CN111343941B - 机器人工具控制 - Google Patents

机器人工具控制 Download PDF

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Publication number
CN111343941B
CN111343941B CN201880073673.6A CN201880073673A CN111343941B CN 111343941 B CN111343941 B CN 111343941B CN 201880073673 A CN201880073673 A CN 201880073673A CN 111343941 B CN111343941 B CN 111343941B
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CN
China
Prior art keywords
tissue
robotic tool
location
movement
planning
Prior art date
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Active
Application number
CN201880073673.6A
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English (en)
Chinese (zh)
Other versions
CN111343941A (zh
Inventor
P·西恩帕波
M·L·弗莱克斯曼
T·M·比德隆
A·波波维奇
M·A·巴利茨基
G·A·托波雷克
A·帕特里丘
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
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Koninklijke Philips NV
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Publication of CN111343941A publication Critical patent/CN111343941A/zh
Application granted granted Critical
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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
    • A61B34/30—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
    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN201880073673.6A 2017-11-13 2018-11-13 机器人工具控制 Active CN111343941B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762585021P 2017-11-13 2017-11-13
US62/585,021 2017-11-13
PCT/EP2018/080999 WO2019092261A1 (en) 2017-11-13 2018-11-13 Robotic tool control

Publications (2)

Publication Number Publication Date
CN111343941A CN111343941A (zh) 2020-06-26
CN111343941B true CN111343941B (zh) 2025-02-11

Family

ID=64556846

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880073673.6A Active CN111343941B (zh) 2017-11-13 2018-11-13 机器人工具控制

Country Status (5)

Country Link
US (1) US11602403B2 (https=)
EP (1) EP3709926B1 (https=)
JP (1) JP7401429B2 (https=)
CN (1) CN111343941B (https=)
WO (1) WO2019092261A1 (https=)

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US11559298B2 (en) 2018-07-16 2023-01-24 Cilag Gmbh International Surgical visualization of multiple targets
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
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) * 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
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
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
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
US12053223B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Adaptive surgical system control according to surgical smoke particulate characteristics
US12453592B2 (en) 2019-12-30 2025-10-28 Cilag Gmbh International Adaptive surgical system control according to surgical smoke cloud characteristics
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
US11284963B2 (en) 2019-12-30 2022-03-29 Cilag Gmbh International Method of using imaging devices in surgery
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
US11896442B2 (en) 2019-12-30 2024-02-13 Cilag Gmbh International Surgical systems for proposing and corroborating organ portion removals
US12496149B2 (en) 2023-02-02 2025-12-16 Edda Technology, Inc. System and method for automated simultaneous trocar and robot base location determination
US20240261045A1 (en) * 2023-02-02 2024-08-08 Edda Technology, Inc. System and method for automated determination of robot base location via trocar's accessibility map
US12245823B2 (en) 2023-02-02 2025-03-11 Edda Technology, Inc. System and method for automated trocar and robot base location determination

Citations (1)

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EP1150601A2 (en) * 1998-11-20 2001-11-07 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia

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US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5894843A (en) * 1996-02-20 1999-04-20 Cardiothoracic Systems, Inc. Surgical method for stabilizing the beating heart during coronary artery bypass graft surgery
US5923770A (en) * 1996-09-30 1999-07-13 Siemens Corporate Research, Inc. 3D cardiac motion recovery system using tagged MR images
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP4755638B2 (ja) * 2004-03-05 2011-08-24 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
US7822458B2 (en) * 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
WO2008086430A1 (en) 2007-01-09 2008-07-17 Cyberheart, Inc. Method for depositing radiation in heart muscle
EP2453793A1 (en) * 2009-07-17 2012-05-23 Cyberheart, Inc. Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia
US8532352B2 (en) 2010-10-06 2013-09-10 Siemens Aktiengesellschaft Method and system for intraoperative guidance using physiological image fusion
US8708902B2 (en) * 2010-12-30 2014-04-29 St. Jude Medical, Atrial Fibrillation Division, Inc. Catheter configuration interface and related system
US11109775B2 (en) * 2011-10-20 2021-09-07 Koninklijke Philips N.V. Shape sensing assisted medical procedure
US8900225B2 (en) * 2012-05-07 2014-12-02 Biosense Webster (Israel) Ltd. Automatic ablation tracking
US9220570B2 (en) * 2012-06-29 2015-12-29 Children's National Medical Center Automated surgical and interventional procedures
WO2014036034A1 (en) * 2012-08-27 2014-03-06 University Of Houston Robotic device and system software, hardware and methods of use for image-guided and robot-assisted surgery
JP6482561B2 (ja) 2013-09-04 2019-03-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． ロボットシステム
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EP1150601A2 (en) * 1998-11-20 2001-11-07 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia

Also Published As

Publication number Publication date
EP3709926A1 (en) 2020-09-23
CN111343941A (zh) 2020-06-26
EP3709926B1 (en) 2024-08-21
JP7401429B2 (ja) 2023-12-19
WO2019092261A1 (en) 2019-05-16
US20210068908A1 (en) 2021-03-11
JP2021502159A (ja) 2021-01-28
US11602403B2 (en) 2023-03-14

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