CN116348056A - 用于显微外科手术的机器人系统 - Google Patents

用于显微外科手术的机器人系统 Download PDF

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Publication number
CN116348056A
CN116348056A CN202180059277.XA CN202180059277A CN116348056A CN 116348056 A CN116348056 A CN 116348056A CN 202180059277 A CN202180059277 A CN 202180059277A CN 116348056 A CN116348056 A CN 116348056A
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CN
China
Prior art keywords
eye
tool
patient
computer processor
robotic
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Pending
Application number
CN202180059277.XA
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English (en)
Chinese (zh)
Inventor
丹尼尔·格楼兹曼
奥弗·阿诺德
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Fossett Robotics Co ltd
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Fossett Robotics Co ltd
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Filing date
Publication date
Application filed by Fossett Robotics Co ltd filed Critical Fossett Robotics Co ltd
Publication of CN116348056A publication Critical patent/CN116348056A/zh
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
    • A61F9/00754—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments for cutting or perforating the anterior lens capsule, e.g. capsulotomes
    • 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
    • A61B34/32—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
    • A61B34/30—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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F2009/0035—Devices for immobilising a patient's head with respect to the instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
CN202180059277.XA 2020-07-28 2021-07-27 用于显微外科手术的机器人系统 Pending CN116348056A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063057391P 2020-07-28 2020-07-28
US63/057,391 2020-07-28
US202063087408P 2020-10-05 2020-10-05
US63/087,408 2020-10-05
PCT/IB2021/056784 WO2022023962A2 (en) 2020-07-28 2021-07-27 Robotic system for microsurgical procedures

Publications (1)

Publication Number Publication Date
CN116348056A true CN116348056A (zh) 2023-06-27

Family

ID=77168342

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180059277.XA Pending CN116348056A (zh) 2020-07-28 2021-07-27 用于显微外科手术的机器人系统

Country Status (6)

Country Link
US (3) US20220378613A1 (https=)
EP (2) EP4360581A3 (https=)
JP (1) JP7649333B2 (https=)
CN (1) CN116348056A (https=)
CA (1) CA3186991A1 (https=)
WO (1) WO2022023962A2 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119791949A (zh) * 2025-01-17 2025-04-11 宁波市眼科医院 纵横-vi睑缘肿物切除与手术修复一体化装置

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ES2988539T3 (es) 2018-05-15 2024-11-20 Univ California Sistema para cirugía intraocular robótica automatizada guiada por imágenes
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
WO2022165753A1 (zh) * 2021-02-05 2022-08-11 中国科学院深圳先进技术研究院 一种用于眼睑翻开的软体装置及方法
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
CA3238904A1 (en) 2021-12-02 2023-06-08 Forsight Robotics Ltd. Force feedback for robotic microsurgical procedures
CN120751999A (zh) * 2023-02-21 2025-10-03 弗塞特机器人有限公司 用于机器人显微外科手术的控制部件
JP2026509911A (ja) * 2023-03-24 2026-03-25 フォーサイト ロボティクス リミテッド マイクロサージャリーロボットシステムの係合
DE102023129000A1 (de) 2023-10-23 2025-04-24 Carl Zeiss Meditec Ag Chirurgiesystem und Verfahren zum Unterstützen eines chirurgischen Eingriffs
WO2025102005A1 (en) * 2023-11-09 2025-05-15 Horizon Surgical Systems, Inc. Triple pivot remote center of motion joint for surgical robotic systems

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US5410638A (en) * 1993-05-03 1995-04-25 Northwestern University System for positioning a medical instrument within a biotic structure using a micromanipulator
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US20070299427A1 (en) * 2006-06-14 2007-12-27 Yeung Benny H B Surgical manipulator
US20100331858A1 (en) * 2008-01-30 2010-12-30 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
US20130131867A1 (en) * 2011-11-04 2013-05-23 The Johns Hopkins University Steady hand micromanipulation robot
US20170252208A1 (en) * 2009-10-02 2017-09-07 Technische Universiteit Eindhoven Surgical Robot, Instrument Manipulator, Combination of an Operating Table and a Surgical Robot, and Master-Slave Operating System
WO2019183236A1 (en) * 2018-03-21 2019-09-26 The Regents Of The University Of California Rapid and precise tool exchange mechanism for intraocular robotic surgical systems
CN110325139A (zh) * 2016-10-04 2019-10-11 Ip2Ipo创新有限公司 用于机器人手术器械的联接件

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US5410638A (en) * 1993-05-03 1995-04-25 Northwestern University System for positioning a medical instrument within a biotic structure using a micromanipulator
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US20070299427A1 (en) * 2006-06-14 2007-12-27 Yeung Benny H B Surgical manipulator
US20100331858A1 (en) * 2008-01-30 2010-12-30 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
US20170252208A1 (en) * 2009-10-02 2017-09-07 Technische Universiteit Eindhoven Surgical Robot, Instrument Manipulator, Combination of an Operating Table and a Surgical Robot, and Master-Slave Operating System
US20130131867A1 (en) * 2011-11-04 2013-05-23 The Johns Hopkins University Steady hand micromanipulation robot
CN110325139A (zh) * 2016-10-04 2019-10-11 Ip2Ipo创新有限公司 用于机器人手术器械的联接件
WO2019183236A1 (en) * 2018-03-21 2019-09-26 The Regents Of The University Of California Rapid and precise tool exchange mechanism for intraocular robotic surgical systems

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119791949A (zh) * 2025-01-17 2025-04-11 宁波市眼科医院 纵横-vi睑缘肿物切除与手术修复一体化装置

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Publication number Publication date
US20230165713A1 (en) 2023-06-01
WO2022023962A2 (en) 2022-02-03
CA3186991A1 (en) 2022-02-03
EP4360581A2 (en) 2024-05-01
US20220378613A1 (en) 2022-12-01
EP4087516A2 (en) 2022-11-16
JP2023536687A (ja) 2023-08-29
EP4087516B1 (en) 2024-04-10
WO2022023962A3 (en) 2022-04-28
JP7649333B2 (ja) 2025-03-19
EP4087516C0 (en) 2024-04-10
EP4360581A3 (en) 2024-07-31
US20230157872A1 (en) 2023-05-25

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