JP2020509798A - 手術器具用コントローラ - Google Patents

手術器具用コントローラ Download PDF

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Publication number
JP2020509798A
JP2020509798A JP2019544897A JP2019544897A JP2020509798A JP 2020509798 A JP2020509798 A JP 2020509798A JP 2019544897 A JP2019544897 A JP 2019544897A JP 2019544897 A JP2019544897 A JP 2019544897A JP 2020509798 A JP2020509798 A JP 2020509798A
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JP
Japan
Prior art keywords
controller
surgical instrument
user
shaft
finger
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.)
Pending
Application number
JP2019544897A
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English (en)
Japanese (ja)
Other versions
JP2020509798A5 (enExample
Inventor
モルデハイ ショレヴ
モルデハイ ショレヴ
アッサーフ カウフマン
アッサーフ カウフマン
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Human Xtensions Ltd
Original Assignee
Human Xtensions Ltd
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Filing date
Publication date
Application filed by Human Xtensions Ltd filed Critical Human Xtensions Ltd
Publication of JP2020509798A publication Critical patent/JP2020509798A/ja
Publication of JP2020509798A5 publication Critical patent/JP2020509798A5/ja
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive 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
    • A61B34/25—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
    • 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
    • A61B34/74—Manipulators with manual electric input 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • 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
    • 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
    • B25J9/16—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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • 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
    • A61B2034/741—Glove like input devices, e.g. "data gloves"
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2019544897A 2017-02-23 2018-02-05 手術器具用コントローラ Pending JP2020509798A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762462447P 2017-02-23 2017-02-23
US62/462,447 2017-02-23
PCT/IL2018/050127 WO2018154559A1 (en) 2017-02-23 2018-02-05 Controller for surgical tools

Publications (2)

Publication Number Publication Date
JP2020509798A true JP2020509798A (ja) 2020-04-02
JP2020509798A5 JP2020509798A5 (enExample) 2021-03-18

Family

ID=63254174

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019544897A Pending JP2020509798A (ja) 2017-02-23 2018-02-05 手術器具用コントローラ

Country Status (11)

Country Link
US (1) US20200000539A1 (enExample)
EP (1) EP3585293A4 (enExample)
JP (1) JP2020509798A (enExample)
KR (1) KR20190113988A (enExample)
CN (1) CN110312487A (enExample)
AU (1) AU2018224505A1 (enExample)
BR (1) BR112019017414A2 (enExample)
CA (1) CA3053233A1 (enExample)
IL (1) IL268830A (enExample)
MX (1) MX2019009608A (enExample)
WO (1) WO2018154559A1 (enExample)

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CN109044261A (zh) * 2018-09-27 2018-12-21 深圳市儿童医院 一种腹腔镜用机械手
US11504200B2 (en) 2019-01-24 2022-11-22 Verb Surgical Inc. Wearable user interface device
CN111685884A (zh) * 2019-11-13 2020-09-22 成都博恩思医学机器人有限公司 用于手术机器人的远程控制器
CN112276974B (zh) * 2019-11-13 2024-05-28 成都博恩思医学机器人有限公司 抓取控制组件及远程控制器
US20220392065A1 (en) 2020-01-07 2022-12-08 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
US11969280B2 (en) 2020-01-07 2024-04-30 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
WO2021141921A1 (en) 2020-01-07 2021-07-15 Cleerly, Inc. Systems, methods, and devices for medical image analysis, diagnosis, risk stratification, decision making and/or disease tracking
CN111281649B (zh) * 2020-03-03 2021-08-13 西安交通大学 一种眼科手术机器人系统及其控制方法
US11806107B2 (en) 2020-12-07 2023-11-07 Virtuoso Surgical, Inc. Physician input device for a concentric tube surgical robot
KR20230154256A (ko) 2021-10-05 2023-11-07 코린더스 인코포레이티드 세장형 의료 디바이스들의 로봇 작동
CN113854950B (zh) * 2021-10-29 2024-09-24 佗道医疗科技有限公司 一种复用腹腔镜
US20250143657A1 (en) 2022-03-10 2025-05-08 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US12440180B2 (en) 2022-03-10 2025-10-14 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US12406365B2 (en) 2022-03-10 2025-09-02 Cleerly, Inc. Systems, devices, and methods for non-invasive image-based plaque analysis and risk determination
US20250217981A1 (en) 2022-03-10 2025-07-03 Cleerly, Inc. Systems, methods, and devices for image-based plaque analysis and risk determination

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH07136173A (ja) * 1993-11-15 1995-05-30 Olympus Optical Co Ltd 手術用マニピュレータ
JP2008055544A (ja) * 2006-08-31 2008-03-13 Kyokko Denki Kk 多関節構造体、それを用いた装着具、システムおよびヒューマンマシンインターフェース
JP2012131014A (ja) * 2010-11-30 2012-07-12 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
US20120271283A1 (en) * 2009-08-26 2012-10-25 Carefusion 2200, Inc. Articulated surgical tool

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US6839612B2 (en) * 2001-12-07 2005-01-04 Institute Surgical, Inc. Microwrist system for surgical procedures
US6793653B2 (en) 2001-12-08 2004-09-21 Computer Motion, Inc. Multifunctional handle for a medical robotic system
JP2006334695A (ja) * 2005-05-31 2006-12-14 Kyoto Univ 遠隔操縦装置
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
JP2009028157A (ja) 2007-07-25 2009-02-12 Terumo Corp 医療用マニピュレータシステム
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JP6053455B2 (ja) * 2012-10-29 2016-12-27 新日鐵住金株式会社 多軸ジョイスティック
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KR20140102465A (ko) 2013-02-14 2014-08-22 삼성전자주식회사 수술 로봇 및 그 제어방법
JP6296236B2 (ja) * 2013-05-27 2018-03-20 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置
JP6458036B2 (ja) * 2013-09-01 2019-01-23 ヒューマン エクステンションズ リミテッド 医療装置のための制御ユニット
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07136173A (ja) * 1993-11-15 1995-05-30 Olympus Optical Co Ltd 手術用マニピュレータ
JP2008055544A (ja) * 2006-08-31 2008-03-13 Kyokko Denki Kk 多関節構造体、それを用いた装着具、システムおよびヒューマンマシンインターフェース
US20120271283A1 (en) * 2009-08-26 2012-10-25 Carefusion 2200, Inc. Articulated surgical tool
JP2012131014A (ja) * 2010-11-30 2012-07-12 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

Also Published As

Publication number Publication date
BR112019017414A2 (pt) 2020-03-31
US20200000539A1 (en) 2020-01-02
CN110312487A (zh) 2019-10-08
EP3585293A1 (en) 2020-01-01
IL268830A (en) 2019-10-31
KR20190113988A (ko) 2019-10-08
WO2018154559A1 (en) 2018-08-30
CA3053233A1 (en) 2018-08-30
EP3585293A4 (en) 2020-12-16
MX2019009608A (es) 2019-10-14
AU2018224505A1 (en) 2019-10-03

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