JP2018519876A5 - - Google Patents
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- JP2018519876A5 JP2018519876A5 JP2017558694A JP2017558694A JP2018519876A5 JP 2018519876 A5 JP2018519876 A5 JP 2018519876A5 JP 2017558694 A JP2017558694 A JP 2017558694A JP 2017558694 A JP2017558694 A JP 2017558694A JP 2018519876 A5 JP2018519876 A5 JP 2018519876A5
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- Prior art keywords
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- virtual boundary
- tool
- surgical system
- anatomy
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- 210000003484 anatomy Anatomy 0.000 claims 7
- 241000219430 Betula pendula Species 0.000 claims 1
- 230000003213 activating Effects 0.000 claims 1
- 238000001531 micro-dissection Methods 0.000 claims 1
- 230000000149 penetrating Effects 0.000 claims 1
- 230000035515 penetration Effects 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 claims 1
Claims (10)
- 生体構造を加工するための外科用システムであって、
ベース及びリンケージを有するマニピュレータと、
前記マニピュレータに連結された工具であって、前記生体構造と相互作用するために前記ベースに対して移動可能になっている、工具と、
前記生体構造に関連する第1の仮想境界及び前記生体構造に関連する第2の仮想境界を生成し、第1のモード及び第2のモードにおいて前記工具の移動を制御するように構成された制御装置であって、前記第1のモードにおいて、前記工具を前記第1の仮想境界に関連して拘束するために、前記第1の仮想境界を有効化し、前記第2のモードにおいて、前記工具を前記第2の仮想境界に関連して拘束するために、前記第1の仮想境界を無効化する、制御装置と、を備え、
前記工具の送り速度は、前記第1及び第2のモード間において互いに異なり、
前記第1のモードにおいて前記生体構造を塊切除するように前記工具を制御するように、かつ前記第2のモードにおいて前記生体構造を微小切除するように前記工具を制御するように、構成されている、
外科用システム。 - 前記制御装置は、前記第1のモードにおいて、前記工具が前記第2の仮想境界に達することを阻止するように構成されている、請求項1に記載の外科用システム。
- 前記制御装置は、前記第2のモードにおいて、前記工具が前記第2の仮想境界に達することを可能にするように構成されている、請求項1に記載の外科用システム。
- 区域が前記第1及び第2の仮想境界間に画定されており、前記制御装置は、前記工具が前記第1のモードにおいて前記区域を貫通することを阻止し、前記工具が前記第2のモードにおいて前記区域を貫通することを可能にするように構成されている、請求項1に記載の外科用システム。
- 前記第1の仮想境界は、前記生体構造の目標面から離間している、請求項1に記載の外科用システム。
- 前記第1のモードは、自律モード及び自動モードの一方であり、前記第2のモードは、前記自律モード及び前記手動モードの他方である、請求項1に記載の外科用システム。
- 前記第1及び第2のモードは、両方が自律モード又は両方が手動モードのいずれかである、請求項1に記載の外科用システム。
- 前記制御装置は、前記第1のモードにおいて前記第2の仮想境界を有効化するように構成されている、請求項1〜7のいずれか1つに記載の外科用システム。
- 前記第1の仮想境界は、中間仮想境界としてさらに規定されており、前記第2の仮想境界は、目標仮想境界としてさらに規定されている、請求項1〜7のいずれか1つに記載の外科用システム。
- 前記第1の仮想境界は、前記第2の仮想境界から離間している、請求項1〜7のいずれか1つに記載の外科用システム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021014559A JP6887069B1 (ja) | 2015-05-19 | 2021-02-01 | 生体構造を加工するためのシステム及び方法 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562163672P | 2015-05-19 | 2015-05-19 | |
US62/163,672 | 2015-05-19 | ||
PCT/US2016/033062 WO2016187290A1 (en) | 2015-05-19 | 2016-05-18 | System and method for manipulating an anatomy |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021014559A Division JP6887069B1 (ja) | 2015-05-19 | 2021-02-01 | 生体構造を加工するためのシステム及び方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2018519876A JP2018519876A (ja) | 2018-07-26 |
JP2018519876A5 true JP2018519876A5 (ja) | 2019-06-20 |
JP6832870B2 JP6832870B2 (ja) | 2021-02-24 |
Family
ID=56113060
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017558694A Active JP6832870B2 (ja) | 2015-05-19 | 2016-05-18 | 生体構造を加工するためのシステム及び方法 |
JP2021014559A Active JP6887069B1 (ja) | 2015-05-19 | 2021-02-01 | 生体構造を加工するためのシステム及び方法 |
JP2021082988A Active JP7263436B2 (ja) | 2015-05-19 | 2021-05-17 | 生体構造を加工するためのシステム及び方法 |
JP2023064803A Pending JP2023098997A (ja) | 2015-05-19 | 2023-04-12 | 生体構造を加工するためのシステム及び方法 |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021014559A Active JP6887069B1 (ja) | 2015-05-19 | 2021-02-01 | 生体構造を加工するためのシステム及び方法 |
JP2021082988A Active JP7263436B2 (ja) | 2015-05-19 | 2021-05-17 | 生体構造を加工するためのシステム及び方法 |
JP2023064803A Pending JP2023098997A (ja) | 2015-05-19 | 2023-04-12 | 生体構造を加工するためのシステム及び方法 |
Country Status (7)
Country | Link |
---|---|
US (5) | US10098704B2 (ja) |
EP (2) | EP3915506A1 (ja) |
JP (4) | JP6832870B2 (ja) |
KR (3) | KR102623285B1 (ja) |
CN (2) | CN107635486B (ja) |
AU (4) | AU2016264199B2 (ja) |
WO (1) | WO2016187290A1 (ja) |
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-
2016
- 2016-05-18 US US15/157,833 patent/US10098704B2/en active Active
- 2016-05-18 EP EP21184143.2A patent/EP3915506A1/en active Pending
- 2016-05-18 WO PCT/US2016/033062 patent/WO2016187290A1/en active Application Filing
- 2016-05-18 KR KR1020237001707A patent/KR102623285B1/ko active Application Filing
- 2016-05-18 CN CN201680028535.7A patent/CN107635486B/zh active Active
- 2016-05-18 KR KR1020177031098A patent/KR102491910B1/ko active IP Right Grant
- 2016-05-18 EP EP16727888.6A patent/EP3297563B1/en active Active
- 2016-05-18 CN CN202110323115.4A patent/CN113040920A/zh active Pending
- 2016-05-18 KR KR1020247000298A patent/KR20240007321A/ko not_active Application Discontinuation
- 2016-05-18 JP JP2017558694A patent/JP6832870B2/ja active Active
- 2016-05-18 AU AU2016264199A patent/AU2016264199B2/en active Active
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2018
- 2018-09-13 US US16/130,089 patent/US10743952B2/en active Active
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2020
- 2020-06-16 US US16/902,360 patent/US11083531B2/en active Active
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2021
- 2021-01-29 AU AU2021200554A patent/AU2021200554B2/en active Active
- 2021-02-01 JP JP2021014559A patent/JP6887069B1/ja active Active
- 2021-05-17 JP JP2021082988A patent/JP7263436B2/ja active Active
- 2021-07-01 US US17/365,280 patent/US11723732B2/en active Active
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2022
- 2022-07-07 AU AU2022204868A patent/AU2022204868B2/en active Active
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2023
- 2023-04-12 JP JP2023064803A patent/JP2023098997A/ja active Pending
- 2023-06-23 US US18/213,293 patent/US20230329811A1/en active Pending
- 2023-11-28 AU AU2023274081A patent/AU2023274081A1/en active Pending
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