JP2008544814A - マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ - Google Patents

マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ Download PDF

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Publication number
JP2008544814A
JP2008544814A JP2008519585A JP2008519585A JP2008544814A JP 2008544814 A JP2008544814 A JP 2008544814A JP 2008519585 A JP2008519585 A JP 2008519585A JP 2008519585 A JP2008519585 A JP 2008519585A JP 2008544814 A JP2008544814 A JP 2008544814A
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JP
Japan
Prior art keywords
indicator
manipulator assembly
tool
end effector
manipulator
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Pending
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JP2008519585A
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English (en)
Japanese (ja)
Inventor
デビッド ミンツ，
トレイシー アン モーリー，
セオデオール チャールズ ウォーカー，
デビッド キュー． ラーキン，
マイケル リー ハヌシェック，
Original Assignee
インテュイティブ サージカル， インコーポレイテッド
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Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B34/25—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
    • A61B34/37—Leader-follower 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • 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
    • A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
    • 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
    • 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
    • A61B2090/0807—Indication 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2008519585A 2005-06-30 2006-06-28 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ Pending JP2008544814A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69561105P 2005-06-30 2005-06-30
PCT/US2006/025465 WO2007005555A2 (en) 2005-06-30 2006-06-28 Indicator for tool state communication in multi-arm telesurgery

Related Child Applications (3)

Application Number Title Priority Date Filing Date
JP2011286348A Division JP2012061351A (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011286347A Division JP5398036B2 (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2013007009A Division JP5642208B2 (ja) 2005-06-30 2013-01-18 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ

Publications (1)

Publication Number Publication Date
JP2008544814A true JP2008544814A (ja) 2008-12-11

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Family Applications (6)

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JP2008519585A Pending JP2008544814A (ja) 2005-06-30 2006-06-28 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011286348A Pending JP2012061351A (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011286347A Active JP5398036B2 (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2013007009A Active JP5642208B2 (ja) 2005-06-30 2013-01-18 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2013212558A Active JP5778234B2 (ja) 2005-06-30 2013-10-10 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2014094476A Withdrawn JP2014138903A (ja) 2005-06-30 2014-05-01 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ

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JP2011286348A Pending JP2012061351A (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011286347A Active JP5398036B2 (ja) 2005-06-30 2011-12-27 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2013007009A Active JP5642208B2 (ja) 2005-06-30 2013-01-18 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2013212558A Active JP5778234B2 (ja) 2005-06-30 2013-10-10 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2014094476A Withdrawn JP2014138903A (ja) 2005-06-30 2014-05-01 マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ

Country Status (6)

Country Link
US (5) US8100133B2 (enExample)
EP (4) EP3632629A1 (enExample)
JP (6) JP2008544814A (enExample)
KR (3) KR101332210B1 (enExample)
CN (2) CN103192388B (enExample)
WO (1) WO2007005555A2 (enExample)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012213426A (ja) * 2011-03-31 2012-11-08 Olympus Corp 手術用システムの制御装置及び制御方法
JP2016101506A (ja) * 2009-03-31 2016-06-02 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 手術ロボットの合成表現
JP2017515522A (ja) * 2014-03-17 2017-06-15 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 遠隔操作医療システムのための誘導セットアップ
JP2018149670A (ja) * 2017-03-14 2018-09-27 オムロン株式会社 学習対象装置及び動作方法
JP2019526406A (ja) * 2016-08-31 2019-09-19 北京▲術▼▲鋭▼技▲術▼有限公司Ｂｅｉｊｉｎｇ Ｓｕｒｇｅｒｉｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． 手術支援ロボット動作状態の故障検出方法
JP2020509847A (ja) * 2017-03-10 2020-04-02 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 手術ロボットを制御する制御システム
JP2021171458A (ja) * 2020-04-28 2021-11-01 川崎重工業株式会社 手術支援ロボットおよび手術支援ロボットシステム
JP2022533109A (ja) * 2020-04-24 2022-07-21 シーエムアール・サージカル・リミテッド 外科手術ロボットアームへの電力供給
JP2023522448A (ja) * 2020-04-24 2023-05-30 シーエムアール・サージカル・リミテッド 外科手術ロボットアームへの電力供給
JPWO2023120526A1 (enExample) * 2021-12-22 2023-06-29
US11865729B2 (en) 2006-06-29 2024-01-09 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen

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JP2023522448A (ja) * 2020-04-24 2023-05-30 シーエムアール・サージカル・リミテッド 外科手術ロボットアームへの電力供給
JP7439130B2 (ja) 2020-04-24 2024-02-27 シーエムアール・サージカル・リミテッド 外科手術ロボットアームへの電力供給
JP7568745B2 (ja) 2020-04-24 2024-10-16 シーエムアール・サージカル・リミテッド 外科手術ロボットアームへの電力供給
US12233547B2 (en) 2020-04-24 2025-02-25 Cmr Surgical Limited Powering a surgical robot arm
US12274516B2 (en) 2020-04-24 2025-04-15 Cmr Surgical Limited Powering a surgical robot arm
JP7105272B2 (ja) 2020-04-28 2022-07-22 川崎重工業株式会社 手術支援ロボットおよび手術支援ロボットシステム
US12102399B2 (en) 2020-04-28 2024-10-01 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot and surgical robot system
JP2021171458A (ja) * 2020-04-28 2021-11-01 川崎重工業株式会社 手術支援ロボットおよび手術支援ロボットシステム
JPWO2023120526A1 (enExample) * 2021-12-22 2023-06-29

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