GB2624133B - Controlling movement of a surgical robot arm - Google Patents

Controlling movement of a surgical robot arm Download PDF

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Publication number
GB2624133B
GB2624133B GB2402144.6A GB202402144A GB2624133B GB 2624133 B GB2624133 B GB 2624133B GB 202402144 A GB202402144 A GB 202402144A GB 2624133 B GB2624133 B GB 2624133B
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
GB2402144.6A
Other languages
English (en)
Other versions
GB2624133A (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
Publication of GB2624133A publication Critical patent/GB2624133A/en
Application granted granted Critical
Publication of GB2624133B publication Critical patent/GB2624133B/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
    • 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
    • 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)
GB2402144.6A 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm Active GB2624133B (en)

Priority Applications (1)

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

Applications Claiming Priority (2)

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

Publications (2)

Publication Number Publication Date
GB2624133A GB2624133A (en) 2024-05-08
GB2624133B true GB2624133B (en) 2024-12-25

Family

ID=70108369

Family Applications (2)

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
GB2002643.1A Active GB2592378B (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
GB2002643.1A Active GB2592378B (en) 2020-02-25 2020-02-25 Controlling movement of a surgical robot arm

Country Status (9)

Country Link
US (2) US11826116B2 (https=)
EP (1) EP4110220B1 (https=)
JP (2) JP2022524743A (https=)
CN (1) CN115151214B (https=)
AU (2) AU2021225384B2 (https=)
BR (1) BR112022016806A2 (https=)
CL (1) CL2022002318A1 (https=)
GB (2) GB2624133B (https=)
WO (1) WO2021170973A1 (https=)

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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
CN223041606U (zh) * 2024-08-15 2025-07-01 上海术济客医疗科技有限公司 一种手术机器人用驱动装置及手术机器人
CN121041043A (zh) * 2025-04-15 2025-12-02 北京歌锐科技有限公司 一种手术机器人系统的控制方法、装置及手术机器人系统

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US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
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
US7371210B2 (en) * 1998-02-24 2008-05-13 Hansen Medical, Inc. Flexible instrument
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
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
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
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
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Also Published As

Publication number Publication date
WO2021170973A1 (en) 2021-09-02
JP2023175889A (ja) 2023-12-12
JP2022524743A (ja) 2022-05-10
BR112022016806A2 (pt) 2022-10-11
AU2021225384A1 (en) 2022-09-29
EP4110220B1 (en) 2025-06-25
EP4110220A1 (en) 2023-01-04
GB2592378B (en) 2024-04-03
US20240050176A1 (en) 2024-02-15
GB2592378A (en) 2021-09-01
GB2624133A (en) 2024-05-08
AU2021225384B2 (en) 2023-12-21
US11826116B2 (en) 2023-11-28
GB202002643D0 (en) 2020-04-08
CL2022002318A1 (es) 2023-04-10
CN115151214A (zh) 2022-10-04
US20210259792A1 (en) 2021-08-26
AU2024201458A1 (en) 2024-03-21
CN115151214B (zh) 2026-01-02
US12295685B2 (en) 2025-05-13

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