GB2592378B - Controlling movement of a surgical robot arm - Google Patents

Controlling movement of a surgical robot arm Download PDF

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Publication number
GB2592378B
GB2592378B GB2002643.1A GB202002643A GB2592378B GB 2592378 B GB2592378 B GB 2592378B GB 202002643 A GB202002643 A GB 202002643A GB 2592378 B GB2592378 B GB 2592378B
Authority
GB
United Kingdom
Prior art keywords
robot arm
surgical robot
controlling movement
surgical
controlling
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
GB2002643.1A
Other languages
English (en)
Other versions
GB202002643D0 (en
GB2592378A (en
Inventor
David Ronald Hares Luke
Christopher Roberts Paul
John Veitch Graham
Thomas Deane Gordon
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 GB2402144.6A priority Critical patent/GB2624133B/en
Priority to GB2002643.1A priority patent/GB2592378B/en
Publication of GB202002643D0 publication Critical patent/GB202002643D0/en
Priority to AU2021225384A priority patent/AU2021225384B2/en
Priority to JP2021552229A priority patent/JP2022524743A/ja
Priority to PCT/GB2021/050369 priority patent/WO2021170973A1/en
Priority to CN202180016703.1A priority patent/CN115151214B/xx
Priority to EP21706699.2A priority patent/EP4110220B1/en
Priority to BR112022016806A priority patent/BR112022016806A2/pt
Priority to US17/183,626 priority patent/US11826116B2/en
Publication of GB2592378A publication Critical patent/GB2592378A/en
Priority to CL2022002318A priority patent/CL2022002318A1/es
Priority to JP2023170217A priority patent/JP2023175889A/ja
Priority to US18/383,104 priority patent/US12295685B2/en
Priority to AU2024201458A priority patent/AU2024201458A1/en
Application granted granted Critical
Publication of GB2592378B publication Critical patent/GB2592378B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61B34/35—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
    • A61B34/30—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
    • A61B34/70—Manipulators 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
    • A61B34/70—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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
GB2002643.1A 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm Active GB2592378B (en)

Priority Applications (13)

Application Number Priority Date Filing Date Title
GB2402144.6A GB2624133B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm
GB2002643.1A GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm
BR112022016806A BR112022016806A2 (pt) 2020-02-25 2021-02-16 Sistema de controle para um sistema robótico cirúrgico, controlador de braço para um braço robótico cirúrgico, e, sistema robótico cirúrgico
AU2021225384A AU2021225384B2 (en) 2020-02-25 2021-02-16 Controlling movement of a surgical robot arm
JP2021552229A JP2022524743A (ja) 2020-02-25 2021-02-16 外科手術ロボットアームの移動制御
PCT/GB2021/050369 WO2021170973A1 (en) 2020-02-25 2021-02-16 Controlling movement of a surgical robot arm
CN202180016703.1A CN115151214B (zh) 2020-02-25 2021-02-16 控制手术机器人臂的运动
EP21706699.2A EP4110220B1 (en) 2020-02-25 2021-02-16 Controlling movement of a surgical robot arm
US17/183,626 US11826116B2 (en) 2020-02-25 2021-02-24 Controlling movement of a surgical robot arm
CL2022002318A CL2022002318A1 (es) 2020-02-25 2022-08-24 Control del movimiento de un brazo del robot quirúrgico
JP2023170217A JP2023175889A (ja) 2020-02-25 2023-09-29 外科手術ロボットアームの移動制御
US18/383,104 US12295685B2 (en) 2020-02-25 2023-10-24 Controlling movement of a surgical robot arm
AU2024201458A AU2024201458A1 (en) 2020-02-25 2024-03-05 Controlling movement of a surgical robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2002643.1A GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm

Publications (3)

Publication Number Publication Date
GB202002643D0 GB202002643D0 (en) 2020-04-08
GB2592378A GB2592378A (en) 2021-09-01
GB2592378B true GB2592378B (en) 2024-04-03

Family

ID=70108369

Family Applications (2)

Application Number Title Priority Date Filing Date
GB2002643.1A Active GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm
GB2402144.6A Active GB2624133B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB2402144.6A Active GB2624133B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm

Country Status (8)

Country Link
US (2) US11826116B2 (enExample)
EP (1) EP4110220B1 (enExample)
JP (2) JP2022524743A (enExample)
AU (2) AU2021225384B2 (enExample)
BR (1) BR112022016806A2 (enExample)
CL (1) CL2022002318A1 (enExample)
GB (2) GB2592378B (enExample)
WO (1) WO2021170973A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114010318B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种内镜手术器械输送装置、控制方法及机器人系统
US20230092980A1 (en) * 2021-09-22 2023-03-23 Covidien Lp Surgical robotic system setup
CN115462906B (zh) * 2022-09-29 2025-12-23 武汉联影智融医疗科技有限公司 末端器械及手术器械
GB2627451B (en) * 2023-02-21 2025-07-23 Cmr Surgical Ltd Control system for a surgical robotic system

Citations (2)

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US20120191247A1 (en) * 2011-01-20 2012-07-26 Olympus Corporation Master-slave manipulator and medical master-slave manipulator
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法

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US7169141B2 (en) * 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US20020138082A1 (en) * 1998-02-24 2002-09-26 Brock David L. Surgical instrument
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US20080125794A1 (en) * 1998-02-24 2008-05-29 Hansen Medical, Inc. Surgical instrument
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US8527094B2 (en) * 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
US8262560B2 (en) * 2001-04-20 2012-09-11 Tyco Healthcare Group Lp Imaging device for use with a surgical device
US9517106B2 (en) * 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US10188471B2 (en) * 1999-09-17 2019-01-29 Intuitive Surgical Operations, Inc. Tele-operative surgical systems and methods of control at joint limits using inverse kinematics
US9510911B2 (en) * 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US8945095B2 (en) * 2005-03-30 2015-02-03 Intuitive Surgical Operations, Inc. Force and torque sensing for surgical instruments
JP5152993B2 (ja) * 2005-12-30 2013-02-27 インテュイティブ サージカル インコーポレイテッド モジュール式力センサ
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8224484B2 (en) * 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
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
JP2012171088A (ja) * 2011-02-24 2012-09-10 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
CN104717935B (zh) * 2012-08-15 2018-04-06 直观外科手术操作公司 利用零空间取消关节运动的系统
KR102217573B1 (ko) 2013-03-15 2021-02-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
KR102218243B1 (ko) * 2013-03-15 2021-02-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 소프트웨어 구성가능한 매니퓰레이터 자유도
US9387045B2 (en) * 2013-05-14 2016-07-12 Intuitive Surgical Operations, Inc. Grip force normalization for surgical instrument
CN106030683B (zh) * 2013-12-20 2020-10-30 直观外科手术操作公司 用于医疗程序培训的模拟器系统
JP6660302B2 (ja) * 2014-03-17 2020-03-11 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 基準目標に合わせるシステム及び方法
KR102374441B1 (ko) * 2014-03-17 2022-03-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법
GB2541369B (en) * 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
GB2560384B (en) * 2017-03-10 2022-07-20 Cmr Surgical Ltd Controlling a surgical instrument
US11020112B2 (en) * 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
WO2019204013A1 (en) * 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120191247A1 (en) * 2011-01-20 2012-07-26 Olympus Corporation Master-slave manipulator and medical master-slave manipulator
WO2018216204A1 (ja) * 2017-05-26 2018-11-29 オリンパス株式会社 マスタスレーブマニピュレータとその制御方法

Also Published As

Publication number Publication date
JP2022524743A (ja) 2022-05-10
CN115151214A (zh) 2022-10-04
US11826116B2 (en) 2023-11-28
CL2022002318A1 (es) 2023-04-10
US12295685B2 (en) 2025-05-13
GB202002643D0 (en) 2020-04-08
WO2021170973A1 (en) 2021-09-02
GB2592378A (en) 2021-09-01
GB2624133A (en) 2024-05-08
AU2021225384A1 (en) 2022-09-29
AU2021225384B2 (en) 2023-12-21
EP4110220A1 (en) 2023-01-04
AU2024201458A1 (en) 2024-03-21
GB2624133B (en) 2024-12-25
BR112022016806A2 (pt) 2022-10-11
JP2023175889A (ja) 2023-12-12
US20240050176A1 (en) 2024-02-15
US20210259792A1 (en) 2021-08-26
EP4110220B1 (en) 2025-06-25

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