GB2577719B - Navigational aid - Google Patents

Navigational aid Download PDF

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Publication number
GB2577719B
GB2577719B GB1816169.5A GB201816169A GB2577719B GB 2577719 B GB2577719 B GB 2577719B GB 201816169 A GB201816169 A GB 201816169A GB 2577719 B GB2577719 B GB 2577719B
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GB
United Kingdom
Prior art keywords
navigational aid
navigational
aid
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
Application number
GB1816169.5A
Other languages
English (en)
Other versions
GB2577719A (en
Inventor
David Ronald Hares Luke
Robert Mawby Andrew
Clifford Slack Mark
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
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 CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB1816169.5A priority Critical patent/GB2577719B/en
Priority to CN201980065300.9A priority patent/CN113194866A/zh
Priority to US17/282,648 priority patent/US12357392B2/en
Priority to JP2021518643A priority patent/JP7492506B2/ja
Priority to EP19787371.4A priority patent/EP3860491A1/en
Priority to PCT/GB2019/052791 priority patent/WO2020070500A1/en
Publication of GB2577719A publication Critical patent/GB2577719A/en
Application granted granted Critical
Publication of GB2577719B publication Critical patent/GB2577719B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/006—Mixed reality
    • 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
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/2074—Interface software
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
GB1816169.5A 2018-10-03 2018-10-03 Navigational aid Active GB2577719B (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
GB1816169.5A GB2577719B (en) 2018-10-03 2018-10-03 Navigational aid
CN201980065300.9A CN113194866A (zh) 2018-10-03 2019-10-03 导航辅助
US17/282,648 US12357392B2 (en) 2018-10-03 2019-10-03 Navigational aid
JP2021518643A JP7492506B2 (ja) 2018-10-03 2019-10-03 ナビゲーション支援
EP19787371.4A EP3860491A1 (en) 2018-10-03 2019-10-03 Navigational aid
PCT/GB2019/052791 WO2020070500A1 (en) 2018-10-03 2019-10-03 Navigational aid

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1816169.5A GB2577719B (en) 2018-10-03 2018-10-03 Navigational aid

Publications (2)

Publication Number Publication Date
GB2577719A GB2577719A (en) 2020-04-08
GB2577719B true GB2577719B (en) 2023-04-26

Family

ID=68242725

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1816169.5A Active GB2577719B (en) 2018-10-03 2018-10-03 Navigational aid

Country Status (6)

Country Link
US (1) US12357392B2 (enExample)
EP (1) EP3860491A1 (enExample)
JP (1) JP7492506B2 (enExample)
CN (1) CN113194866A (enExample)
GB (1) GB2577719B (enExample)
WO (1) WO2020070500A1 (enExample)

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* Cited by examiner, † Cited by third party
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WO2019222641A1 (en) * 2018-05-18 2019-11-21 Corindus, Inc. Remote communications and control system for robotic interventional procedures
GB2577718B (en) * 2018-10-03 2022-08-24 Cmr Surgical Ltd Feature identification
GB2577719B (en) 2018-10-03 2023-04-26 Cmr Surgical Ltd Navigational aid
WO2021242681A1 (en) * 2020-05-29 2021-12-02 Covidien Lp System and method for integrated control of 3d visualization through a surgical robotic system
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12167900B2 (en) 2021-03-31 2024-12-17 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US12178418B2 (en) 2021-03-31 2024-12-31 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
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
DE102021204031A1 (de) * 2021-04-22 2022-10-27 Carl Zeiss Meditec Ag Verfahren zum Betreiben eines Operationsmikroskops und Operationsmikroskop
US11839442B1 (en) 2023-01-09 2023-12-12 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US12370001B2 (en) 2023-01-09 2025-07-29 Moon Surgical Sas Co-manipulation surgical system having automated user override detection
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
WO2026038225A1 (en) * 2024-08-16 2026-02-19 Mazor Robotics Ltd. System and method for assisting in planning and performing a procedure

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Also Published As

Publication number Publication date
WO2020070500A1 (en) 2020-04-09
GB2577719A (en) 2020-04-08
EP3860491A1 (en) 2021-08-11
JP7492506B2 (ja) 2024-05-29
US20210369354A1 (en) 2021-12-02
JP2022512274A (ja) 2022-02-03
US12357392B2 (en) 2025-07-15
CN113194866A (zh) 2021-07-30

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