CN115038399B - 用于控制外科手术臂的用户输入装置的定向 - Google Patents

用于控制外科手术臂的用户输入装置的定向

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Publication number
CN115038399B
CN115038399B CN202080095408.5A CN202080095408A CN115038399B CN 115038399 B CN115038399 B CN 115038399B CN 202080095408 A CN202080095408 A CN 202080095408A CN 115038399 B CN115038399 B CN 115038399B
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CN
China
Prior art keywords
arm
input device
surgical
user input
mode
Prior art date
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Active
Application number
CN202080095408.5A
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English (en)
Chinese (zh)
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CN115038399A (zh
Inventor
德维尔·科恩
亚龙·列文森
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.)
Momentis Surgical Ltd
Original Assignee
Memic Innovative Surgery 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 Memic Innovative Surgery Ltd filed Critical Memic Innovative Surgery Ltd
Publication of CN115038399A publication Critical patent/CN115038399A/zh
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Publication of CN115038399B publication Critical patent/CN115038399B/zh
Active legal-status Critical Current
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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
    • A61B34/70—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
    • 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
    • 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
    • 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
    • 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
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • 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
    • A61B2034/742—Joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202080095408.5A 2019-12-05 2020-12-04 用于控制外科手术臂的用户输入装置的定向 Active CN115038399B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962944351P 2019-12-05 2019-12-05
US62/944,351 2019-12-05
PCT/IB2020/061508 WO2021111394A1 (en) 2019-12-05 2020-12-04 Orientation of user-input devices for controlling surgical arms

Publications (2)

Publication Number Publication Date
CN115038399A CN115038399A (zh) 2022-09-09
CN115038399B true CN115038399B (zh) 2025-08-15

Family

ID=76221489

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202080095408.5A Active CN115038399B (zh) 2019-12-05 2020-12-04 用于控制外科手术臂的用户输入装置的定向
CN202080095690.7A Active CN115087407B (zh) 2019-12-05 2020-12-04 机械外科手术臂的双重控制

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202080095690.7A Active CN115087407B (zh) 2019-12-05 2020-12-04 机械外科手术臂的双重控制

Country Status (5)

Country Link
US (4) US12213758B2 (enExample)
EP (2) EP4069127A4 (enExample)
JP (3) JP2023504725A (enExample)
CN (2) CN115038399B (enExample)
WO (2) WO2021111392A1 (enExample)

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CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
WO2021111392A1 (en) 2019-12-05 2021-06-10 Memic Innovative Surgery Ltd. Dual control of a mechanical surgical arm
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Also Published As

Publication number Publication date
US20230000571A1 (en) 2023-01-05
JP2023504720A (ja) 2023-02-06
US20250288383A1 (en) 2025-09-18
US12213758B2 (en) 2025-02-04
EP4069126A4 (en) 2024-02-21
WO2021111392A1 (en) 2021-06-10
CN115087407B (zh) 2025-05-30
EP4069127A1 (en) 2022-10-12
US20230000579A1 (en) 2023-01-05
WO2021111394A1 (en) 2021-06-10
CN115087407A (zh) 2022-09-20
JP2026016409A (ja) 2026-02-03
US12295694B2 (en) 2025-05-13
JP7756927B2 (ja) 2025-10-21
WO2021111394A8 (en) 2022-01-20
EP4069127A4 (en) 2023-11-29
EP4069126A1 (en) 2022-10-12
US20250090256A1 (en) 2025-03-20
JP2023504725A (ja) 2023-02-06
CN115038399A (zh) 2022-09-09

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