CN117580529A - 用于眼睛外科手术的外科手术机器人系统及其控制 - Google Patents

用于眼睛外科手术的外科手术机器人系统及其控制 Download PDF

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Publication number
CN117580529A
CN117580529A CN202280042919.XA CN202280042919A CN117580529A CN 117580529 A CN117580529 A CN 117580529A CN 202280042919 A CN202280042919 A CN 202280042919A CN 117580529 A CN117580529 A CN 117580529A
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CN
China
Prior art keywords
surgical
surgical instrument
distance
target
instrument
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.)
Pending
Application number
CN202280042919.XA
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English (en)
Chinese (zh)
Inventor
M·J·比伦
J·斯密特
G·J·L·瑙斯
H·C·M·米宁克
M·J·D·德斯美特
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.)
Preceyes BV
Original Assignee
Preceyes BV
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 Preceyes BV filed Critical Preceyes BV
Publication of CN117580529A publication Critical patent/CN117580529A/zh
Pending 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • 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
    • A61B34/25—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
    • A61B34/37—Leader-follower robots
    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A61B2090/3735—Optical coherence tomography [OCT]

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
CN202280042919.XA 2021-06-16 2022-06-13 用于眼睛外科手术的外科手术机器人系统及其控制 Pending CN117580529A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP21179800.4 2021-06-16
EP21179800.4A EP4104779A1 (en) 2021-06-16 2021-06-16 Surgical robotic system for eye surgery and control of the same
PCT/EP2022/066010 WO2022263366A1 (en) 2021-06-16 2022-06-13 Surgical robotic system for eye surgery and control of the same

Publications (1)

Publication Number Publication Date
CN117580529A true CN117580529A (zh) 2024-02-20

Family

ID=76829250

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280042919.XA Pending CN117580529A (zh) 2021-06-16 2022-06-13 用于眼睛外科手术的外科手术机器人系统及其控制

Country Status (5)

Country Link
US (1) US20240277425A1 (https=)
EP (2) EP4104779A1 (https=)
JP (1) JP7713038B2 (https=)
CN (1) CN117580529A (https=)
WO (1) WO2022263366A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2988539T3 (es) 2018-05-15 2024-11-20 Univ California Sistema para cirugía intraocular robótica automatizada guiada por imágenes
US11559298B2 (en) * 2018-07-16 2023-01-24 Cilag Gmbh International Surgical visualization of multiple targets
KR102891600B1 (ko) * 2023-05-18 2025-11-25 가톨릭대학교 산학협력단 초음파 센서를 이용한 초음파 안구 수술 경보장치 및 그 방법
US20240398617A1 (en) * 2023-05-30 2024-12-05 Alcon Inc. Systems for intraocular surgery
CN117481801B (zh) * 2023-10-26 2024-07-16 北京瞳沐医疗科技有限公司 基于图像的眼科机器人控制方法、系统、设备及介质
EP4609839A1 (en) * 2024-02-28 2025-09-03 Carl Zeiss Meditec AG Surgical robotic system and control of surgical robotic system
DE102024105566A1 (de) * 2024-02-28 2025-08-28 Carl Zeiss Meditec Ag Steuervorrichtung, robotische Anordnung, Operationsmikroskop und Verfahren zum Steuern der Bewegung eines chirurgischen Instruments
EP4609818B1 (en) * 2024-02-28 2025-11-26 Carl Zeiss Meditec AG Surgical robotic system and control of surgical robotic system
CN121528471A (zh) * 2026-01-16 2026-02-13 四川省肿瘤医院 一种用于手术室的器材管理方法、管理装置及管理系统

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10045882B2 (en) 2009-10-30 2018-08-14 The Johns Hopkins University Surgical instrument and systems with integrated optical sensor
EP2654593B1 (en) * 2010-12-22 2020-11-11 Veebot, LLC Systems for autonomous intravenous needle insertion
US9549781B2 (en) * 2014-05-30 2017-01-24 The Johns Hopkins University Multi-force sensing surgical instrument and method of use for robotic surgical systems
NL2013369B1 (en) * 2014-08-26 2016-09-26 Univ Eindhoven Tech Surgical robotic system and control of surgical robotic system.
JP2016073409A (ja) 2014-10-03 2016-05-12 ソニー株式会社 情報処理装置、情報処理方法及び手術顕微鏡装置
KR102430277B1 (ko) 2015-11-27 2022-08-09 큐렉소 주식회사 정형외과 수술용 마커 위치 확인 시스템 및 그 확인 방법
US10376328B2 (en) 2016-08-25 2019-08-13 Novartis Ag Surgical probe with an integrated motion sensor
JP7263326B2 (ja) 2017-10-16 2023-04-24 アルコン インコーポレイティド 硝子体網膜手術のためのｏｃｔ有効化注入
JP7039070B2 (ja) 2018-05-02 2022-03-22 リバーフィールド株式会社 眼内手術用器具ホルダ
EP3920859B1 (en) 2019-02-06 2025-09-03 The Johns Hopkins University External and internal intraoperative optical coherence tomography imaging for subretinal material delivery

Also Published As

Publication number Publication date
US20240277425A1 (en) 2024-08-22
EP4355233A1 (en) 2024-04-24
JP2024522800A (ja) 2024-06-21
EP4104779A1 (en) 2022-12-21
WO2022263366A1 (en) 2022-12-22
JP7713038B2 (ja) 2025-07-24

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