FR3100970B1 - Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument - Google Patents

Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument Download PDF

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Publication number
FR3100970B1
FR3100970B1 FR1910553A FR1910553A FR3100970B1 FR 3100970 B1 FR3100970 B1 FR 3100970B1 FR 1910553 A FR1910553 A FR 1910553A FR 1910553 A FR1910553 A FR 1910553A FR 3100970 B1 FR3100970 B1 FR 3100970B1
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France
Prior art keywords
articulated arm
surgical instrument
movement
instrument
intervention device
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Active
Application number
FR1910553A
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English (en)
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FR3100970A1 (fr
Inventor
Stéphane Mazalaigue
Armand Czaplinski
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Individual
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Individual
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Filing date
Publication date
Priority to FR1910553A priority Critical patent/FR3100970B1/fr
Application filed by Individual filed Critical Individual
Priority to EP20785551.1A priority patent/EP4034026A1/fr
Priority to US17/763,066 priority patent/US20220331031A1/en
Priority to KR1020227013634A priority patent/KR20220069070A/ko
Priority to JP2022519128A priority patent/JP7551742B2/ja
Priority to CA3152347A priority patent/CA3152347A1/fr
Priority to AU2020356425A priority patent/AU2020356425A1/en
Priority to PCT/FR2020/051636 priority patent/WO2021058899A1/fr
Priority to CN202080075303.3A priority patent/CN114760950A/zh
Publication of FR3100970A1 publication Critical patent/FR3100970A1/fr
Application granted granted Critical
Publication of FR3100970B1 publication Critical patent/FR3100970B1/fr
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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
    • A61B34/37—Master-slave 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

Ce dispositif robotisé d’intervention chirurgicale comporte un bras articulé (10) à moteurs d’actionnement (M1, M2, M3, M4, M5, M6), un instrument chirurgical (12) porté par le bras articulé (10), un périphérique de commande (28) du bras articulé (10), pour un déplacement d’une extrémité distale fonctionnelle (24) de l’instrument chirurgical (12), et des moyens (32) de traitement d’instructions de déplacement fournies par le périphérique de commande (28) pour les convertir en instructions individuelles de commande de chacun des moteurs d’actionnement (M1, M2, M3, M4, M5, M6) du bras articulé (10). Les moyens de traitement (32) comportent une bride électronique (44, 46, 48, 52) conçue pour ajouter un traitement supplémentaire des instructions de déplacement fournies par le périphérique de commande (28) consistant à bloquer tout déplacement de l’extrémité distale fonctionnelle (24) de l’instrument chirurgical (12) selon au moins un degré de liberté en translation ou rotation prédéfini comme interdit le long ou autour d’au moins un axe d’un repère cartésien local (Xp, Yp, Zp) lié à l’instrument chirurgical (12). Figure pour l’abrégé : Fig. 1
FR1910553A 2019-09-24 2019-09-24 Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument Active FR3100970B1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
FR1910553A FR3100970B1 (fr) 2019-09-24 2019-09-24 Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument
US17/763,066 US20220331031A1 (en) 2019-09-24 2020-09-21 Robotic surgical intervention device with an articulated arm carrying an instrument
KR1020227013634A KR20220069070A (ko) 2019-09-24 2020-09-21 기구를 운반하는 관절형 아암을 갖는 로봇 수술 개입 장치
JP2022519128A JP7551742B2 (ja) 2019-09-24 2020-09-21 器具を保持する関節アーム付きのロボット手術介入装置
EP20785551.1A EP4034026A1 (fr) 2019-09-24 2020-09-21 Dispositif robotisé d'intervention chirurgicale à bras articulé porteur d'un instrument
CA3152347A CA3152347A1 (fr) 2019-09-24 2020-09-21 Dispositif robotise d'intervention chirurgicale a bras articule porteur d'un instrument
AU2020356425A AU2020356425A1 (en) 2019-09-24 2020-09-21 Robotic surgical intervention device with an articulated arm carrying an instrument
PCT/FR2020/051636 WO2021058899A1 (fr) 2019-09-24 2020-09-21 Dispositif robotisé d'intervention chirurgicale à bras articulé porteur d'un instrument
CN202080075303.3A CN114760950A (zh) 2019-09-24 2020-09-21 带有携带器械的铰接臂的外科介入机器人装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1910553 2019-09-24
FR1910553A FR3100970B1 (fr) 2019-09-24 2019-09-24 Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument

Publications (2)

Publication Number Publication Date
FR3100970A1 FR3100970A1 (fr) 2021-03-26
FR3100970B1 true FR3100970B1 (fr) 2021-08-27

Family

ID=69468696

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1910553A Active FR3100970B1 (fr) 2019-09-24 2019-09-24 Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument

Country Status (9)

Country Link
US (1) US20220331031A1 (fr)
EP (1) EP4034026A1 (fr)
JP (1) JP7551742B2 (fr)
KR (1) KR20220069070A (fr)
CN (1) CN114760950A (fr)
AU (1) AU2020356425A1 (fr)
CA (1) CA3152347A1 (fr)
FR (1) FR3100970B1 (fr)
WO (1) WO2021058899A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230102975A (ko) * 2021-12-30 2023-07-07 엘지디스플레이 주식회사 표시 장치

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007005976A1 (fr) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Systeme de catheter robotique
GB0521281D0 (en) * 2005-10-19 2005-11-30 Acrobat Company The Ltd hybrid constrant mechanism
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
US9539726B2 (en) * 2012-04-20 2017-01-10 Vanderbilt University Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots
FR2998344B1 (fr) 2012-11-22 2017-05-19 Collin Systeme de verrouillage d'un raccordement d'elements a embouts male et femelle
CN106102647B (zh) 2014-03-17 2019-06-14 直观外科手术操作公司 用于利用基准标记的台姿态跟踪的方法和装置
CN113397709B (zh) * 2015-06-10 2024-09-20 直观外科手术操作公司 当错开时的主从取向映射
WO2017096388A2 (fr) * 2015-12-04 2017-06-08 Barrish Mark D Système de manipulation et d'articulation pour cathéters et autres utilisations
CN108882968B (zh) * 2016-06-09 2022-05-13 直观外科手术操作公司 计算机辅助远程操作手术系统和方法
KR102438357B1 (ko) * 2016-07-01 2022-09-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 의료 시스템 및 방법
FR3066378B1 (fr) 2017-05-18 2021-12-24 Collin Instrument chirurgical a portions deviees et installation robotisee comportant un tel instrument

Also Published As

Publication number Publication date
KR20220069070A (ko) 2022-05-26
JP7551742B2 (ja) 2024-09-17
US20220331031A1 (en) 2022-10-20
JP2022550061A (ja) 2022-11-30
WO2021058899A1 (fr) 2021-04-01
AU2020356425A1 (en) 2022-05-12
FR3100970A1 (fr) 2021-03-26
EP4034026A1 (fr) 2022-08-03
CA3152347A1 (fr) 2021-04-01
CN114760950A (zh) 2022-07-15

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