CN111839732B - 用于在外科手术过程中减少跟踪中断的导航系统和方法 - Google Patents
用于在外科手术过程中减少跟踪中断的导航系统和方法 Download PDFInfo
- Publication number
- CN111839732B CN111839732B CN202010806484.4A CN202010806484A CN111839732B CN 111839732 B CN111839732 B CN 111839732B CN 202010806484 A CN202010806484 A CN 202010806484A CN 111839732 B CN111839732 B CN 111839732B
- Authority
- CN
- China
- Prior art keywords
- virtual
- view
- field
- manipulator
- locator
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 83
- 238000001356 surgical procedure Methods 0.000 title abstract description 41
- 230000004044 response Effects 0.000 claims description 51
- 239000000463 material Substances 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 14
- 210000000988 bone and bone Anatomy 0.000 description 43
- 230000003287 optical effect Effects 0.000 description 40
- 210000002303 tibia Anatomy 0.000 description 24
- 210000000689 upper leg Anatomy 0.000 description 20
- 238000004891 communication Methods 0.000 description 17
- 210000003484 anatomy Anatomy 0.000 description 14
- 230000015654 memory Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 210000001519 tissue Anatomy 0.000 description 6
- QQAHEGDXEXIQPR-UHFFFAOYSA-N 2-(ethylamino)-1-phenylpentan-1-one Chemical compound CCCC(NCC)C(=O)C1=CC=CC=C1 QQAHEGDXEXIQPR-UHFFFAOYSA-N 0.000 description 5
- 102100032262 E2F-associated phosphoprotein Human genes 0.000 description 5
- 101710155837 E2F-associated phosphoprotein Proteins 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 5
- 239000007943 implant Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000001934 delay Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 210000004417 patella Anatomy 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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
- A61B34/20—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
- A61B34/70—Manipulators specially adapted for use in 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- User Interface Of Digital Computer (AREA)
- Processing Or Creating Images (AREA)
- Surgical Instruments (AREA)
- Traffic Control Systems (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010806484.4A CN111839732B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562120585P | 2015-02-25 | 2015-02-25 | |
| US62/120,585 | 2015-02-25 | ||
| CN202010806484.4A CN111839732B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
| CN201680008515.3A CN107205786B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
| PCT/US2016/019347 WO2016138124A1 (en) | 2015-02-25 | 2016-02-24 | Navigation systems and methods for reducing tracking interruptions during a surgical procedure |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680008515.3A Division CN107205786B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111839732A CN111839732A (zh) | 2020-10-30 |
| CN111839732B true CN111839732B (zh) | 2024-07-02 |
Family
ID=55527650
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010806484.4A Active CN111839732B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
| CN201680008515.3A Active CN107205786B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680008515.3A Active CN107205786B (zh) | 2015-02-25 | 2016-02-24 | 用于在外科手术过程中减少跟踪中断的导航系统和方法 |
Country Status (7)
| Country | Link |
|---|---|
| US (3) | US10660711B2 (enExample) |
| EP (3) | EP4566559A3 (enExample) |
| JP (4) | JP6748088B2 (enExample) |
| KR (3) | KR20240044536A (enExample) |
| CN (2) | CN111839732B (enExample) |
| AU (4) | AU2016222790B2 (enExample) |
| WO (1) | WO2016138124A1 (enExample) |
Families Citing this family (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2750620B1 (en) | 2011-09-02 | 2017-04-26 | Stryker Corporation | Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing |
| EP4566559A3 (en) * | 2015-02-25 | 2025-08-06 | MAKO Surgical Corp. | Navigation systems and methods for reducing tracking interruptions during a surgical procedure |
| AU2016264199B2 (en) | 2015-05-19 | 2020-10-29 | Mako Surgical Corp. | System and method for manipulating an anatomy |
| US10792114B2 (en) * | 2015-08-25 | 2020-10-06 | Kawasaki Jukogyo Kabushiki Kaisha | Remote control robot system and method of operating the same |
| US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
| US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
| US10639108B2 (en) | 2015-10-30 | 2020-05-05 | Auris Health, Inc. | Process for percutaneous operations |
| AU2016365200B2 (en) | 2015-11-30 | 2021-10-28 | Stryker Corporation | Surgical instrument with telescoping nose mechanism |
| EP3419543B1 (en) * | 2016-02-26 | 2023-04-05 | Intuitive Surgical Operations, Inc. | System for collision avoidance using virtual boundaries |
| AU2017340607B2 (en) | 2016-10-05 | 2022-10-27 | Nuvasive, Inc. | Surgical navigation system and related methods |
| CA3042091A1 (en) * | 2016-10-31 | 2018-05-03 | Synaptive Medical (Barbados) Inc. | 3d navigation system and methods |
| US11202682B2 (en) * | 2016-12-16 | 2021-12-21 | Mako Surgical Corp. | Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site |
| WO2019032582A1 (en) * | 2017-08-10 | 2019-02-14 | Intuitive Surgical Operations, Inc. | SYSTEMS AND METHODS FOR DISPLAYING INTERACTION POINTS IN A TELEOPERATIONAL SYSTEM |
| JP7191098B2 (ja) * | 2017-11-13 | 2022-12-16 | コーニンクレッカ フィリップス エヌ ヴェ | ロボットナビゲーションのための自律ｘ線制御 |
| US11071595B2 (en) * | 2017-12-14 | 2021-07-27 | Verb Surgical Inc. | Multi-panel graphical user interface for a robotic surgical system |
| AU2018383641B2 (en) | 2017-12-14 | 2023-06-15 | Mako Surgical Corp. | View angle-independent visual representation of a cut procedure |
| WO2019136039A1 (en) * | 2018-01-04 | 2019-07-11 | Covidien Lp | Robotic surgical systems including torque sensors |
| CN108324373B (zh) * | 2018-03-19 | 2020-11-27 | 南开大学 | 一种基于电磁定位系统的穿刺手术机器人精确定位实现方法 |
| JP7139643B2 (ja) * | 2018-03-23 | 2022-09-21 | カシオ計算機株式会社 | ロボット、ロボットの制御方法及びプログラム |
| EP3785228B8 (en) | 2018-04-23 | 2024-01-24 | MAKO Surgical Corp. | System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment |
| US10842699B2 (en) * | 2018-04-27 | 2020-11-24 | Ormonde M. Mahoney | System and method for patient positioning in an automated surgery |
| EP3569159A1 (en) * | 2018-05-14 | 2019-11-20 | Orthotaxy | Surgical system for cutting an anatomical structure according to at least one target plane |
| CN112218595A (zh) | 2018-05-18 | 2021-01-12 | 奥瑞斯健康公司 | 用于机器人使能的远程操作的系统的控制器 |
| US11026752B2 (en) | 2018-06-04 | 2021-06-08 | Medtronic Navigation, Inc. | System and method for performing and evaluating a procedure |
| US11510737B2 (en) | 2018-06-21 | 2022-11-29 | Mako Surgical Corp. | Patella tracking |
| EP3860495A1 (en) * | 2018-10-04 | 2021-08-11 | Smith&Nephew, Inc. | Dual-position tracking hardware mount for surgical navigation |
| US11980436B2 (en) | 2018-10-12 | 2024-05-14 | Sony Corporation | Medical system, method and computer program |
| JP6895128B2 (ja) * | 2018-11-09 | 2021-06-30 | オムロン株式会社 | ロボット制御装置、シミュレーション方法、及びシミュレーションプログラム |
| EP3680738A1 (de) * | 2019-01-14 | 2020-07-15 | Siemens Aktiengesellschaft | Kollisionsprüfung auf basis höherwertiger geometrie |
| US20210353381A1 (en) * | 2019-01-23 | 2021-11-18 | Sony Group Corporation | Medical arm system, control device, control method, and program |
| ES2972869T3 (es) * | 2019-02-14 | 2024-06-17 | Braun Gmbh | Sistema para evaluar el uso de un producto de consumo móvil manualmente previsto |
| US20220338886A1 (en) * | 2019-06-19 | 2022-10-27 | Think Surgical, Inc. | System and method to position a tracking system field-of-view |
| US12138003B2 (en) | 2019-06-25 | 2024-11-12 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
| US11369386B2 (en) | 2019-06-27 | 2022-06-28 | Auris Health, Inc. | Systems and methods for a medical clip applier |
| WO2020263949A1 (en) | 2019-06-28 | 2020-12-30 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
| KR102729989B1 (ko) | 2019-07-03 | 2024-11-15 | 스트리커 코포레이션 | 수술 내비게이션을 위한 장애물 회피 기술 |
| EP4616820A3 (en) | 2019-07-15 | 2025-11-12 | Stryker Corporation | Robotic hand-held surgical instrument systems |
| US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| US11612440B2 (en) | 2019-09-05 | 2023-03-28 | Nuvasive, Inc. | Surgical instrument tracking devices and related methods |
| EP4034350A1 (en) | 2019-09-26 | 2022-08-03 | Auris Health, Inc. | Systems and methods for collision avoidance using object models |
| CA3155848A1 (en) | 2019-09-26 | 2021-04-01 | Stryker Corporation | Surgical navigation systems and methods |
| EP4034349A1 (en) | 2019-09-26 | 2022-08-03 | Auris Health, Inc. | Systems and methods for collision detection and avoidance |
| WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
| JP7328861B2 (ja) * | 2019-10-09 | 2023-08-17 | キヤノンメディカルシステムズ株式会社 | 医用情報処理装置、医用情報処理システム、医用情報処理プログラム、および医用画像撮像装置 |
| US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
| US12357409B2 (en) | 2019-11-21 | 2025-07-15 | Auris Health, Inc. | Systems and methods for draping a surgical system |
| CN113040922B (zh) * | 2019-12-27 | 2022-06-14 | 重庆海扶医疗科技股份有限公司 | 聚焦超声手术执行机构的运动控制方法、介质、系统和设备 |
| US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
| US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
| CN115379814A (zh) * | 2020-03-27 | 2022-11-22 | 马科外科公司 | 用于基于虚拟边界控制工具的机器人移动的系统和方法 |
| CN115515523A (zh) | 2020-03-30 | 2022-12-23 | 奥瑞斯健康公司 | 机器人外科手术的工作空间优化 |
| US11839969B2 (en) | 2020-06-29 | 2023-12-12 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
| US11357586B2 (en) * | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
| WO2022033670A1 (en) * | 2020-08-12 | 2022-02-17 | Brainlab Ag | Determining an avoidance region for a reference device |
| KR20230061461A (ko) * | 2020-09-02 | 2023-05-08 | 아우리스 헬스, 인코포레이티드 | 로봇 충돌 경계 결정 |
| CN112700474B (zh) * | 2020-12-31 | 2024-08-20 | 广东美的白色家电技术创新中心有限公司 | 碰撞检测方法、设备及计算机可读存储介质 |
| CN112716603B (zh) * | 2021-01-19 | 2021-11-26 | 威海威高骨科手术机器人有限公司 | 一种骨科复位定位机器人 |
| CN114948067B (zh) * | 2021-02-18 | 2025-04-15 | 杭州柳叶刀机器人有限公司 | 磨挫深度控制方法、装置和髋关节置换机器人 |
| CN113081272B (zh) * | 2021-03-22 | 2023-02-03 | 珞石（北京）科技有限公司 | 虚拟墙引导的膝关节置换手术辅助定位系统 |
| US12467489B2 (en) | 2022-03-17 | 2025-11-11 | Mako Surgical Corp. | Techniques for securing together components of one or more surgical carts |
| EP4518784A2 (en) * | 2022-05-05 | 2025-03-12 | Virginia Commonwealth University | Methods and systems for surgical training |
| WO2023230349A1 (en) * | 2022-05-26 | 2023-11-30 | Stryker Corporation | Alert system behavior based on localization awareness |
| JP2024094769A (ja) * | 2022-12-28 | 2024-07-10 | 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 |
| EP4406503A1 (en) * | 2023-01-27 | 2024-07-31 | Ecential Robotics | Surgical navigation system dealing with partially-obscured markers |
| CN120304953B (zh) * | 2025-05-27 | 2025-11-11 | 北京和华瑞博医疗科技有限公司 | 定位系统及手术系统 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101426446A (zh) * | 2006-01-17 | 2009-05-06 | 马科外科公司 | 用于触觉表达的装置和方法 |
Family Cites Families (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5430643A (en) | 1992-03-11 | 1995-07-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Configuration control of seven degree of freedom arms |
| US5548694A (en) | 1995-01-31 | 1996-08-20 | Mitsubishi Electric Information Technology Center America, Inc. | Collision avoidance system for voxel-based object representation |
| DE19817039A1 (de) * | 1998-04-17 | 1999-10-21 | Philips Patentverwaltung | Anordnung für die bildgeführte Chirurgie |
| US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
| US9295525B2 (en) | 1999-09-17 | 2016-03-29 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of surgical systems |
| US7747312B2 (en) | 2000-01-04 | 2010-06-29 | George Mason Intellectual Properties, Inc. | System and method for automatic shape registration and instrument tracking |
| US20010034530A1 (en) | 2000-01-27 | 2001-10-25 | Malackowski Donald W. | Surgery system |
| DE10025285A1 (de) | 2000-05-22 | 2001-12-06 | Siemens Ag | Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe |
| JP2004223128A (ja) | 2003-01-27 | 2004-08-12 | Hitachi Ltd | 医療行為支援装置および方法 |
| WO2005039835A1 (en) | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
| JP3946711B2 (ja) | 2004-06-02 | 2007-07-18 | ファナック株式会社 | ロボットシステム |
| JP4335160B2 (ja) | 2005-03-02 | 2009-09-30 | 任天堂株式会社 | 衝突判定プログラムおよび衝突判定装置 |
| JP4417877B2 (ja) * | 2005-04-20 | 2010-02-17 | 株式会社セブンスディメンジョンデザイン | 光送受信装置制御システム |
| US9082319B2 (en) | 2006-01-24 | 2015-07-14 | Carnegie Mellon University | Method, apparatus, and system for computer-aided tracking, navigation and motion teaching |
| CN101448468B (zh) | 2006-05-19 | 2011-10-12 | 马科外科公司 | 用于验证外科手术装置的校准的系统和方法 |
| US8560047B2 (en) | 2006-06-16 | 2013-10-15 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
| US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| ES2316012T3 (es) | 2006-09-14 | 2009-04-01 | Abb Research Ltd. | Un metodo y dispositivo para evitar colisiones entre un robot industrial y un objeto. |
| US8082064B2 (en) | 2007-08-24 | 2011-12-20 | Elite Engineering Corporation | Robotic arm and control system |
| DE102007055205A1 (de) | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | Verfahren zum Ermitteln eines Aufstellortes und zum Aufstellen einer Erfassungsvorrichtung eines Navigationssystems |
| US9063539B2 (en) | 2008-12-17 | 2015-06-23 | Kuka Laboratories Gmbh | Method and device for command input in a controller of a manipulator |
| US8386080B2 (en) | 2009-09-15 | 2013-02-26 | Harris Corporation | Robotic apparatus implementing collision avoidance scheme and associated methods |
| US9724167B2 (en) | 2009-10-01 | 2017-08-08 | Mako Surgical Corp. | System with brake to limit manual movement of member and control system for same |
| JP2013524952A (ja) * | 2010-04-22 | 2013-06-20 | ブルー ベルト テクノロジーズ，エル エル シー | 再構成可能なナビゲートされる外科用器具のトラッキング装置 |
| CA2797302C (en) | 2010-04-28 | 2019-01-15 | Ryerson University | System and methods for intraoperative guidance feedback |
| WO2012078989A1 (en) | 2010-12-10 | 2012-06-14 | Wayne State University | Intelligent autonomous camera control for robotics with medical, military, and space applications |
| US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
| US9381085B2 (en) | 2011-06-23 | 2016-07-05 | Stryker Corporation | Prosthetic implant and method of implantation |
| EP2750620B1 (en) | 2011-09-02 | 2017-04-26 | Stryker Corporation | Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing |
| US9770828B2 (en) | 2011-09-28 | 2017-09-26 | The Johns Hopkins University | Teleoperative-cooperative robotic system |
| US9333044B2 (en) | 2011-12-30 | 2016-05-10 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for detection and avoidance of collisions of robotically-controlled medical devices |
| EP2854688B1 (en) | 2012-06-01 | 2022-08-17 | Intuitive Surgical Operations, Inc. | Manipulator arm-to-patient collision avoidance using a null-space |
| WO2013192598A1 (en) | 2012-06-21 | 2013-12-27 | Excelsius Surgical, L.L.C. | Surgical robot platform |
| EP2838698B2 (de) | 2012-07-10 | 2020-01-01 | Siemens Aktiengesellschaft | Roboteranordnung und verfahren zum steuern eines roboters |
| US9008757B2 (en) | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
| WO2014106262A1 (en) | 2012-12-31 | 2014-07-03 | Mako Surgical Corp. | System for image-based robotic surgery |
| US9566120B2 (en) * | 2013-01-16 | 2017-02-14 | Stryker Corporation | Navigation systems and methods for indicating and reducing line-of-sight errors |
| US9717461B2 (en) | 2013-01-24 | 2017-08-01 | Kineticor, Inc. | Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan |
| KR102060390B1 (ko) | 2013-03-13 | 2019-12-30 | 스트리커 코포레이션 | 가상 구속 경계들을 확립하기 위한 시스템 |
| CA2906414C (en) * | 2013-03-15 | 2016-07-26 | Synaptive Medical (Barbados) Inc. | Systems and methods for navigation and simulation of minimally invasive therapy |
| JP2014180720A (ja) | 2013-03-19 | 2014-09-29 | Yaskawa Electric Corp | ロボットシステム及びキャリブレーション方法 |
| JP6530759B2 (ja) | 2014-02-05 | 2019-06-12 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | 動的な仮想の衝突対象物についてのシステム及び方法 |
| KR20170035831A (ko) | 2014-03-14 | 2017-03-31 | 시냅티브 메디컬 (바베이도스) 아이엔씨. | 인텔리전트 포지셔닝 시스템과 그것의 방법들 |
| US10335116B2 (en) | 2014-04-17 | 2019-07-02 | The Johns Hopkins University | Robot assisted ultrasound system |
| US10105186B2 (en) | 2014-06-09 | 2018-10-23 | The Johns Hopkins University | Virtual rigid body optical tracking system and method |
| WO2016114834A2 (en) | 2014-10-22 | 2016-07-21 | Think Surgical, Inc. | Actively controlled optical tracker with a robot |
| KR102477470B1 (ko) | 2014-11-21 | 2022-12-13 | 씽크 써지컬, 인크. | 시각 추적 시스템과 추적 마커 간에 데이터를 전송하기 위한 가시광 통신 시스템 |
| EP4566559A3 (en) | 2015-02-25 | 2025-08-06 | MAKO Surgical Corp. | Navigation systems and methods for reducing tracking interruptions during a surgical procedure |
| DE102015007395A1 (de) | 2015-06-08 | 2016-12-08 | Kuka Roboter Gmbh | Verfahren und System zum Betreiben und/oder Überwachen einer Maschine, insbesondere eines Roboters |
| CN105427819B (zh) | 2015-12-24 | 2017-06-27 | 深圳市华星光电技术有限公司 | 栅极驱动架构及其阵列基板 |
| EP3419543B1 (en) | 2016-02-26 | 2023-04-05 | Intuitive Surgical Operations, Inc. | System for collision avoidance using virtual boundaries |
| WO2017187795A1 (ja) | 2016-04-28 | 2017-11-02 | ソニー株式会社 | 制御装置、制御方法及び手術システム |
| DE102016118123A1 (de) | 2016-09-26 | 2018-03-29 | Medineering Gmbh | Medizinischer Haltearm zur Einbindung in ein OP-Navigationssystem |
| WO2018154491A1 (en) | 2017-02-22 | 2018-08-30 | Orthosoft Inc. | Bone and tool tracking in robotized computer-assisted surgery |
| US11551810B2 (en) | 2018-01-03 | 2023-01-10 | Siemens Healthcare Gmbh | Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device |
| WO2020015836A1 (en) | 2018-07-20 | 2020-01-23 | Brainlab Ag | Method for automatic detection of instrument orientation for robotic surgery |
-
2016
- 2016-02-24 EP EP25170859.0A patent/EP4566559A3/en active Pending
- 2016-02-24 KR KR1020247009857A patent/KR20240044536A/ko active Pending
- 2016-02-24 KR KR1020237001704A patent/KR102653682B1/ko active Active
- 2016-02-24 EP EP23152153.5A patent/EP4197479B1/en active Active
- 2016-02-24 JP JP2017541250A patent/JP6748088B2/ja active Active
- 2016-02-24 WO PCT/US2016/019347 patent/WO2016138124A1/en not_active Ceased
- 2016-02-24 KR KR1020177017901A patent/KR102491907B1/ko active Active
- 2016-02-24 US US15/052,323 patent/US10660711B2/en active Active
- 2016-02-24 AU AU2016222790A patent/AU2016222790B2/en active Active
- 2016-02-24 CN CN202010806484.4A patent/CN111839732B/zh active Active
- 2016-02-24 EP EP16709871.4A patent/EP3261571B1/en active Active
- 2016-02-24 CN CN201680008515.3A patent/CN107205786B/zh active Active
-
2020
- 2020-04-20 US US16/853,146 patent/US11517377B2/en active Active
- 2020-06-24 AU AU2020204207A patent/AU2020204207B2/en active Active
- 2020-08-05 JP JP2020133117A patent/JP6998999B2/ja active Active
-
2021
- 2021-12-21 JP JP2021206995A patent/JP7344271B2/ja active Active
-
2022
- 2022-02-04 AU AU2022200731A patent/AU2022200731B2/en active Active
- 2022-11-08 US US17/982,845 patent/US12453605B2/en active Active
-
2023
- 2023-09-01 JP JP2023142314A patent/JP7572524B2/ja active Active
-
2024
- 2024-02-26 AU AU2024201278A patent/AU2024201278B2/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101426446A (zh) * | 2006-01-17 | 2009-05-06 | 马科外科公司 | 用于触觉表达的装置和方法 |
Also Published As
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111839732B (zh) | 用于在外科手术过程中减少跟踪中断的导航系统和方法 | |
| JP7747651B2 (ja) | 仮想境界に基づくツールのロボットの動きを制御するためのシステム及び方法 | |
| JP2023126764A (ja) | 仮想境界を実現するための反力を生成するロボットシステムおよび方法 | |
| US20230329813A1 (en) | Systems And Methods For Guided Placement Of A Robotic Manipulator | |
| AU2025271212A1 (en) | Navigation systems and methods for reducing tracking interruptions during a surgical procedure |
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 |