IT202200017103A1 - Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico - Google Patents

Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico Download PDF

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Publication number
IT202200017103A1
IT202200017103A1 IT102022000017103A IT202200017103A IT202200017103A1 IT 202200017103 A1 IT202200017103 A1 IT 202200017103A1 IT 102022000017103 A IT102022000017103 A IT 102022000017103A IT 202200017103 A IT202200017103 A IT 202200017103A IT 202200017103 A1 IT202200017103 A1 IT 202200017103A1
Authority
IT
Italy
Prior art keywords
robotic system
commanded
vision
limitations
account
Prior art date
Application number
IT102022000017103A
Other languages
English (en)
Inventor
Massimiliano Simi
Emanuele Ruffaldi
Guardo Antonio Di
Original Assignee
Medical Microinstruments Inc
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 Medical Microinstruments Inc filed Critical Medical Microinstruments Inc
Priority to IT102022000017103A priority Critical patent/IT202200017103A1/it
Priority to PCT/IB2023/058043 priority patent/WO2024033828A1/en
Publication of IT202200017103A1 publication Critical patent/IT202200017103A1/it

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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
    • A61B34/30—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
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
IT102022000017103A 2022-08-10 2022-08-10 Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico IT202200017103A1 (it)

Priority Applications (2)

Application Number Priority Date Filing Date Title
IT102022000017103A IT202200017103A1 (it) 2022-08-10 2022-08-10 Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico
PCT/IB2023/058043 WO2024033828A1 (en) 2022-08-10 2023-08-09 Method for controlling a slave device, controlled by a master device in a robotic system for medical or surgical teleoperation, taking into account limits of a field of view, and related robotic system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102022000017103A IT202200017103A1 (it) 2022-08-10 2022-08-10 Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico

Publications (1)

Publication Number Publication Date
IT202200017103A1 true IT202200017103A1 (it) 2024-02-10

Family

ID=83996445

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102022000017103A IT202200017103A1 (it) 2022-08-10 2022-08-10 Metodo per controllare un dispositivo slave, comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, che tiene conto di limiti di un campo di visione, e relativo sistema robotico

Country Status (2)

Country Link
IT (1) IT202200017103A1 (it)
WO (1) WO2024033828A1 (it)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160235486A1 (en) * 2007-06-13 2016-08-18 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US20180025666A1 (en) 2016-07-21 2018-01-25 Auris Surgical Robotics, Inc. System with emulator movement tracking for controlling medical devices
US20200289222A1 (en) * 2019-03-15 2020-09-17 Ethicon Llc Selectable variable response of shaft motion of surgical robotic systems
CN113633387A (zh) * 2021-06-21 2021-11-12 安徽理工大学 术野追踪的扶持腹腔镜微创机器人触力交互方法和系统
US11317979B2 (en) * 2014-03-17 2022-05-03 Intuitive Surgical Operations, Inc. Systems and methods for offscreen indication of instruments in a teleoperational medical system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019099346A2 (en) * 2017-11-16 2019-05-23 Intuitive Surgical Operations, Inc. Master/slave registration and control for teleoperation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160235486A1 (en) * 2007-06-13 2016-08-18 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US11317979B2 (en) * 2014-03-17 2022-05-03 Intuitive Surgical Operations, Inc. Systems and methods for offscreen indication of instruments in a teleoperational medical system
US20180025666A1 (en) 2016-07-21 2018-01-25 Auris Surgical Robotics, Inc. System with emulator movement tracking for controlling medical devices
US20200289222A1 (en) * 2019-03-15 2020-09-17 Ethicon Llc Selectable variable response of shaft motion of surgical robotic systems
CN113633387A (zh) * 2021-06-21 2021-11-12 安徽理工大学 术野追踪的扶持腹腔镜微创机器人触力交互方法和系统

Also Published As

Publication number Publication date
WO2024033828A1 (en) 2024-02-15

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