CN115087407B - 机械外科手术臂的双重控制 - Google Patents

机械外科手术臂的双重控制 Download PDF

Info

Publication number
CN115087407B
CN115087407B CN202080095690.7A CN202080095690A CN115087407B CN 115087407 B CN115087407 B CN 115087407B CN 202080095690 A CN202080095690 A CN 202080095690A CN 115087407 B CN115087407 B CN 115087407B
Authority
CN
China
Prior art keywords
arm
mode
input device
surgical
bending
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
CN202080095690.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN115087407A (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.)
Mormentis Surgery Co ltd
Momentis Surgical Ltd
Original Assignee
Mormentis Surgery Co ltd
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 Mormentis Surgery Co ltd, Memic Innovative Surgery Ltd filed Critical Mormentis Surgery Co ltd
Publication of CN115087407A publication Critical patent/CN115087407A/zh
Application granted granted Critical
Publication of CN115087407B publication Critical patent/CN115087407B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202080095690.7A 2019-12-05 2020-12-04 机械外科手术臂的双重控制 Active CN115087407B (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/IB2020/061506 WO2021111392A1 (en) 2019-12-05 2020-12-04 Dual control of a mechanical surgical arm

Publications (2)

Publication Number Publication Date
CN115087407A CN115087407A (zh) 2022-09-20
CN115087407B true CN115087407B (zh) 2025-05-30

Family

ID=76221489

Family Applications (2)

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
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

Family Applications After (1)

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

Country Status (5)

Country Link
US (4) US12295694B2 (cg-RX-API-DMAC7.html)
EP (2) EP4069126A4 (cg-RX-API-DMAC7.html)
JP (3) JP2023504725A (cg-RX-API-DMAC7.html)
CN (2) CN115087407B (cg-RX-API-DMAC7.html)
WO (2) WO2021111392A1 (cg-RX-API-DMAC7.html)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
JP2023504725A (ja) 2019-12-05 2023-02-06 モーメンティス サージカル リミテッド 外科手術用アームを制御するためのユーザ入力デバイスの向き
IL272830B2 (en) 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
WO2023272375A1 (en) * 2021-06-20 2023-01-05 Titan Medical Inc. Method for controlling an articulating instrument
WO2023275697A1 (en) * 2021-06-28 2023-01-05 Momentis Surgical Ltd. Assemblies and methods for performing practice exercises with a surgical device
WO2023286066A1 (en) * 2021-07-15 2023-01-19 Momentis Surgical Ltd Input arm for control of a surgical arm
CN116965938B (zh) * 2022-04-23 2026-07-28 深圳市精锋医疗科技股份有限公司 手术机器人、医疗器械退出方法及可读存储介质
CN117695016A (zh) * 2022-08-24 2024-03-15 上海微创医疗机器人（集团）股份有限公司 机械臂的匹配方法、医生控制台和计算机可读存储介质
CN117414206A (zh) * 2023-10-20 2024-01-19 珠海横乐医疗科技有限公司 一种气管镜机器人系统
WO2026074425A1 (en) * 2024-10-04 2026-04-09 Covidien Lp Surgical robotic system for real-time user feedback instrument alignment

Family Cites Families (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
JP4542710B2 (ja) 1998-11-23 2010-09-15 マイクロデクステラティー・システムズ・インコーポレーテッド 外科用マニプレータ
US20050096502A1 (en) * 2003-10-29 2005-05-05 Khalili Theodore M. Robotic surgical device
US7338513B2 (en) * 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
DE102004027850A1 (de) 2004-06-08 2006-01-05 Henke-Sass Wolf Gmbh Biegbarer Abschnitt eines Einführtubus eines Endoskopes und Verfahren zu dessen Herstellung
EP1759629B1 (en) 2005-08-31 2014-04-02 Karl Storz GmbH & Co. KG Endoscope with variable direction of view
JP4891823B2 (ja) 2007-03-29 2012-03-07 オリンパスメディカルシステムズ株式会社 内視鏡装置
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP5028219B2 (ja) 2007-10-30 2012-09-19 オリンパスメディカルシステムズ株式会社 マニピュレータ装置および医療機器システム
US8343096B2 (en) 2008-03-27 2013-01-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system
DE102009008427A1 (de) 2009-02-11 2010-08-19 Schölly Fiberoptic GmbH Endoskop
US8882660B2 (en) * 2009-05-29 2014-11-11 Nanyang Technological University Robotic system for flexible endoscopy
WO2011036626A2 (en) 2009-09-22 2011-03-31 Ariel - University Research And Development Company, Ltd. Orientation controller, mechanical arm, gripper and components thereof
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
JP5612971B2 (ja) * 2010-09-07 2014-10-22 オリンパス株式会社 マスタスレーブマニピュレータ
US9789603B2 (en) * 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US9456735B2 (en) 2012-09-27 2016-10-04 Shahinian Karnig Hrayr Multi-angle rear-viewing endoscope and method of operation thereof
JP6255401B2 (ja) 2012-08-15 2017-12-27 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 機械本体の動きを操作するためのファントム自由度
CN104936548B (zh) * 2013-01-28 2017-07-14 奥林巴斯株式会社 医疗用机械手和医疗用机械手的控制方法
WO2014156286A1 (ja) * 2013-03-28 2014-10-02 オリンパス株式会社 処置具交換装置及び医療システム
JP6173089B2 (ja) * 2013-07-24 2017-08-02 オリンパス株式会社 医療用マスタースレーブシステムの制御方法
JP6081309B2 (ja) * 2013-07-24 2017-02-15 オリンパス株式会社 医療用マニピュレータ
JP6164964B2 (ja) * 2013-07-26 2017-07-19 オリンパス株式会社 医療用システムおよびその制御方法
DE202013104188U1 (de) 2013-09-13 2013-09-18 Ipek International Gmbh Drehmodul für ein Inspektionssystem
CN106132335B (zh) 2014-03-17 2019-08-30 直观外科手术操作公司 控制手术装配结构中的欠驱动关节的运动的方法
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
KR102574095B1 (ko) 2014-10-27 2023-09-06 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기기 교란 보상을 위한 시스템 및 방법
CA2973235C (en) 2015-01-09 2017-12-12 Titan Medical Inc. Alignment difference safety in a master-slave robotic system
DK3190942T3 (da) 2015-09-04 2020-07-13 Memic Innovative Surgery Ltd Aktivering af en enhed, der omfatter mekaniske arme
US10258419B2 (en) * 2015-09-25 2019-04-16 Ethicon Llc Methods for hybrid robotic laparoscopic surgery
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
CN115363770B (zh) 2016-07-14 2026-03-17 直观外科手术操作公司 用于控制外科器械的系统和方法
CN106361440B (zh) * 2016-08-31 2019-07-12 北京术锐技术有限公司 一种柔性手术工具系统及其在运动约束下的控制方法
US20180256241A1 (en) 2017-03-08 2018-09-13 Memic Innovative Surgery Ltd. Monopolar and bipolar electrosurgery device
US11350977B2 (en) 2017-03-08 2022-06-07 Memic Innovative Surgery Ltd. Modular electrosurgical device
EP3592274A4 (en) 2017-03-08 2021-04-07 Memic Innovative Surgery Ltd. ELECTROSURGICAL DEVICE
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US10973592B2 (en) * 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11419691B2 (en) * 2017-06-29 2022-08-23 The Board Of Regents Of The University Of Texas System Surgical apparatus
WO2019038770A1 (en) 2017-08-23 2019-02-28 Memic Innovative Surgery Ltd. TOOLS AND METHODS FOR VAGINAL ACCESS
CA3017680A1 (en) 2017-09-19 2019-03-19 Memic Innovative Surgery Ltd. Surgical drape
US11419667B2 (en) * 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
EP3510927B1 (en) * 2018-01-10 2026-05-27 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
JP2023504725A (ja) 2019-12-05 2023-02-06 モーメンティス サージカル リミテッド 外科手術用アームを制御するためのユーザ入力デバイスの向き

Also Published As

Publication number Publication date
CN115038399A (zh) 2022-09-09
CN115087407A (zh) 2022-09-20
WO2021111394A1 (en) 2021-06-10
US20250090256A1 (en) 2025-03-20
US20230000571A1 (en) 2023-01-05
JP2026016409A (ja) 2026-02-03
US20250288383A1 (en) 2025-09-18
EP4069126A1 (en) 2022-10-12
US20230000579A1 (en) 2023-01-05
CN115038399B (zh) 2025-08-15
JP7756927B2 (ja) 2025-10-21
WO2021111394A8 (en) 2022-01-20
US12295694B2 (en) 2025-05-13
EP4069126A4 (en) 2024-02-21
EP4069127A4 (en) 2023-11-29
US12213758B2 (en) 2025-02-04
JP2023504725A (ja) 2023-02-06
JP2023504720A (ja) 2023-02-06
EP4069127A1 (en) 2022-10-12
WO2021111392A1 (en) 2021-06-10

Similar Documents

Publication Publication Date Title
CN115038399B (zh) 用于控制外科手术臂的用户输入装置的定向
US20250281253A1 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12167898B2 (en) Control of device including mechanical arms
WO2021198796A1 (en) Passive and active arm control schemes with sensor integration to support tele-operation and direct manual interaction
CN112107368A (zh) 用于微创手术的外科医生输入设备
US20230064250A1 (en) Input handles for a surgeon console of a robotic surgical system
US20240349992A1 (en) Imaging device with elongate arm and pivotable camera
WO2023026074A1 (en) Imaging device with elongate arm and pivotable camera

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
CB02 Change of applicant information

Country or region after: Israel

Address after: Israel Orr Yehuda

Applicant after: Mormentis Surgery Co.,Ltd.

Address before: Israel, Olyahuda

Applicant before: MEMIC INNOVATIVE SURGERY LTD.

Country or region before: Israel

CB02 Change of applicant information
GR01 Patent grant
GR01 Patent grant