CN111670018B - 用于定位患者和手术机器人的引导 - Google Patents

用于定位患者和手术机器人的引导 Download PDF

Info

Publication number
CN111670018B
CN111670018B CN201980010958.XA CN201980010958A CN111670018B CN 111670018 B CN111670018 B CN 111670018B CN 201980010958 A CN201980010958 A CN 201980010958A CN 111670018 B CN111670018 B CN 111670018B
Authority
CN
China
Prior art keywords
surgical
user
computing device
surgical training
surgical robot
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
CN201980010958.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN111670018A (zh
Inventor
德怀特·梅格兰
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.)
Covidien LP
Original Assignee
Covidien LP
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 Covidien LP filed Critical Covidien LP
Publication of CN111670018A publication Critical patent/CN111670018A/zh
Application granted granted Critical
Publication of CN111670018B publication Critical patent/CN111670018B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • 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
    • A61B34/25—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B2090/372—Details of monitor hardware
    • 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
    • A61B2090/502—Headgear, e.g. helmet, spectacles

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Algebra (AREA)
  • Medicinal Chemistry (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Chemical & Material Sciences (AREA)
  • Educational Administration (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pulmonology (AREA)
  • Manipulator (AREA)
  • Instructional Devices (AREA)
  • Processing Or Creating Images (AREA)
  • User Interface Of Digital Computer (AREA)
CN201980010958.XA 2018-01-10 2019-01-09 用于定位患者和手术机器人的引导 Active CN111670018B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862615495P 2018-01-10 2018-01-10
US62/615,495 2018-01-10
PCT/US2019/012821 WO2019139935A1 (en) 2018-01-10 2019-01-09 Guidance for positioning a patient and surgical robot

Publications (2)

Publication Number Publication Date
CN111670018A CN111670018A (zh) 2020-09-15
CN111670018B true CN111670018B (zh) 2024-12-27

Family

ID=67218358

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980010958.XA Active CN111670018B (zh) 2018-01-10 2019-01-09 用于定位患者和手术机器人的引导

Country Status (7)

Country Link
US (2) US11925423B2 (https=)
EP (1) EP3737321A4 (https=)
JP (1) JP2021510224A (https=)
CN (1) CN111670018B (https=)
AU (1) AU2019206392A1 (https=)
CA (1) CA3088004A1 (https=)
WO (1) WO2019139935A1 (https=)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11417071B1 (en) * 2018-02-23 2022-08-16 Red Pacs, Llc Virtual toolkit for radiologists
US11630436B2 (en) * 2018-10-22 2023-04-18 Mitutoyo Corporation Measurement program selection assisting apparatus and measurement control apparatus
US11234779B2 (en) * 2019-09-10 2022-02-01 Verb Surgical. Inc. Handheld user interface device for a surgical robot
EP4081152A1 (en) * 2019-12-23 2022-11-02 Covidien LP System for guiding surgical procedures
CN115066209A (zh) 2020-02-06 2022-09-16 柯惠Lp公司 用于缝合引导的系统和方法
US12251185B2 (en) 2020-02-18 2025-03-18 Verb Surgical Inc. Robotic surgical system and method for providing a stadium view with arm set-up guidance
US12042944B2 (en) * 2020-03-30 2024-07-23 Depuy Ireland Unlimited Company Robotic surgical system with graphical user interface
USD1082803S1 (en) 2020-03-30 2025-07-08 Depuy Ireland Unlimited Company Display screen with a graphical user interface
US12004816B2 (en) 2020-03-30 2024-06-11 Depuy Ireland Unlimited Company Robotic surgical apparatus with positioning guide
US12343529B2 (en) 2020-03-31 2025-07-01 Novocure Gmbh Methods, systems, and apparatuses for guiding transducer placements for tumor treating fields
US11690674B2 (en) * 2020-04-03 2023-07-04 Verb Surgical Inc. Mobile virtual reality system for surgical robotic systems
US12376919B2 (en) 2020-07-15 2025-08-05 Orthosoft Ulc Robotic device and sterilization unit for surgical instrument
US20210121245A1 (en) * 2020-10-06 2021-04-29 Transenterix Surgical, Inc. Surgeon interfaces using augmented reality
NL2027671B1 (en) * 2021-02-26 2022-09-26 Eindhoven Medical Robotics B V Augmented reality system to simulate an operation on a patient
CN113925607B (zh) * 2021-11-12 2024-02-27 上海微创医疗机器人（集团）股份有限公司 手术机器人操作训练方法、装置、系统、介质及设备
CN115602032B (zh) * 2022-12-13 2023-02-28 深圳智触计算机系统有限公司 基于虚拟现实的消化内镜手术培训系统

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5191167B2 (ja) * 2007-06-06 2013-04-24 オリンパスメディカルシステムズ株式会社 医用ガイドシステム
GB0712690D0 (en) 2007-06-29 2007-08-08 Imp Innovations Ltd Imagee processing
US20100248200A1 (en) 2008-09-26 2010-09-30 Ladak Hanif M System, Method and Computer Program for Virtual Reality Simulation for Medical Procedure Skills Training
US20110306986A1 (en) 2009-03-24 2011-12-15 Min Kyu Lee Surgical robot system using augmented reality, and method for controlling same
EP2443620B1 (en) * 2009-06-16 2018-09-05 SimQuest LLC Hemorrhage control simulator
JP2013508103A (ja) * 2009-10-28 2013-03-07 イムリス インク． 画像誘導手術のための画像の自動登録
SG183927A1 (en) 2010-03-05 2012-10-30 Agency Science Tech & Res Robot assisted surgical training
US20140098138A1 (en) 2012-10-05 2014-04-10 Samsung Electronics Co., Ltd Method and system for augmented reality based smart classroom environment
KR20140112207A (ko) * 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
US9283048B2 (en) * 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
KR20160086629A (ko) * 2015-01-12 2016-07-20 한국전자통신연구원 영상유도 수술에서 수술부위와 수술도구 위치정합 방법 및 장치
KR102728830B1 (ko) * 2015-05-15 2024-11-14 마코 서지컬 코포레이션 로봇식 의료 절차에 대한 지침을 제공하기 위한 시스템들 및 방법들
EP3373834A4 (en) 2015-11-12 2019-07-31 Intuitive Surgical Operations Inc. SURGICAL SYSTEM WITH TRAINING OR ASSISTANCE FUNCTION
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
US10806532B2 (en) * 2017-05-24 2020-10-20 KindHeart, Inc. Surgical simulation system using force sensing and optical tracking and robotic surgery system

Also Published As

Publication number Publication date
EP3737321A1 (en) 2020-11-18
AU2019206392A1 (en) 2020-07-23
US12310687B2 (en) 2025-05-27
JP2021510224A (ja) 2021-04-15
CN111670018A (zh) 2020-09-15
WO2019139935A1 (en) 2019-07-18
CA3088004A1 (en) 2019-07-18
US11925423B2 (en) 2024-03-12
US20240197419A1 (en) 2024-06-20
US20200337789A1 (en) 2020-10-29
EP3737321A4 (en) 2021-09-01

Similar Documents

Publication Publication Date Title
CN111670018B (zh) 用于定位患者和手术机器人的引导
US12193765B2 (en) Guidance for placement of surgical ports
US12419712B2 (en) Emulation of robotic arms and control thereof in a virtual reality environment
US11580882B2 (en) Virtual reality training, simulation, and collaboration in a robotic surgical system
CN110800033B (zh) 虚拟现实腹腔镜式工具
US11270601B2 (en) Virtual reality system for simulating a robotic surgical environment
JP6653526B2 (ja) 測定システムおよびユーザインタフェース装置
CN115315729A (zh) 用于促进远程呈现或交互的方法和系统
KR20160102464A (ko) 의료 절차 훈련을 위한 시뮬레이터 시스템
JP7177208B2 (ja) 測定システム
KR20190133423A (ko) 수술 시뮬레이션 정보 생성방법 및 프로그램
EP4632663A1 (en) Robotized laparoscopic surgical system with augmented reality
US11969218B2 (en) Augmented reality surgery set-up for robotic surgical procedures
US20240268892A1 (en) Virtual Reality Surgical Systems And Methods Including Virtual Navigation
KR20250155673A (ko) 증강현실 및 인공지능 기반의 척추 수술 가이드 방법 및 그 시스템
JP2020073872A (ja) 制御システム

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
TG01 Patent term adjustment
TG01 Patent term adjustment