩放
US10154239B2 (en) * 2014-12-30 2018-12-11 Onpoint Medical, Inc. Image-guided surgery with surface reconstruction and augmented reality visualization
CN107249498B (zh) 2015-02-19 2024-04-23 柯惠Lp公司 机器人手术系统的输入装置的重定位方法
US20160314717A1 (en) * 2015-04-27 2016-10-27 KindHeart, Inc. Telerobotic surgery system for remote surgeon training using robotic surgery station coupled to remote surgeon trainee and instructor stations and associated methods
EP3361979A4 (en) * 2015-10-14 2019-06-26 Surgical Theater LLC SURGICAL NAVIGATION WITH EXTENDED REALITY
ITUB20155057A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
US12390287B2 (en) * 2015-10-16 2025-08-19 Medical Microinstruments, Inc. Surgical tool for robotic surgery and robotic surgical assembly

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101947130A (zh) * 2009-05-08 2011-01-19 恩杜森斯公司 用于在基于导管的消融治疗中控制损伤尺寸的方法和装置
CN102614019A (zh) * 2010-12-17 2012-08-01 伊顿株式会社 手术机器人系统及其自适应控制方法
CN105188594A (zh) * 2013-05-09 2015-12-23 皇家飞利浦有限公司 根据解剖特征对内窥镜的机器人控制
WO2016028858A1 (en) * 2014-08-22 2016-02-25 Intuitive Surgical Operations, Inc. Systems and methods for adaptive input mapping
CN104622585A (zh) * 2015-03-13 2015-05-20 中国科学院重庆绿色智能技术研究院 一种腹腔镜微创手术机器人主从同构式遥操作主手

Also Published As

Publication number Publication date
JP7132922B2 (ja) 2022-09-07
US11213364B2 (en) 2022-01-04
US12171520B2 (en) 2024-12-24
EP3551117A1 (en) 2019-10-16
EP3551117B1 (en) 2024-06-05
JP2020500620A (ja) 2020-01-16
US20220096189A1 (en) 2022-03-31
WO2018104252A1 (en) 2018-06-14
US20190307524A1 (en) 2019-10-10
CN110049742A (zh) 2019-07-23

Similar Documents

Publication Publication Date Title
CN110049742B (zh) 用于机器人控制的图像引导的运动缩放
JP7816722B2 (ja) センサベースのナビゲーションと内視鏡検査との組み合わせを用いた外科用システム
JP7233841B2 (ja) ロボット外科手術システムのロボットナビゲーション
CN105050527B (zh) 智能定位系统和用于其的方法
Azizian et al. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging–techniques and applications
JP7755911B2 (ja) 医療器具のための制御スキーム較正
CN110072483B (zh) 对依赖性外科手术机器人臂的自动运动控制
WO2021146339A1 (en) Systems and methods for autonomous suturing
JP2018158104A (ja) ロボット外科システムのロボットナビゲーション
Alambeigi et al. Toward semi-autonomous cryoablation of kidney tumors via model-independent deformable tissue manipulation technique
CN105073042A (zh) 使用定制套管针对机器人远程运动中心点的定位
JP2020512116A (ja) マーカーレスロボット追跡システム、制御装置、及び方法
US20170165847A1 (en) Reconfigurable robot architecture for minimally invasive procedures
Caborni et al. Risk-based path planning for a steerable flexible probe for neurosurgical intervention
JP2022516473A (ja) 低侵襲性外科手術における到達性、作業空間、および巧妙さを最適化するためのシステムおよび方法
CN119257733A (zh) 一种手术机器人规划导航方法、装置、设备和存储介质
US12564306B2 (en) Systems and methods for depth-based measurement in a three-dimensional view
JP7495216B2 (ja) 鏡視下手術支援装置、鏡視下手術支援方法、及びプログラム
KR102708210B1 (ko) 영상 가이드 수술 방법 및 장치
WO2019035206A1 (ja) 医療システムおよび画像生成方法
EP4384984A1 (en) Systems and methods for a differentiated interaction environment
JP2026500177A (ja) 生体構造セグメンテーション及び解剖学的構造追跡のためのシステム及び方法
Bihlmaier Intraoperative robot-based camera assistance

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