FR2959409B1 - Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede - Google Patents
Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procedeInfo
- Publication number
- FR2959409B1 FR2959409B1 FR1001897A FR1001897A FR2959409B1 FR 2959409 B1 FR2959409 B1 FR 2959409B1 FR 1001897 A FR1001897 A FR 1001897A FR 1001897 A FR1001897 A FR 1001897A FR 2959409 B1 FR2959409 B1 FR 2959409B1
- Authority
- FR
- France
- Prior art keywords
- determining
- robotic system
- insertion path
- tool insertion
- tissue matrix
- 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.)
- Active
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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
-
- 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
- A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
- A61B2017/00716—Dummies, phantoms; Devices simulating patient or parts of patient simulating physical properties
-
- 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
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1001897A FR2959409B1 (fr) | 2010-05-03 | 2010-05-03 | Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede |
JP2011094589A JP5821068B2 (ja) | 2010-05-03 | 2011-04-21 | 変形自在の組織基質での器具の挿入軌跡を決定する方法、及び該方法を実行するロボット・システム |
US13/099,418 US9265587B2 (en) | 2010-05-03 | 2011-05-03 | Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1001897A FR2959409B1 (fr) | 2010-05-03 | 2010-05-03 | Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2959409A1 FR2959409A1 (fr) | 2011-11-04 |
FR2959409B1 true FR2959409B1 (fr) | 2012-06-29 |
Family
ID=43087126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1001897A Active FR2959409B1 (fr) | 2010-05-03 | 2010-05-03 | Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede |
Country Status (3)
Country | Link |
---|---|
US (1) | US9265587B2 (fr) |
JP (1) | JP5821068B2 (fr) |
FR (1) | FR2959409B1 (fr) |
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US8632468B2 (en) * | 2009-02-25 | 2014-01-21 | Koninklijke Philips N.V. | Method, system and devices for transjugular intrahepatic portosystemic shunt (TIPS) procedures |
EP4002330A1 (fr) | 2010-10-01 | 2022-05-25 | Applied Medical Resources Corporation | Entraîneur laparoscopique portable |
KR101963610B1 (ko) | 2011-10-21 | 2019-03-29 | 어플라이드 메디컬 리소시스 코포레이션 | 수술 트레이닝용 모의 조직 구조 |
FR2982761B1 (fr) * | 2011-11-21 | 2022-04-29 | Gen Electric | Procedes d'assistance a la manipulation d'un instrument, et ensemble d'assistance associe |
US8961190B2 (en) | 2011-12-20 | 2015-02-24 | Applied Medical Resources Corporation | Advanced surgical simulation |
DE102012200207B3 (de) * | 2012-01-09 | 2013-05-29 | Siemens Aktiengesellschaft | Verfahren zur Ermittlung einer Führungsgeraden für eine Biopsienadel |
JP6120497B2 (ja) | 2012-06-26 | 2017-04-26 | キヤノン株式会社 | 穿刺制御装置及び方法 |
US10198965B2 (en) | 2012-08-03 | 2019-02-05 | Applied Medical Resources Corporation | Simulated stapling and energy based ligation for surgical training |
AU2013323744B2 (en) | 2012-09-26 | 2017-08-17 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
EP3846151B1 (fr) | 2012-09-27 | 2023-11-29 | Applied Medical Resources Corporation | Modèle d'apprentissage chirurgical pour interventions laparoscopiques |
CA2885302C (fr) | 2012-09-27 | 2022-08-02 | Applied Medical Resources Corporation | Modele d'apprentissage chirurgical pour interventions laparoscopiques |
US10679520B2 (en) | 2012-09-27 | 2020-06-09 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
EP2901439A1 (fr) | 2012-09-28 | 2015-08-05 | Applied Medical Resources Corporation | Maquette de formation chirurgicale pour interventions laparoscopiques |
JP6315712B2 (ja) | 2012-09-28 | 2018-04-25 | アプライド メディカル リソーシーズ コーポレイション | 経管的腹腔鏡下手技のための外科用訓練モデル |
JP5731463B2 (ja) * | 2012-10-10 | 2015-06-10 | ファナック株式会社 | サーボ軸の反転位置の表示機能を備えた数値制御装置 |
AU2014224004B2 (en) | 2013-03-01 | 2018-04-05 | Applied Medical Resources Corporation | Advanced surgical simulation constructions and methods |
CA2912069C (fr) | 2013-05-15 | 2022-01-11 | Applied Medical Resources Corporation | Modele de traitement des hernies |
EP4170633A1 (fr) | 2013-06-18 | 2023-04-26 | Applied Medical Resources Corporation | Modèle de vésicule biliaire |
US10198966B2 (en) | 2013-07-24 | 2019-02-05 | Applied Medical Resources Corporation | Advanced first entry model for surgical simulation |
JP6517201B2 (ja) | 2013-07-24 | 2019-05-22 | アプライド メディカル リソーシーズ コーポレイション | ファーストエントリーモデル |
JP6615110B2 (ja) * | 2014-03-04 | 2019-12-04 | ザクト ロボティクス リミテッド | 対象の関心領域における画像誘導による針挿入手順を術前に計画する方法及びシステム |
US10310054B2 (en) * | 2014-03-21 | 2019-06-04 | The Boeing Company | Relative object localization process for local positioning system |
KR102438168B1 (ko) | 2014-03-26 | 2022-08-31 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 절개가능 조직 |
JP6521707B2 (ja) * | 2014-07-10 | 2019-05-29 | キヤノン株式会社 | 穿刺プランニング装置及び穿刺システム |
KR102518089B1 (ko) | 2014-11-13 | 2023-04-05 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 조직 모델들 및 방법들 |
AU2016219865B2 (en) | 2015-02-19 | 2021-07-08 | Applied Medical Resources Corporation | Simulated tissue structures and methods |
ES2716924T3 (es) | 2015-05-14 | 2019-06-18 | Applied Med Resources | Estructuras de tejido sintético para entrenamiento y estimulación electroquirúrgica |
CA2988767A1 (fr) | 2015-06-09 | 2016-12-15 | Applied Medical Resources Corporation | Modele d'hysterectomie |
ES2824529T3 (es) | 2015-07-16 | 2021-05-12 | Applied Med Resources | Tejido disecable simulado |
CA2993197A1 (fr) | 2015-07-22 | 2017-01-26 | Applied Medical Resources Corporation | Modele d'appendicectomie |
WO2017059417A1 (fr) | 2015-10-02 | 2017-04-06 | Applied Medical Resources Corporation | Modèle d'hystérectomie |
US10706743B2 (en) | 2015-11-20 | 2020-07-07 | Applied Medical Resources Corporation | Simulated dissectible tissue |
CA3028980A1 (fr) | 2016-06-27 | 2018-01-04 | Applied Medical Resources Corporaton | Paroi abdominale simulee |
KR102444865B1 (ko) | 2017-02-14 | 2022-09-19 | 어플라이드 메디컬 리소시스 코포레이션 | 복강경 트레이닝 시스템 |
US10847057B2 (en) | 2017-02-23 | 2020-11-24 | Applied Medical Resources Corporation | Synthetic tissue structures for electrosurgical training and simulation |
CN108577965A (zh) * | 2018-03-19 | 2018-09-28 | 艾瑞迈迪医疗科技(北京)有限公司 | 一种操作路径规划方法及装置 |
US10925598B2 (en) | 2018-07-16 | 2021-02-23 | Ethicon Llc | Robotically-assisted surgical suturing systems |
JP2022500225A (ja) * | 2018-07-24 | 2022-01-04 | エヌディーアール メディカル テクノロジー プライベート リミテッドNdr Medical Technology Pte Ltd | 細長ツールの軌道を決定するためのシステムおよび方法 |
JP7188970B2 (ja) * | 2018-10-11 | 2022-12-13 | ザイオソフト株式会社 | ロボット手術支援装置、ロボット手術支援装置の作動方法、及びプログラム |
JP7264689B2 (ja) * | 2019-03-28 | 2023-04-25 | ザイオソフト株式会社 | 医用画像処理装置、医用画像処理方法、及び医用画像処理プログラム |
JP7355514B2 (ja) * | 2019-03-28 | 2023-10-03 | ザイオソフト株式会社 | 医用画像処理装置、医用画像処理方法、及び医用画像処理プログラム |
US11219501B2 (en) | 2019-12-30 | 2022-01-11 | Cilag Gmbh International | Visualization systems using structured light |
US11759283B2 (en) | 2019-12-30 | 2023-09-19 | Cilag Gmbh International | Surgical systems for generating three dimensional constructs of anatomical organs and coupling identified anatomical structures thereto |
US11776144B2 (en) | 2019-12-30 | 2023-10-03 | Cilag Gmbh International | System and method for determining, adjusting, and managing resection margin about a subject tissue |
US11284963B2 (en) | 2019-12-30 | 2022-03-29 | Cilag Gmbh International | Method of using imaging devices in surgery |
US11648060B2 (en) | 2019-12-30 | 2023-05-16 | Cilag Gmbh International | Surgical system for overlaying surgical instrument data onto a virtual three dimensional construct of an organ |
US11832996B2 (en) | 2019-12-30 | 2023-12-05 | Cilag Gmbh International | Analyzing surgical trends by a surgical system |
US11896442B2 (en) | 2019-12-30 | 2024-02-13 | Cilag Gmbh International | Surgical systems for proposing and corroborating organ portion removals |
US11744667B2 (en) | 2019-12-30 | 2023-09-05 | Cilag Gmbh International | Adaptive visualization by a surgical system |
US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
JP2024513204A (ja) | 2021-03-31 | 2024-03-22 | ムーン サージカル エスアエス | 腹腔鏡下外科手術を実施するための外科手術用器具と併用するための協調操作式外科手術用システム |
US11844583B2 (en) | 2021-03-31 | 2023-12-19 | Moon Surgical Sas | Co-manipulation surgical system having an instrument centering mode for automatic scope movements |
US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
US11832910B1 (en) | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
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FR2668359B1 (fr) | 1990-10-24 | 1998-02-20 | Gen Electric Cgr | Mammographe muni d'un porte-aiguille perfectionne. |
JP3983759B2 (ja) * | 2004-11-26 | 2007-09-26 | 株式会社日立メディコ | 核磁気共鳴撮像装置 |
WO2006089426A1 (fr) | 2005-02-28 | 2006-08-31 | Robarts Research Institute | Systeme et procede pour la realisation d'une biopsie d'un volume cible et dispositif informatique pour sa planification |
WO2006119426A2 (fr) | 2005-05-03 | 2006-11-09 | Regents Of The University Of California | Systemes de biopsie pour tomographie par ordinateur (ct) |
WO2007040270A1 (fr) * | 2005-10-06 | 2007-04-12 | Hitachi Medical Corporation | Appareil de support de ponction |
WO2007042986A2 (fr) | 2005-10-11 | 2007-04-19 | Koninklijke Philips Electronics, N.V. | Systeme de planification, de simulation et de controle d'une trajectoire d'outil en 3d |
DE202007019497U1 (de) | 2006-02-15 | 2013-03-06 | Hologic, Inc. | Brustbiopsie und Nadellokalisierung unter Verwendung von Tomosynthesesystemen |
WO2007095637A1 (fr) * | 2006-02-16 | 2007-08-23 | Catholic Healthcare West (D/B/A St. Joseph's Hospital Medical Center) | système utilisant des signaux de radiofréquence pour suivre et améliorer la navigation d'instruments minces pendant l'insertion dans le corps |
CN101522134B (zh) * | 2006-06-05 | 2012-06-27 | 泰克尼恩研究和发展基金有限公司 | 挠性针的受控导向 |
DE102007015929B4 (de) * | 2007-04-02 | 2012-03-22 | Siemens Ag | Verfahren zur Planung einer Bronchialbiopsie von Läsionen eines Patienten, Röntgen-CT-System und Recheneinheit |
US8066644B2 (en) * | 2007-05-17 | 2011-11-29 | Vanderbilt University | System, method and device for positioning a target located within soft tissue in a path of an instrument |
JP5105330B2 (ja) * | 2008-03-24 | 2012-12-26 | 学校法人早稲田大学 | 穿刺プランニング支援装置及びそのプログラム、並びに刺入条件判定方法 |
EP2296745B1 (fr) * | 2008-05-28 | 2019-07-24 | Technion Research & Development Foundation Ltd. | Robot guidé par ultrasons pour l'orientation d'une aiguille flexible |
US20100076305A1 (en) * | 2008-06-25 | 2010-03-25 | Deutsches Krebsforschungszentrum Stiftung Des Offentlichen Rechts | Method, system and computer program product for targeting of a target with an elongate instrument |
-
2010
- 2010-05-03 FR FR1001897A patent/FR2959409B1/fr active Active
-
2011
- 2011-04-21 JP JP2011094589A patent/JP5821068B2/ja active Active
- 2011-05-03 US US13/099,418 patent/US9265587B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
FR2959409A1 (fr) | 2011-11-04 |
JP2011235089A (ja) | 2011-11-24 |
US9265587B2 (en) | 2016-02-23 |
JP5821068B2 (ja) | 2015-11-24 |
US20110270270A1 (en) | 2011-11-03 |
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