EP2323581A1 - Verfahren zum betreiben eines medizinischen roboters, medizinischer roboter und medizinischer arbeitsplatz - Google Patents
Verfahren zum betreiben eines medizinischen roboters, medizinischer roboter und medizinischer arbeitsplatzInfo
- Publication number
- EP2323581A1 EP2323581A1 EP09777747A EP09777747A EP2323581A1 EP 2323581 A1 EP2323581 A1 EP 2323581A1 EP 09777747 A EP09777747 A EP 09777747A EP 09777747 A EP09777747 A EP 09777747A EP 2323581 A1 EP2323581 A1 EP 2323581A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- medical
- living
- relative
- current
- 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.)
- Ceased
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
- A61B34/20—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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
-
- 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
- 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
Definitions
- the invention relates to a method for operating a medical hand-held, in particular hand-guided, or telemanipulated by means of an input device, a medical hand-held or telemanipulated by means of an input device, and a medical workstation.
- Robots are working machines which can be equipped with tools for the automatic handling and / or machining of objects and which can be programmed in several axes of motion, for example with regard to orientation, position and operating sequence.
- Robots can e.g. for medical and / or clinical applications and are then e.g. Part of a medical workplace. Robots can also be tele-guided or directly guided for these applications.
- US 2004/0077939 A1 discloses a medical workstation with an X-ray machine, a surgical instrument, a position detection system and a robot guiding the surgical instrument for treating a patient in an at least partially automated manner.
- position markers are arranged on the X-ray apparatus, on the patient and on the surgical instrument or on the robot, which are recorded by an optical position detection apparatus of the position detection system.
- the position On the basis of an evaluation of the images of the position markers recorded with the optical position detection device, the position, ie the position and orientation of the position markers and thus of the surgical marker Instruments, the X-ray machine and the patient in the room to be determined.
- the object of the invention is to create conditions on the basis of which the risk of injury to a living being treated by means of a robot is at least reduced.
- the object of the invention is achieved by a method for operating a medical hand-held, in particular hand-guided or telemanipulated by means of an input device, comprising the following method steps:
- the object of the invention is also achieved by having a medical hand-held or in particular telemanipulated by means of an input device a robot arm with several movable axes and
- control device for moving the axes of the robotic arm by means of drives, wherein the control device is set up to automatically change the working area of the medical robot due to a changing position or attitude of a living body treated by the medical robot relative to a robot base of the medical robot; so that the working area of the medical robot remains the same relative to the living being.
- the robot treating the animal is either telemanipulated or hand-guided.
- the restriction of the work area can be presented to the attending physician via forces on the robot during manual operation or via forces at an input station during telemani- culated deployment. It is also possible that the robot can not be moved beyond the working area in telemanipulated use.
- the inventive method can thus be carried out with the robot according to the invention.
- the medical robot according to the invention is provided for treating the living being, for example a human, with it.
- a medical instrument in particular a surgical instrument
- the robot according to the invention may be programmed to move the medical instrument on a predetermined path.
- robots can also be tele-guided or directly guided.
- the working range of the robot according to the invention is limited.
- the working area of a robot is the allowed area for the robot to work and process.
- the so-called Tool Center Point if appropriate also the axes of the robot, must be located within a workspace. This prevents the robot from entering a forbidden region or leaving a predetermined path.
- the robot according to the invention is used to treat the living being.
- the living being is treated only in a partial area of his body, so that the working area of the robot according to the invention can be chosen such that the tool center point and thus possibly the medical instrument moved with the robot according to the invention move substantially only within this partial area can.
- the working range of the medical robot according to the invention is determined relative to the living being. This can e.g. be realized in that the work area is set relative to a life-living coordinate system associated with the living being.
- the working area of the medical robot according to the invention is automatically adjusted due to the changing position of the living being relative to the robot base or relative to the robot coordinate system.
- the working range of the medical robot according to the invention remains relatively constant relative to the living being.
- the working range of the robot according to the invention can e.g. be limited or adjusted by means of a running on the control device of the robot computer program.
- the medical robot according to the invention is e.g. due to a movement of the living being relative to the robot base outside its current working range, then it is according to an embodiment of the method according to the invention or the invention.
- Robot to automatically move the medical robot to its current workspace This is realized, for example, by the control device of the robot according to the invention being arranged to automatically move the robot arm to guide the tool center point into the current work area when the tool center point is outside due to the movement of the living being relative to the robot base of the current workspace.
- the current position or position of the living being is detected by means of a navigation system.
- the control device of the robot according to the invention can accordingly be set up to determine the relative position of the living organism on the basis of the current position or position of the living being detected by means of the navigation system. Determining the position or position of the living being relative to the robot base in order to adapt the work area.
- a further aspect of the invention also relates to a medical workstation comprising the robot according to the invention and the navigation system communicating with the control device of the robot, which is set up to detect the current position or position of the living being, wherein the control device is set up on the basis of detected by the navigation system current position or position of the living being to determine the relative position or position of the living being relative to the robot base to adapt the workspace.
- Navigation systems are generally known in medical technology, in particular in minimally invasive medical technology, for example from US Pat. No. 6,895,268 B1.
- Navigation systems include a detection device which is, for example, an optical detection device, e.g. Cameras, a laser tracking system, projectors for a structured
- the detection device is set up to detect in a generally known manner, for example on the living being, in particular on its surface arranged markers or prominent parts of the living being. Due to the markers or landmarks detected by the detection device, a computing device of the navigation system can determine the position and optionally the orientation, ie the position of the living being, in a manner which is generally well known.
- Navigation systems are used, for example, to intraoperatively display an instrument guided in the living being, for example the medical instrument moved by the robot according to the invention, into a preoperatively recorded image of the living being.
- the image of the living being is a 3D image, for example was recorded with a computer tomograph or a magnetic resonance device.
- a so-called registration of the image data set assigned to the pre-optive image to the interoperative situation is generally necessary for the superimposition of the medical instrument in the preoperatively recorded image.
- a homogeneous coordinate transformation for example via corresponding points, is determined, which images both data sets on one another.
- the control device of the robot according to the invention can therefore be set up, based on the determined by means of the navigation system current location of the tool center point of the medical robot, the current position or the current position of the living organism relative to the robot base based on the determined current positions of the animal and the tool center Determine points to adjust the workspace.
- the navigation system or its computing device communicates with the control device of the robot according to the invention.
- This can be realized, for example, such that the navigation system and the control device of the robot according to the invention are connected to one another by means of a communication line or also wirelessly and communicate via a common communication protocol.
- a communication line or also wirelessly and communicate via a common communication protocol about this can Status information, commands and / or data of the detection device of the navigation system are transmitted.
- Fig. 2 the medical workstation associated coordinate systems
- 3 is a flowchart illustrating the operation of the medical robot.
- FIG. 1 shows a medical workstation having a medical robot R with a robot arm M.
- the robot arm M essentially represents the movable part of the robot R and comprises a plurality of axes 1-6, a plurality of levers 7-10 and a flange F to which a surgical instrument 18 is attached in the case of the present embodiment.
- Each of the axes 1-6 is moved by a drive, for example an electric drive 11-16, which are electrically connected in a manner not shown to a control computer 17 of the robot R, so that the control computer 17 or one on the control computer 17 running computer program, the electric drives 11-16 can control such that the position of the flange F of the robot R and thus the surgical instrument 18 and its Tool Center Point TCP can be aligned substantially freely in space.
- the electric drives 11-16 of the robot R comprise, for example, because an electric motor and possibly a motor controlling the power electronics.
- control computer 17 is designed such that it or a computer program running on it can restrict a working area A of the robot R.
- the working area A of the robot R is meant the allowable area for the robot R for working and procedures.
- the surgical instrument 18 and in particular the tool center point TCP must be located within the working area A.
- the working area A is delimited by a virtual wall W shown in dashed lines in FIG. 1, the working area A of the robot R being located below the virtual wall W.
- the robot R is intended to treat a patient P lying on a patient couch L with the surgical instrument 18.
- the robot (R) is operated by a person not shown, e.g. a physician treating the patient by hand, e.g. on the robot arm M presses or pulls.
- the robot R can also be moved by this person by means of an input device connected to the control computer 17, for example a joystick J, in a manipulated manner.
- FIG. 1 further shows a navigation system which has a detection device E having two cameras 20, 21 in the case of the present exemplary embodiment, a marker M 1 arranged on the robot R and a marker M2 arranged on the patient P.
- the detection device E of the navigation system comprises Furthermore, a computer 22 and is mounted on a tripod 19 and the markers Ml of the robot R are arranged at its flange F.
- Navigation systems as such are known to those skilled in the art from, inter alia, US Pat. No. 6,895,268 B1 and are intended to control the position, i. to determine the position and orientation of an object, for example the patient P.
- Navigation systems may, for example, be magnetic or, as is the case with the present exemplary embodiment, optical navigation systems and are used, for example, to determine the position and optionally the orientation of an object.
- the navigation system uses its cameras 20, 21 to determine the positions of the markers M1, M2 in the space.
- the computer 22 of the detection device E via an electrical line 24 with a monitor 25 having a computer 23 is connected.
- the computer 23 stores an image data record associated with an image of the patient P, the associated image of which can be displayed by the monitor 25.
- the image data set has been e.g. recorded with an imaging medical device, such as a magnetic resonance device or a computer tomograph before treatment of the patient P with the robot R.
- an imaging medical device such as a magnetic resonance device or a computer tomograph
- Instruments 18 are displayed in the image of the patient P.
- the position of the patient P and of the surgical instrument 18 relative to the coordinate system of the image data record assigned to the image by the patient must be determined.
- the computer 22 of the detection device E is also connected by means of a communication line 26 to the control device 17 of the robot R, so that the computer 22 and the control device 17 can communicate with each other in particular by means of a common communication protocol.
- a wireless communication between the computer 22 and the control device 17 is also conceivable.
- FIG. 2 shows the robot R, the patient P arranged on the patient couch L, the virtual wall W, and a TCP coordinate system 30 assigned to the tool center point TCP of the robot R, a robot coordinate system 31 assigned to the robot R. the origin of which falls on the robot base B of the robot R, a patient coordinate system 32 associated with the patient P, and a workspace coordinate system 33 associated with the virtual wall W.
- the coordinate systems 30-33 are Cartesian coordinate systems.
- the tool center point TCP should be located within the working area A during the treatment of the patient P only.
- the working area A is to be related to a potential movement of the patient P relative to the robot base B, in this case relative to the robot coordinate system 31, for example by a movement of the patient P or a movement of the robot base B of the robot R , to adjust.
- This process is illustrated by means of a flowchart shown in FIG.
- the working area A is defined relative to the patient P, in particular relative to the patient coordinate system 32, step S1 of the flowchart of FIG. 3.
- the working area A is determined by FIG virtual wall W, so that the virtual wall W or its wall coordinate system 33 relative to the patient P or its patient coordinate system 32 is defined. This is described by a transformation T3. As a result, there are preconditions that the surgical instrument 18 is not outside of the working area A during the treatment of the patient P.
- the working area A can also be limited, for example, by a plurality of walls or differently, such as, for example, balls, cylinders, cones or free-form surfaces.
- the detection system detects the markers M1 and M2, whereby a computer program running on the computer 22 determines the position of the patient P and thus his patient coordinate system 32 and the position of the flange F and thus the position of the tool center point TCP or whose TCP coordinate system 30 can detect.
- This computer program can also run on the control device 17 of the robot R. Previously, as is well known to those skilled in the art, registration was made.
- the position of the tool center point TCP or its TCP coordinate system 30 in the robot coordinate system 31 is represented in the case of the present embodiment by a transformation Tl, which is calculated, for example, from measurements of the angles of the joints of the robot arm M. , Step S3 of the flowchart program.
- a transformation Tl which is calculated, for example, from measurements of the angles of the joints of the robot arm M.
- Step S3 of the flowchart program it is also possible to attach another marker to the robot base B of the robot R, whose position or position is detected by the detection device E and used to calculate the transformation Tl.
- the representation of the virtual wall W, ie of the working area A in the robot coordinate system 31, results from the multiplication of the transformations T1, T2, T3 (T1 X T2 X T3), step S4 of the flow chart.
- the transformations Tl and T2 are in the case of the present embodiment in e.g. predetermined intervals or when a predetermined change is exceeded is updated, whereby a movement of the patient P relative to the robot base B or relative to the robot coordinate system 31 is detected. Thereby, it is possible for the control device 17 to also update the work area A or the position of the wall coordinate system 33, so that the work area A always remains fixed relative to the patient P, step S5 of the flow chart.
- a protection of risk structures while performing the treatment of the patient P by the robot R to target structures is therefore possible both in a movement of the robot R with respect to its robot base B as well as a moving virtual wall W.
- the protection may be for the functional end of the robot R, e.g. the surgical instrument 18, as well as the structure of the robot R are realized.
- the control tion device 17 automatically moves the surgical instrument 18 in the updated work area A.
- the robot R can no longer be moved manually manually or only with increased force when the robot R leaves the working area A. This can e.g. be achieved in that the control computer 17 controls the drives 11-16, so that they exert a torque on the levers 7-10.
- the robot R can no longer move or the joystick J generates a tactile feedback to the person when the robot R leaves the work area A.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008041260A DE102008041260A1 (de) | 2008-08-14 | 2008-08-14 | Verfahren zum Betreiben eines medizinischen Roboters, medizinischer Roboter und medizinischer Arbeitsplatz |
PCT/EP2009/005753 WO2010017919A1 (de) | 2008-08-14 | 2009-08-07 | Verfahren zum betreiben eines medizinischen roboters, medizinischer roboter und medizinischer arbeitsplatz |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2323581A1 true EP2323581A1 (de) | 2011-05-25 |
Family
ID=41404259
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09777747A Ceased EP2323581A1 (de) | 2008-08-14 | 2009-08-07 | Verfahren zum betreiben eines medizinischen roboters, medizinischer roboter und medizinischer arbeitsplatz |
Country Status (4)
Country | Link |
---|---|
US (1) | US20110190790A1 (de) |
EP (1) | EP2323581A1 (de) |
DE (1) | DE102008041260A1 (de) |
WO (1) | WO2010017919A1 (de) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010029275A1 (de) | 2010-05-25 | 2011-12-01 | Siemens Aktiengesellschaft | Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar |
DE102010040987A1 (de) * | 2010-09-17 | 2012-03-22 | Siemens Aktiengesellschaft | Verfahren zum Platzieren eines Laparoskopieroboters in einer vorgebbaren Relativlage zu einem Trokar |
WO2012074564A1 (en) | 2010-12-02 | 2012-06-07 | Freehand Endoscopic Devices, Inc. | Surgical tool |
DE102011005917A1 (de) * | 2011-03-22 | 2012-09-27 | Kuka Laboratories Gmbh | Medizinischer Arbeitsplatz |
US9008757B2 (en) | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
DE102012020172A1 (de) | 2012-10-13 | 2013-04-25 | Daimler Ag | Verfahren und System zum Montieren von wenigstens zwei Bauteilen |
KR102602379B1 (ko) | 2015-02-20 | 2023-11-16 | 스트리커 코포레이션 | 멸균 차단 조립체, 장착 시스템, 및 수술용 구성 요소들을 결합하기 위한 방법 |
WO2017028916A1 (en) * | 2015-08-19 | 2017-02-23 | Brainlab Ag | Reference array holder |
EP3200719B1 (de) | 2015-11-02 | 2019-05-22 | Brainlab AG | Bestimmung einer konfiguration eines arms eines medizinischen roboters |
JP6654884B2 (ja) * | 2015-12-11 | 2020-02-26 | 川崎重工業株式会社 | 外科手術システム |
EP3328308B1 (de) * | 2016-09-27 | 2019-05-29 | Brainlab AG | Effiziente positionierung eines mechatronischen arms |
DE102016225613A1 (de) * | 2016-12-20 | 2018-06-21 | Kuka Roboter Gmbh | Verfahren zum Kalibrieren eines Manipulators eines diagnostischen und/oder therapeutischen Manipulatorsystems |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
DE102018125592A1 (de) * | 2018-10-16 | 2020-04-16 | Karl Storz Se & Co. Kg | Steuerungsanordnung, Verfahren zur Steuerung einer Bewegung eines Roboterarms und Behandlungsvorrichtung mit Steuerungsanordnung |
EP3873369A1 (de) * | 2018-10-31 | 2021-09-08 | Intuitive Surgical Operations, Inc. | System und verfahren zur unterstützung des werkzeugwechsels |
AU2019391083A1 (en) | 2018-12-04 | 2021-06-10 | Mako Surgical Corp. | Mounting system with sterile barrier assembly for use in coupling surgical components |
EP3821843A1 (de) | 2019-11-12 | 2021-05-19 | Surgivisio | Chirurgisches robotersystem |
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US20080154389A1 (en) * | 2006-02-16 | 2008-06-26 | Catholic Healthcare West (D/B/A St. Joseph's Hospital And Medical Center) | Method and system for performing invasive medical procedures using a surgical robot |
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US6405072B1 (en) * | 1991-01-28 | 2002-06-11 | Sherwood Services Ag | Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US6468265B1 (en) * | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6322567B1 (en) * | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
JP2001061861A (ja) | 1999-06-28 | 2001-03-13 | Siemens Ag | 画像撮影手段を備えたシステムおよび医用ワークステーション |
WO2002060653A2 (en) * | 2001-01-29 | 2002-08-08 | The Acrobot Company Limited | Active-constraint robots |
DE10108547B4 (de) | 2001-02-22 | 2006-04-20 | Siemens Ag | Operationssystem zur Steuerung chirurgischer Instrumente auf Basis von intra-operativen Röngtenbildern |
US7206626B2 (en) * | 2002-03-06 | 2007-04-17 | Z-Kat, Inc. | System and method for haptic sculpting of physical objects |
DE10239673A1 (de) * | 2002-08-26 | 2004-03-11 | Markus Schwarz | Vorrichtung zur Bearbeitung von Teilen |
JP3975959B2 (ja) * | 2003-04-23 | 2007-09-12 | トヨタ自動車株式会社 | ロボット動作規制方法とその装置およびそれを備えたロボット |
EP1854425A1 (de) * | 2006-05-11 | 2007-11-14 | BrainLAB AG | Medizintechnische Positionsbestimmung mit redundanten Positionserfassungseinrichtungen und Prioritätsgewichtung für die Positionserfassungseinrichtungen |
KR101486889B1 (ko) * | 2006-12-27 | 2015-01-28 | 마코 서지컬 코포레이션 | 공간 내에 조절가능한 포지티브 스톱을 제공하기 위한 장치 및 방법 |
-
2008
- 2008-08-14 DE DE102008041260A patent/DE102008041260A1/de not_active Withdrawn
-
2009
- 2009-08-07 WO PCT/EP2009/005753 patent/WO2010017919A1/de active Application Filing
- 2009-08-07 US US13/059,003 patent/US20110190790A1/en not_active Abandoned
- 2009-08-07 EP EP09777747A patent/EP2323581A1/de not_active Ceased
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US20080154389A1 (en) * | 2006-02-16 | 2008-06-26 | Catholic Healthcare West (D/B/A St. Joseph's Hospital And Medical Center) | Method and system for performing invasive medical procedures using a surgical robot |
Non-Patent Citations (1)
Title |
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See also references of WO2010017919A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102008041260A1 (de) | 2010-02-25 |
US20110190790A1 (en) | 2011-08-04 |
WO2010017919A1 (de) | 2010-02-18 |
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