CN115379814B - 用于基于虚拟边界控制工具的机器人移动的系统和方法 - Google Patents

用于基于虚拟边界控制工具的机器人移动的系统和方法

Info

Publication number
CN115379814B
CN115379814B CN202180024918.8A CN202180024918A CN115379814B CN 115379814 B CN115379814 B CN 115379814B CN 202180024918 A CN202180024918 A CN 202180024918A CN 115379814 B CN115379814 B CN 115379814B
Authority
CN
China
Prior art keywords
tool
boundary
virtual
input
user
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
CN202180024918.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN115379814A (zh
Inventor
M·D·多泽曼
P·勒斯勒尔
G·加西亚
R·库拉纳
J·L·杜恩
D·G·鲍林
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.)
Mako Surgical Corp
Original Assignee
Mako Surgical Corp
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 Mako Surgical Corp filed Critical Mako Surgical Corp
Publication of CN115379814A publication Critical patent/CN115379814A/zh
Application granted granted Critical
Publication of CN115379814B publication Critical patent/CN115379814B/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
    • A61B34/25—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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • 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
    • A61B34/74—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
    • A61B34/70—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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B2034/2051—Electromagnetic tracking 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180024918.8A 2020-03-27 2021-03-25 用于基于虚拟边界控制工具的机器人移动的系统和方法 Active CN115379814B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063000860P 2020-03-27 2020-03-27
US63/000,860 2020-03-27
PCT/US2021/024135 WO2021195369A1 (en) 2020-03-27 2021-03-25 Systems and methods for controlling robotic movement of a tool based on a virtual boundary

Publications (2)

Publication Number Publication Date
CN115379814A CN115379814A (zh) 2022-11-22
CN115379814B true CN115379814B (zh) 2026-04-07

Family

ID=75540021

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180024918.8A Active CN115379814B (zh) 2020-03-27 2021-03-25 用于基于虚拟边界控制工具的机器人移动的系统和方法

Country Status (7)

Country Link
US (2) US11944396B2 (https=)
EP (1) EP4125691A1 (https=)
JP (1) JP7747651B2 (https=)
KR (1) KR20220158737A (https=)
CN (1) CN115379814B (https=)
AU (1) AU2021241577A1 (https=)
WO (1) WO2021195369A1 (https=)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020533061A (ja) * 2017-09-06 2020-11-19 コヴィディエン リミテッド パートナーシップ 手術ロボットの境界スケーリング
KR20220070212A (ko) 2019-09-30 2022-05-30 마코 서지컬 코포레이션 도구의 이동을 안내하기 위한 시스템 및 방법
AU2021241577A1 (en) 2020-03-27 2022-11-03 Mako Surgical Corp. Systems and methods for controlling robotic movement of a tool based on a virtual boundary
US20240026658A1 (en) * 2020-08-19 2024-01-25 Kobelco Construction Machinery Co., Ltd. Target path changing system for attachment
US12161419B2 (en) * 2021-03-05 2024-12-10 Verb Surgical Inc. Robot-assisted setup for a surgical robotic system
EP4070752A1 (en) * 2021-04-09 2022-10-12 MinMaxMedical Computer-assisted surgery system
DE102021204495A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters
WO2023076468A1 (en) * 2021-10-29 2023-05-04 Intuitive Surgical Operations, Inc. Systems for control of a surgical system
EP4465915A2 (en) 2022-01-20 2024-11-27 MAKO Surgical Corp. Robotic hand-held surgical system
US12295683B2 (en) * 2022-02-02 2025-05-13 Mazor Robotics Ltd. Systems and methods for robotic collision avoidance using medical imaging
US20230363826A1 (en) * 2022-05-10 2023-11-16 Auris Health, Inc. Pre-docking pose optimization
US20230404572A1 (en) * 2022-06-17 2023-12-21 Cilag Gmbh International Smart circular staplers
JPWO2024009359A1 (https=) * 2022-07-04 2024-01-11
CN115317132B (zh) * 2022-08-02 2025-09-05 华中科技大学 用于机器人辅助关节置换手术的虚拟夹具控制方法与系统
US12508712B2 (en) * 2022-08-30 2025-12-30 Alcon, Inc Contact management mode for robotic imaging system using multiple sensors
KR102777950B1 (ko) * 2022-12-12 2025-03-11 큐렉소 주식회사 수술로봇의 수술 가능 영역 생성 장치 및 방법
US11844585B1 (en) * 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US20240424663A1 (en) * 2023-06-26 2024-12-26 Honda Motor Co., Ltd. Robot-mediated physical human-human interaction
US12576516B2 (en) * 2023-07-20 2026-03-17 Fanuc Corporation Human skill based path generation
CN118697464B (zh) * 2024-05-10 2025-10-14 杭州三坛医疗科技有限公司 一种髋关节磨锉控制方法及系统
CN121596849A (zh) * 2024-08-15 2026-03-03 上海术济客医疗科技有限公司 一种手术机器人测试方法、装置、设备以及存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109688963A (zh) * 2016-07-15 2019-04-26 马科外科公司 用于机器人辅助修正程序的系统
EP3479790A2 (en) * 2017-11-07 2019-05-08 MAKO Surgical Corp. Robotic system for shoulder arthroplasty using stemless implant components

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6411276B1 (en) 1996-11-13 2002-06-25 Immersion Corporation Hybrid control of haptic feedback for host computer and interface device
US7084867B1 (en) 1999-04-02 2006-08-01 Massachusetts Institute Of Technology Haptic interface system for collision detection and applications therefore
US7747311B2 (en) * 2002-03-06 2010-06-29 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
AU2007254159B2 (en) 2006-05-19 2013-07-04 Mako Surgical Corp. System and method for verifying calibration of a surgical device
KR101943287B1 (ko) 2010-12-29 2019-01-28 마코 서지컬 코포레이션 상당히 안정된 햅틱스를 제공하기 위한 시스템 및 방법
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) * 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
WO2012131660A1 (en) 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system for spinal and other surgeries
CA2839706C (en) 2011-06-23 2017-05-02 Stryker Corporation Prosthetic implant and method of implantation
US8498744B2 (en) 2011-06-30 2013-07-30 Mako Surgical Corporation Surgical robotic systems with manual and haptic and/or active control modes
EP3656317A1 (en) 2011-09-02 2020-05-27 Stryker Corporation Surgical system including an instrument and method for using the instrument
US9639156B2 (en) 2011-12-29 2017-05-02 Mako Surgical Corp. Systems and methods for selectively activating haptic guide zones
EP2797542B1 (en) 2011-12-30 2019-08-28 MAKO Surgical Corp. Systems and methods for customizing interactive haptic boundaries
US9956042B2 (en) 2012-01-13 2018-05-01 Vanderbilt University Systems and methods for robot-assisted transurethral exploration and intervention
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US10398449B2 (en) 2012-12-21 2019-09-03 Mako Surgical Corp. Systems and methods for haptic control of a surgical tool
CA2897873A1 (en) 2013-03-13 2014-10-09 Stryker Corporation Systems and methods for establishing virtual constraint boundaries
KR102061727B1 (ko) 2013-03-15 2020-01-02 스트리커 코포레이션 수술 로봇 조작기의 엔드 이펙터
JP6748088B2 (ja) 2015-02-25 2020-08-26 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
US10417761B2 (en) 2015-05-07 2019-09-17 Koninklijke Philips N.V. Beam hardening correction for scanning dark field and phase contrast imaging
AU2016263585B2 (en) 2015-05-19 2021-04-29 Mako Surgical Corp. System and method for demonstrating planned autonomous manipulation of an anatomy
CN107635486B (zh) * 2015-05-19 2021-04-20 马科外科公司 操纵解剖体的系统和方法
US9795435B2 (en) * 2015-05-22 2017-10-24 Covidien Lp Surgical instruments and methods for performing tonsillectomy, adenoidectomy, and other surgical procedures
US10117713B2 (en) 2015-07-01 2018-11-06 Mako Surgical Corp. Robotic systems and methods for controlling a tool removing material from a workpiece
JP6680911B2 (ja) * 2016-05-27 2020-04-15 マコー サージカル コーポレイション 手術システム用の術前計画及び関連する術中見当合わせ
AU2018282197A1 (en) 2017-06-09 2019-12-19 Mako Surgical Corp. Robotic system and method for producing reactive forces to implement virtual boundaries
US11166775B2 (en) 2017-09-15 2021-11-09 Mako Surgical Corp. Robotic cutting systems and methods for surgical saw blade cutting on hard tissue
US11432945B2 (en) * 2017-11-07 2022-09-06 Howmedica Osteonics Corp. Robotic system for shoulder arthroplasty using stemless implant components
US11154369B2 (en) * 2018-01-24 2021-10-26 Think Surgical, Inc. Environmental mapping for robotic assisted surgery
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
EP3705074A1 (en) 2019-03-08 2020-09-09 MAKO Surgical Corp. Systems and methods for controlling movement of a surgical tool along a predefined path
US11337766B2 (en) 2019-03-15 2022-05-24 Mako Surgical Corp. Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation
KR20220070212A (ko) * 2019-09-30 2022-05-30 마코 서지컬 코포레이션 도구의 이동을 안내하기 위한 시스템 및 방법
AU2021241577A1 (en) * 2020-03-27 2022-11-03 Mako Surgical Corp. Systems and methods for controlling robotic movement of a tool based on a virtual boundary

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109688963A (zh) * 2016-07-15 2019-04-26 马科外科公司 用于机器人辅助修正程序的系统
EP3479790A2 (en) * 2017-11-07 2019-05-08 MAKO Surgical Corp. Robotic system for shoulder arthroplasty using stemless implant components

Also Published As

Publication number Publication date
JP7747651B2 (ja) 2025-10-01
US20240197413A1 (en) 2024-06-20
CN115379814A (zh) 2022-11-22
US20210298846A1 (en) 2021-09-30
KR20220158737A (ko) 2022-12-01
US12564455B2 (en) 2026-03-03
JP2023519880A (ja) 2023-05-15
US11944396B2 (en) 2024-04-02
EP4125691A1 (en) 2023-02-08
AU2021241577A1 (en) 2022-11-03
WO2021195369A1 (en) 2021-09-30

Similar Documents

Publication Publication Date Title
CN115379814B (zh) 用于基于虚拟边界控制工具的机器人移动的系统和方法
AU2024205157B2 (en) Systems and methods for guiding movement of a tool
AU2020357877B2 (en) Surgical systems for guiding robotic manipulators
CN118576327A (zh) 操纵解剖体的系统和方法
US12611274B2 (en) Robotic surgical systems and methods for guiding a tool along a path using hybrid automated/manual control
CN114599306B (zh) 用于引导机器人操纵器的手术系统
AU2026202773A1 (en) Systems and methods for guiding movement of a tool

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