CN110312487A - 用于外科手术工具的控制器 - Google Patents

用于外科手术工具的控制器 Download PDF

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Publication number
CN110312487A
CN110312487A CN201880013024.7A CN201880013024A CN110312487A CN 110312487 A CN110312487 A CN 110312487A CN 201880013024 A CN201880013024 A CN 201880013024A CN 110312487 A CN110312487 A CN 110312487A
Authority
CN
China
Prior art keywords
controller
relative
movement
user
sensor
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.)
Pending
Application number
CN201880013024.7A
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English (en)
Chinese (zh)
Inventor
莫德海·雪勒夫
阿萨夫·考夫曼
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.)
Human Xtensions Ltd
Original Assignee
Human Xtensions Ltd
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 Human Xtensions Ltd filed Critical Human Xtensions Ltd
Publication of CN110312487A publication Critical patent/CN110312487A/zh
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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
    • 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
    • A61B34/35—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • 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
    • A61B2034/741—Glove like input devices, e.g. "data gloves"
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
CN201880013024.7A 2017-02-23 2018-02-05 用于外科手术工具的控制器 Pending CN110312487A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762462447P 2017-02-23 2017-02-23
US62/462,447 2017-02-23
PCT/IL2018/050127 WO2018154559A1 (en) 2017-02-23 2018-02-05 Controller for surgical tools

Publications (1)

Publication Number Publication Date
CN110312487A true CN110312487A (zh) 2019-10-08

Family

ID=63254174

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880013024.7A Pending CN110312487A (zh) 2017-02-23 2018-02-05 用于外科手术工具的控制器

Country Status (11)

Country Link
US (1) US20200000539A1 (cg-RX-API-DMAC10.html)
EP (1) EP3585293A4 (cg-RX-API-DMAC10.html)
JP (1) JP2020509798A (cg-RX-API-DMAC10.html)
KR (1) KR20190113988A (cg-RX-API-DMAC10.html)
CN (1) CN110312487A (cg-RX-API-DMAC10.html)
AU (1) AU2018224505A1 (cg-RX-API-DMAC10.html)
BR (1) BR112019017414A2 (cg-RX-API-DMAC10.html)
CA (1) CA3053233A1 (cg-RX-API-DMAC10.html)
IL (1) IL268830A (cg-RX-API-DMAC10.html)
MX (1) MX2019009608A (cg-RX-API-DMAC10.html)
WO (1) WO2018154559A1 (cg-RX-API-DMAC10.html)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111281649A (zh) * 2020-03-03 2020-06-16 西安交通大学 一种眼科手术机器人系统及其控制方法
CN111685884A (zh) * 2019-11-13 2020-09-22 成都博恩思医学机器人有限公司 用于手术机器人的远程控制器
CN112276974A (zh) * 2019-11-13 2021-01-29 成都博恩思医学机器人有限公司 抓取控制组件及远程控制器
CN113854950A (zh) * 2021-10-29 2021-12-31 南京佗道医疗科技有限公司 一种复用腹腔镜

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CN109044261A (zh) * 2018-09-27 2018-12-21 深圳市儿童医院 一种腹腔镜用机械手
US11504200B2 (en) 2019-01-24 2022-11-22 Verb Surgical Inc. Wearable user interface device
US11969280B2 (en) 2020-01-07 2024-04-30 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
US20220392065A1 (en) 2020-01-07 2022-12-08 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
WO2021141921A1 (en) 2020-01-07 2021-07-15 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
US11806107B2 (en) * 2020-12-07 2023-11-07 Virtuoso Surgical, Inc. Physician input device for a concentric tube surgical robot
WO2023060099A1 (en) 2021-10-05 2023-04-13 Corindus, Inc. Robotic actuation of elongated medical devices
US12406365B2 (en) 2022-03-10 2025-09-02 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US20250143657A1 (en) 2022-03-10 2025-05-08 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US12440180B2 (en) 2022-03-10 2025-10-14 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US20250217981A1 (en) 2022-03-10 2025-07-03 Cleerly, Inc. Systems, methods, and devices for image-based plaque analysis and risk determination

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US20030109957A1 (en) * 2001-12-07 2003-06-12 Dan Sanchez Microwrist system for surgical procedures
US20110152881A1 (en) * 2009-08-26 2011-06-23 Craig Conner Control portion of and device for remotely controlling an articulating surgical instrument
CN103237633A (zh) * 2010-11-30 2013-08-07 奥林巴斯株式会社 主操作输入装置以及主-从机械手
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Publication number Priority date Publication date Assignee Title
US20030109957A1 (en) * 2001-12-07 2003-06-12 Dan Sanchez Microwrist system for surgical procedures
US20110152881A1 (en) * 2009-08-26 2011-06-23 Craig Conner Control portion of and device for remotely controlling an articulating surgical instrument
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CN103237633A (zh) * 2010-11-30 2013-08-07 奥林巴斯株式会社 主操作输入装置以及主-从机械手
CN104364060A (zh) * 2012-06-13 2015-02-18 奥林巴斯株式会社 带有自重补偿的直线运动机构、操作输入装置及手术支援系统
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111685884A (zh) * 2019-11-13 2020-09-22 成都博恩思医学机器人有限公司 用于手术机器人的远程控制器
CN112276974A (zh) * 2019-11-13 2021-01-29 成都博恩思医学机器人有限公司 抓取控制组件及远程控制器
CN112276974B (zh) * 2019-11-13 2024-05-28 成都博恩思医学机器人有限公司 抓取控制组件及远程控制器
CN111281649A (zh) * 2020-03-03 2020-06-16 西安交通大学 一种眼科手术机器人系统及其控制方法
CN111281649B (zh) * 2020-03-03 2021-08-13 西安交通大学 一种眼科手术机器人系统及其控制方法
CN113854950A (zh) * 2021-10-29 2021-12-31 南京佗道医疗科技有限公司 一种复用腹腔镜

Also Published As

Publication number Publication date
AU2018224505A1 (en) 2019-10-03
US20200000539A1 (en) 2020-01-02
IL268830A (en) 2019-10-31
MX2019009608A (es) 2019-10-14
KR20190113988A (ko) 2019-10-08
WO2018154559A1 (en) 2018-08-30
CA3053233A1 (en) 2018-08-30
BR112019017414A2 (pt) 2020-03-31
EP3585293A1 (en) 2020-01-01
JP2020509798A (ja) 2020-04-02
EP3585293A4 (en) 2020-12-16

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Application publication date: 20191008

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