CN115916093A - 用于引导手持医疗机器人器械的移动的系统和方法 - Google Patents

用于引导手持医疗机器人器械的移动的系统和方法 Download PDF

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Publication number
CN115916093A
CN115916093A CN202180045092.3A CN202180045092A CN115916093A CN 115916093 A CN115916093 A CN 115916093A CN 202180045092 A CN202180045092 A CN 202180045092A CN 115916093 A CN115916093 A CN 115916093A
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CN
China
Prior art keywords
constraint
saw blade
tool
actuators
state
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Pending
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CN202180045092.3A
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English (en)
Chinese (zh)
Inventor
N·J·波斯特
M·D·多泽曼
R·T·德卢卡
T·J·博宗
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Maco Surgical Co
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Maco Surgical Co
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Publication of CN115916093A publication Critical patent/CN115916093A/zh
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    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/142—Surgical saws with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • 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
    • A61B2090/3983—Reference marker arrangements for use with image guided 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202180045092.3A 2020-09-08 2021-09-08 用于引导手持医疗机器人器械的移动的系统和方法 Pending CN115916093A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063075615P 2020-09-08 2020-09-08
US63/075,615 2020-09-08
US202063085651P 2020-09-30 2020-09-30
US63/085,651 2020-09-30
PCT/US2021/049440 WO2022055980A1 (en) 2020-09-08 2021-09-08 Systems and methods for guiding movement of a handheld medical robotic instrument

Publications (1)

Publication Number Publication Date
CN115916093A true CN115916093A (zh) 2023-04-04

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CN202180045092.3A Pending CN115916093A (zh) 2020-09-08 2021-09-08 用于引导手持医疗机器人器械的移动的系统和方法

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Country Link
US (1) US20230255701A1 (enExample)
EP (1) EP4210619A1 (enExample)
JP (1) JP7846024B2 (enExample)
CN (1) CN115916093A (enExample)
AU (1) AU2021342049A1 (enExample)
WO (1) WO2022055980A1 (enExample)

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CN117289796A (zh) * 2023-09-22 2023-12-26 中山大学 基于触觉手套的复杂装备高交互混合现实系统与方法
CN117901089A (zh) * 2023-12-26 2024-04-19 杭州三坛医疗科技有限公司 一种机器人导纳控制方法、装置、电子设备及介质
CN119587170A (zh) * 2024-11-22 2025-03-11 北京中科鸿泰医疗科技有限公司 介入手术机器人控制端旋转限位结构及方法

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CN111227943B (zh) * 2020-01-23 2021-07-06 诺创智能医疗科技(杭州)有限公司 手术机械臂的控制方法、计算机设备及一种手术机械臂
EP4094708A4 (en) 2020-01-23 2024-01-17 Noahtron Intelligence Medtech (Hangzhou) Co., Ltd. SURGICAL ROBOT ARM AND SURGICAL ROBOT
JP2023512760A (ja) * 2020-02-04 2023-03-29 マコ サージカル コーポレーション 視覚インジケータを備える手持ち式ロボット手術器具システム及びそれを制御する方法
AU2022211019A1 (en) 2021-01-20 2023-08-03 Mako Surgical Corp. Robotic hand-held surgical instrument systems and methods
US20240374330A1 (en) * 2021-09-27 2024-11-14 Covidien Lp System of operating surgical robotic systems with access ports of varying length
JP2025503705A (ja) * 2022-01-12 2025-02-04 マコ サージカル コーポレーション 手持ち式医療ロボット器具の動きをガイドするシステム及び方法
WO2023141265A2 (en) 2022-01-20 2023-07-27 Mako Surgical Corp. Robotic hand-held surgical system
US20230404572A1 (en) * 2022-06-17 2023-12-21 Cilag Gmbh International Smart circular staplers
CN119768123A (zh) 2022-08-26 2025-04-04 马科外科公司 选择性自动化机器人外科手术系统
KR20250172812A (ko) * 2023-03-07 2025-12-09 모노그램 올소패딕스 인크. 로봇 수술 시스템 레이아웃 및 관련 방법
US12575897B2 (en) * 2023-12-12 2026-03-17 Depuy Ireland Unlimited Company Navigated handpiece motor current signal and pose estimation based geofencing
US20250255579A1 (en) * 2024-02-08 2025-08-14 Fujifilm Sonosite, Inc. Repeatable Ultrasound
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CN119689926B (zh) * 2024-11-15 2025-10-14 西安电子科技大学 一种用于并联驱动式天线座的运动控制器

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117289796A (zh) * 2023-09-22 2023-12-26 中山大学 基于触觉手套的复杂装备高交互混合现实系统与方法
CN117289796B (zh) * 2023-09-22 2024-05-07 中山大学 基于触觉手套的复杂装备高交互混合现实系统与方法
CN117901089A (zh) * 2023-12-26 2024-04-19 杭州三坛医疗科技有限公司 一种机器人导纳控制方法、装置、电子设备及介质
CN117901089B (zh) * 2023-12-26 2024-11-15 杭州三坛医疗科技有限公司 一种机器人导纳控制方法、装置、电子设备及介质
CN119587170A (zh) * 2024-11-22 2025-03-11 北京中科鸿泰医疗科技有限公司 介入手术机器人控制端旋转限位结构及方法

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WO2022055980A1 (en) 2022-03-17
AU2021342049A1 (en) 2023-01-19
US20230255701A1 (en) 2023-08-17
EP4210619A1 (en) 2023-07-19
JP2023539710A (ja) 2023-09-19
JP7846024B2 (ja) 2026-04-14

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