EP1284673A1 - Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions - Google Patents

Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions

Info

Publication number
EP1284673A1
EP1284673A1 EP01943111A EP01943111A EP1284673A1 EP 1284673 A1 EP1284673 A1 EP 1284673A1 EP 01943111 A EP01943111 A EP 01943111A EP 01943111 A EP01943111 A EP 01943111A EP 1284673 A1 EP1284673 A1 EP 1284673A1
Authority
EP
European Patent Office
Prior art keywords
laparoscope
surgical instrument
surgical
characterized
position sensors
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.)
Withdrawn
Application number
EP01943111A
Other languages
German (de)
French (fr)
Inventor
Johannes Bieger
Rainer Graumann
Norbert Rahn
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.)
Siemens AG
Original Assignee
Siemens AG
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
Priority to DE10025285 priority Critical
Priority to DE10025285A priority patent/DE10025285A1/en
Application filed by Siemens AG filed Critical Siemens AG
Priority to PCT/DE2001/001886 priority patent/WO2001089405A1/en
Publication of EP1284673A1 publication Critical patent/EP1284673A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00149Holding or positioning arrangements using articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/06Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/06Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/064Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2051Electromagnetic tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras

Abstract

The invention relates to an operating system for carrying out operation interventions, comprising a laparoscope (5) for visualizing the interventions, said laparoscope being mounted on a robot arm, and a surgical instrument (6) for carrying out the interventions. The laparoscope (5) is guided automatically with a robot arm (10), using positions of the laparoscope (5) and the surgical instrument (6) detected by position sensors (7), so that the surgical instrument (6) is always in the field of vision of the laparoscope (5). The invention also relates to a method for guiding a laparoscope mounted on a robot arm, used in this operating system.

Description

description

Fully automated, robot-based camera using position sensors for laparoscopic surgeries

The present invention relates to a surgical system for performing surgical procedures, as described in the preamble of the attached / claim 1 and a method for tracking a mounted on a robot arm laser paroskops for visualizing surgical procedures, as in the preamble of the appended claim is described. 7

Minimally invasive surgery is gaining as an alternative to open surgery is becoming increasingly important. In these procedures is operational methods in which operations are carried out with the smallest possible surgical wounds.

In certain areas of this minimally invasive surgery, for example, in laparoscopic surgery where instruments are inserted through small entrance openings in the abdominal cavity of the patient and guided there by a surgeon and operatively inserted, there is the need einge- the instruments with an addition in the abdominal cavity mounted camera (laparoscope) to visualize on an external screen. This surgical technique is routinely used today, for example in resection of the gallbladder. The surgeon thereby controls the movement of the instruments just across the screen.

In the prior art the camera is performed by an operation (OP) wizard who will assist the surgeon during the procedure. The manual camera arise, however, in addition to the additional staff requirements and the costs involved the following problems: The surgeon and the camera assistant leader must work together during the operation in confined spaces and in close consultation. The assistant often has to work very proactively, as it not only detect the current positive on the instruments with the camera, but also must support the proposed instrument guide the surgeon.

With decreasing attention and fatigue of the wizard, especially during long surgical procedures, the camera work is imprecise and restless. Furthermore, the instructions given by the surgeon to the camera leading surgical assistant must be very precise. These instructions may be misinterpreted at times.

In addition, the camera generally does not require highly skilled training so that operating assistants not too happy to perform this task.

One approach to minimize the above problems, is to fix the camera instrument holders. Here, however, does not remove the tracking of the camera by a surgical assistant during surgery.

Also, the use of a robot, with the aid of the laser paroskop is interactively controlled by the surgeon and moved known. However, the surgeon must also focus on the control of the camera in this process.

Another approach is described in the document US 5,820,545 "Method of Tracking a Surgical Instrument with a mono or stereo laparoscope". In this case, the surgical instruments inserted into the body be provided with color-coded labels. These marks are detected by the camera inserted in the body, wherein the camera (laser paroskop) is positioned with the aid of a robot so that the operations in the operation surgical instruments are always located in the view of the camera. However, if the distance of the surgical instruments introduced from the camera by the robot are controlled, the use of a stereo camera or a stereo laparoscope, that a camera with two optical devices, is necessary.

However, this method has the disadvantage that the tools for tracking the camera must be in the view of the camera always because the camera will lose the position of the instruments. In addition, the tracking of the camera-ra by impurities (for example, blood) of the color markings may be impaired.

The document WO 97/29709 Al, "Medical Procedures and Appara- tus Using Intrabody Probes)," describes a method and apparatus in which an instrument probe is guided through a patient's body. The position of this Instru is ducks probe relative to a further, located in the patient's body probe is determined and the instrument probe, based on the determined relative position to each other, passed through the body.

The document Cinquin, P. et al, "Computer asisted Medical home terverventions", IEEE Engineering in Medicine and Biology, May / June 1995, pages 254-263 describes computer overall support surgical procedures using position and shape sensors ,

The object of the present invention is thus to provide a surgical system for performing surgical procedures according to the preamble of the appended claim 1 and an applied in this operating system procedures for performing surgical procedures according to the preamble of the appended claim 7, in which a precise automatic positioning of the laparoscope is made possible by a robot. This object is achieved by a Operationssyste for performing surgical procedures in accordance with the appended claim 1 and an applied in this operation method for tracking a system mounted on a robot arm laparoscope according to the appended claim. 7

According to the present invention, the laparoscope inserted into the body is controlled fully automatically by a robot, which receives its commands from a control computer, or tracked. The tracking of the laparoscope is based on the determined positions of the surgical instrument so that the surgical instrument is always in view of the laparoscope.

First, the manual camera is omitted in the inventive automatic camera work by an assistant having the described disadvantages. On the other hand, the surgeon can perform on his actual task, ie guiding the surgical instruments focus.

In the used navigation system with the mounted on the laparoscope and the surgical instrument sensors can be on to commercially available optical (eg pola- ris system of the company. Northern Digital) (. Eg electromagnetic Bird system from Ascension), electromagnetic, or sound waves based systems act.

When using the optical system is important to ensure that the position sensors are mounted outside the body, that is, that the position sensors must be located during the surgical procedure outside the body to allow an optical connection to a station or to each other.

The electromagnetic and acoustic-based systems, the position sensors can also be mounted at the top or near the top of the laparoscope and the surgical instrument both as an extracorporeal.

In the extracorporeal fastening rigid instruments can only be used in which the received coordinates of the extracorporeally-mounted sensors are converted by a calibration of the instrument tip.

In the fitting of the position sensors at the tip or .-- 'in the vicinity of the tip of the laparoscope and surgical instrument, the position sensors are introduced into the body in engagement with. This has the advantage that flexible instruments can be used. However, these instruments require position sensors and more space in the body.

The present invention is preferably minimally invasive, laparoscopic procedures use.

In the robot, who leads the camera, such as a robot from the company. Computer Motion, Goleta, California, USA can be used.

The present invention is explained in detail below with reference to a preferred embodiment with reference to the accompanying figure, in which the only figure 1 schematically shows an inventive surgical system.

As shown in Figure 1, the camera or laparoscope 5 is inserted into the patient's body, in the Figure 1 example in the region of the upper abdomen and moved by means of the robot 4 by a robotic arm 10 - the laparoscope 5 is about a tool holder 8 is fixed to the robot arm 10 degrees. The laparoscope 5 and one or more surgical instruments 6 are provided with position sensors 7 generate the orientation information, can be calculated with the help in the navigation system 3, the positions of the laparoscope 5 and the only surgical instrument 6, and passed to a control computer. 1 The position detection and calculation can be carried out continuously or at intervals.

In the example of Figure 1 it is assumed that an electromagnetic navigation system, wherein from an emitter 2, which is connected via an interface 12 with the navigation system 3 and a central processing unit of the navigation system, an electromagnetic field is emitted. 9 This electromagnetic field is tektiert de- from the position sensors 7 on the basis of the electromagnetic field 9

generate orientation information. With the aid of the position sensors 7, the spatial positions and solid angle of the laparoscope and / of the surgical instrument / s 6, and their spatial positions are to each other very accurately detected. This spatial positions and angle information detected by the control computer 1, which then the robot 4 so controls and thus the laparoscope 5 so aligned that all the monitored surgical instruments 6 in the visual field of the camera, the images are output on a screen, and thus in field of view of the surgeon are.

The present invention is suitable for use with a mono- (with an optical system) as well as with a stereo (with two optics) laparoscope.

The control computer 1 transmits the commands for tracking the laparoscope 5 through an interface 13 (interface) to the robot 4. The robot 4 performs, based on the received from the controller 1 commands that attached to the robot arm 10 laparoscope 5 in accordance with the movements of the surgeon guided surgical instrument according to 6. The movement of the laparoscope 5 can be done in six degrees of freedom by means of the articulated arm 10: right-left, up-down, near-far, tend to tilt, rotate. It is possible to exclude a certain number of degrees of freedom. This is particularly important if movement of the laparoscope 5 endanger the safety operation in certain directions or to certain solid angle, or if the surgical instruments 6 are performed only in a certain area of ​​the surgical field.

The control computer 3 detects the spatial positions and solid angle of the laparoscope 5 (camera) and the surgical instruments 6 due to the attached there position sensors 7 is detected by the control computer 1 continuously or at intervals that laparoscope are 5 and surgical instrument 6 in positions in which the surgical instrument 6 can not be detected by the camera, the control computer 1 issued to the robot 4 by a (for example, serial or parallel) interface 13 gene is to be moved so the command that the surgical instrument 6 in the middle o- located in a defined area of ​​the camera angle. Also the distance between the laparoscope 5 and the surgical instrument 6 can be controlled in this way so that the distance exceeds a predeterminable interval Toleranzin- not under or. The detection of the space coordinates of the laparoscope 5 and 6 of the surgical instruments and the corresponding activation of the robot arm 10 proceeds as in a control loop.

Claims

claims
1. Operation system for performing operative interventions, attached to a to a robot arm (10) laparoscope (5) for visualizing the procedures, a surgical instrument (6) for performing the procedures gekennzeic net (in each case by a position sensor (7) at laparoscope 5) and surgical instrument (6) for generating guidance information, and a Navigationssyste (3) for determining the positions of laparoscope (5) and surgical instrument (6) on the basis of (from the position sensors 7) generated orientation information, wherein with the aid of the determined positions the laparoscope (5) automatically by the robot arm (10) is tracked in such a way that the surgical instrument (6) in the field of view of the laparoscope (5) is located.
2. Operating system according to claim 1, characterized in that the navigation system (3) based on sound waves.
3. Operating system according to claim 1, characterized geken characterized in that the navigation system (3) based on electromagnetic waves.
4. Operating system according to claim 1, characterized in that the navigation system (3) is based on optical waves.
5. The surgical system according to any one of claims 1 to 4, characterized in that the position sensors (7) at the tip of the laparoscope (5) or of the surgical instrument (6) are attached.
6. Operation System any one of claims 1 to 5, characterized in that the position sensors (7) tunneling microscope, extracorporeally to the Lapa- ​​are mounted according to (5) or the surgical instrument (6).
7. A method for tracking a to a robot arm (10) attached to the laparoscope (5) for visualizing surgical procedures, with a surgical instrument (6) for performing the operations, comprising the steps of: generating orientation information of laparoscope (5) and a surgical instrument (β),
Determining the positions of laparoscope (5) and surgical instrument (6) based on the generated orientation information, and automatic tracking of the laparoscope (5) using the positions determined such that the surgical instrument (6) in the field of view of the laparoscope (5) is ,
8. The method according to claim 7, characterized gekennzeic net, that it is used in minimally invasive surgical procedures.
EP01943111A 2000-05-22 2001-05-17 Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions Withdrawn EP1284673A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE10025285 2000-05-22
DE10025285A DE10025285A1 (en) 2000-05-22 2000-05-22 Fully automated, robot-based camera using position sensors for laparoscopic surgeries
PCT/DE2001/001886 WO2001089405A1 (en) 2000-05-22 2001-05-17 Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions

Publications (1)

Publication Number Publication Date
EP1284673A1 true EP1284673A1 (en) 2003-02-26

Family

ID=7643107

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01943111A Withdrawn EP1284673A1 (en) 2000-05-22 2001-05-17 Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions

Country Status (4)

Country Link
US (1) US6926709B2 (en)
EP (1) EP1284673A1 (en)
DE (1) DE10025285A1 (en)
WO (1) WO2001089405A1 (en)

Families Citing this family (94)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US7555333B2 (en) * 2000-06-19 2009-06-30 University Of Washington Integrated optical scanning image acquisition and display
US6905492B2 (en) * 2000-07-31 2005-06-14 Galil Medical Ltd. Planning and facilitation systems and methods for cryosurgery
CA2523727A1 (en) * 2003-04-28 2005-01-06 Bracco Imaging Spa Surgical navigation imaging system
DE10353110B4 (en) * 2003-11-12 2006-02-16 Delta Engineering Gmbh Actuator platform for guiding medical instruments in minimally invasive interventions
US7901348B2 (en) * 2003-12-12 2011-03-08 University Of Washington Catheterscope 3D guidance and interface system
US7530948B2 (en) 2005-02-28 2009-05-12 University Of Washington Tethered capsule endoscope for Barrett's Esophagus screening
BRPI0607526A2 (en) * 2005-04-18 2014-04-08 Mst Medical Surgery Technologies Ltd Camera support device and method
US9943372B2 (en) 2005-04-18 2018-04-17 M.S.T. Medical Surgery Technologies Ltd. Device having a wearable interface for improving laparoscopic surgery and methods for use thereof
US20070106147A1 (en) 2005-11-01 2007-05-10 Altmann Andres C Controlling direction of ultrasound imaging catheter
EP1954193B1 (en) 2005-11-23 2013-03-06 University of Washington Scanning beam with variable sequential framing using interrupted scanning resonance
US9561078B2 (en) * 2006-03-03 2017-02-07 University Of Washington Multi-cladding optical fiber scanner
WO2007129308A2 (en) * 2006-05-02 2007-11-15 Galil Medical Ltd. Cryotherapy planning and control system
WO2007129310A2 (en) * 2006-05-02 2007-11-15 Galil Medical Ltd. Cryotherapy insertion system and method
CN104688349B (en) * 2006-06-13 2017-05-10 直观外科手术操作公司 Minimally invasive surgical system
US8419717B2 (en) 2006-06-13 2013-04-16 Intuitive Surgical Operations, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
JP5466004B2 (en) 2006-06-22 2014-04-09 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ Magnetically connectable robotic device and associated method
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) * 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20080082109A1 (en) * 2006-09-08 2008-04-03 Hansen Medical, Inc. Robotic surgical system with forward-oriented field of view guide instrument navigation
US20080058629A1 (en) * 2006-08-21 2008-03-06 University Of Washington Optical fiber scope with both non-resonant illumination and resonant collection/imaging for multiple modes of operation
US20080132834A1 (en) * 2006-12-04 2008-06-05 University Of Washington Flexible endoscope tip bending mechanism using optical fibers as tension members
US20080221388A1 (en) * 2007-03-09 2008-09-11 University Of Washington Side viewing optical fiber endoscope
US20080243030A1 (en) * 2007-04-02 2008-10-02 University Of Washington Multifunction cannula tools
US8840566B2 (en) 2007-04-02 2014-09-23 University Of Washington Catheter with imaging capability acts as guidewire for cannula tools
DE102007018810A1 (en) 2007-04-20 2008-10-30 Siemens Ag Method for motion monitoring in a medical device and associated medical device
US7952718B2 (en) * 2007-05-03 2011-05-31 University Of Washington High resolution optical coherence tomography based imaging for intraluminal and interstitial use implemented with a reduced form factor
CA2690808C (en) 2007-07-12 2016-09-27 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
IL184664A (en) * 2007-07-17 2015-02-26 Mordehai Sholev Laparoscopy interface between a surgeon and an automated assistant and method thereof
US8166967B2 (en) 2007-08-15 2012-05-01 Chunyuan Qiu Systems and methods for intubation
WO2009023839A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
DE102007055205A1 (en) * 2007-11-19 2009-05-20 Kuka Roboter Gmbh Method for determining a place of installation and for setting up a detection device of a navigation system
US20090137893A1 (en) * 2007-11-27 2009-05-28 University Of Washington Adding imaging capability to distal tips of medical tools, catheters, and conduits
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US10258425B2 (en) * 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
KR101030371B1 (en) * 2009-04-27 2011-04-20 국립암센터 Endoscope manipulator for minimal invasive surgery
KR101030427B1 (en) * 2009-04-28 2011-04-20 국립암센터 Endoscope manipulator for minimal invasive surgery
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
WO2012060586A2 (en) * 2010-11-02 2012-05-10 주식회사 이턴 Surgical robot system, and a laparoscope manipulation method and a body-sensing surgical image processing device and method therefor
CN103188987B (en) * 2010-11-02 2015-08-05 伊顿株式会社 Surgical robot system and laparoscopic procedure method thereof and human body temperature type operation image processing apparatus and method thereof
US8918211B2 (en) * 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US20110238080A1 (en) * 2010-03-25 2011-09-29 Date Ranjit Robotic Surgical Instrument System
US8894569B2 (en) 2010-04-21 2014-11-25 Chunyuan Qiu Intubation systems and methods based on airway pattern identification
DE102010040987A1 (en) * 2010-09-17 2012-03-22 Siemens Aktiengesellschaft Method for placing a laparoscopic robot in a predeterminable relative position to a trocar
US8702592B2 (en) 2010-09-30 2014-04-22 David Allan Langlois System and method for inhibiting injury to a patient during laparoscopic surgery
WO2012078989A1 (en) 2010-12-10 2012-06-14 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
CA2838637C (en) 2011-06-10 2019-12-10 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
EP3588217A1 (en) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotic surgical devices, systems and related methods
US9757206B2 (en) 2011-08-21 2017-09-12 M.S.T. Medical Surgery Technologies Ltd Device and method for assisting laparoscopic surgery—rule based approach
US9204939B2 (en) 2011-08-21 2015-12-08 M.S.T. Medical Surgery Technologies Ltd. Device and method for assisting laparoscopic surgery—rule based approach
US9795282B2 (en) 2011-09-20 2017-10-24 M.S.T. Medical Surgery Technologies Ltd Device and method for maneuvering endoscope
US9795753B2 (en) 2012-03-07 2017-10-24 Chunyuan Qiu Intubation delivery systems and methods
CA2871149A1 (en) 2012-05-01 2014-01-16 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
EP3424651A1 (en) 2012-06-22 2019-01-09 Board of Regents of the University of Nebraska Local control robotic surgical devices
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
EP2936070A4 (en) * 2012-12-20 2016-09-21 Olympus Corp Position detection sensor and manipulator
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
EP2967348A4 (en) 2013-03-15 2017-02-08 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
WO2015135057A1 (en) * 2014-03-14 2015-09-17 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
US20150070319A1 (en) * 2013-09-09 2015-03-12 Timothy R. Pryor Human interfaces for homes, medical devices and vehicles
DE102013219592A1 (en) * 2013-09-27 2015-04-23 Siemens Aktiengesellschaft coupling unit
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
WO2015110928A1 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Virtual image with optical shape sensing device perspective
US10398521B2 (en) 2014-03-17 2019-09-03 Intuitive Surgical Operations, Inc. System and method for recentering imaging devices and input controls
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
US10441366B2 (en) * 2014-10-22 2019-10-15 Think Surgical, Inc. Actively controlled optical tracker with a robot
CA2967593A1 (en) 2014-11-11 2016-05-19 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
WO2016149788A1 (en) * 2015-03-23 2016-09-29 Synaptive Medical (Barbados) Inc. Automated autopsy system
AU2016323982A1 (en) 2015-09-18 2018-04-12 Auris Health, Inc. Navigation of tubular networks
DE102016107853A1 (en) * 2016-04-28 2017-11-02 Aktormed Gmbh Operation assistance system and method for generating control signals for controlling a motor-driven movable robot kinematics of such an operation assistance system
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
JP6388686B2 (en) * 2017-05-22 2018-09-12 株式会社A−Traction Surgery support apparatus, control method thereof, program, and surgery support system
US20190060029A1 (en) * 2017-08-25 2019-02-28 Titan Medical Inc. Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure
US10470830B2 (en) 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
US20190183585A1 (en) * 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
WO2019191144A1 (en) 2018-03-28 2019-10-03 Auris Health, Inc. Systems and methods for registration of location sensors

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5249362A (en) * 1990-11-13 1993-10-05 Harding Alfred F Quick release device for chain saws
US5217453A (en) * 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
JP3065702B2 (en) * 1991-04-23 2000-07-17 オリンパス光学工業株式会社 The endoscope system
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
DE19529950C1 (en) * 1995-08-14 1996-11-14 Deutsche Forsch Luft Raumfahrt Guiding method for stereo laparoscope in minimal invasive surgery
JP4166277B2 (en) * 1996-02-15 2008-10-15 バイオセンス・ウェブスター・インコーポレイテッドBiosense Webster, Inc. Medical method and apparatus using in-vivo probe
US6453190B1 (en) 1996-02-15 2002-09-17 Biosense, Inc. Medical probes with field transducers

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO0189405A1 *

Also Published As

Publication number Publication date
DE10025285A1 (en) 2001-12-06
US20040015053A1 (en) 2004-01-22
WO2001089405A1 (en) 2001-11-29
US6926709B2 (en) 2005-08-09

Similar Documents

Publication Publication Date Title
US10350012B2 (en) Method and apparatus for controlling a haptic device
KR101038417B1 (en) Surgical robot system and control method thereof
US8005571B2 (en) Microsurgical robot system
EP3042625B1 (en) Cooperative minimally invasive telesurgical system
DE60024079T2 (en) Master and slave arrangement in a minimally interconnecting surgical device
Li et al. Spatial motion constraints using virtual fixtures generated by anatomy
EP0950379B1 (en) Device for use with a surgical navigation system
CN100579448C (en) Guidance system for surgical procedures with improved feedback
US20050203374A1 (en) Neuro-navigation system
JP2008538184A (en) Tactile guidance system and method
US8419717B2 (en) Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
EP1531744B1 (en) Device for processing parts
US9308050B2 (en) Robotic system and method for spinal and other surgeries
US20100198402A1 (en) Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
JP2015528713A (en) surgical robot platform
EP1361829B1 (en) Device for controlling surgical instruments
JP3540362B2 (en) Surgical manipulator control system and control method
US9259282B2 (en) Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US6645196B1 (en) Guided tool change
US5891158A (en) Method and system for directing an instrument to a target
EP1691860B1 (en) System for radar-assisted catheter guidance and control
JP4101951B2 (en) Surgical microscope
US20010037064A1 (en) Method and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US5402801A (en) System and method for augmentation of surgery
US7892243B2 (en) Surgical manipulator

Legal Events

Date Code Title Description
17P Request for examination filed

Effective date: 20021023

AK Designated contracting states:

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

RBV Designated contracting states (correction):

Designated state(s): AT BE CH CY DE FR GB IT LI

18D Deemed to be withdrawn

Effective date: 20071201