JP2023504725A - 外科手術用アームを制御するためのユーザ入力デバイスの向き - Google Patents

外科手術用アームを制御するためのユーザ入力デバイスの向き Download PDF

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Publication number
JP2023504725A
JP2023504725A JP2022533563A JP2022533563A JP2023504725A JP 2023504725 A JP2023504725 A JP 2023504725A JP 2022533563 A JP2022533563 A JP 2022533563A JP 2022533563 A JP2022533563 A JP 2022533563A JP 2023504725 A JP2023504725 A JP 2023504725A
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Prior art keywords
arm
input device
surgical
user input
mode
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Pending
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JP2022533563A
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English (en)
Japanese (ja)
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JP2023504725A5 (cg-RX-API-DMAC7.html
Inventor
デヴィア コーエン，
ヤロン レビンソン，
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Momentis Surgical Ltd
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Momentis Surgical Ltd
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Publication of JP2023504725A publication Critical patent/JP2023504725A/ja
Publication of JP2023504725A5 publication Critical patent/JP2023504725A5/ja
Pending legal-status Critical Current

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    • 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
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • 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
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/306—Wrists with multiple vertebrae
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022533563A 2019-12-05 2020-12-04 外科手術用アームを制御するためのユーザ入力デバイスの向き Pending JP2023504725A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962944351P 2019-12-05 2019-12-05
US62/944,351 2019-12-05
PCT/IB2020/061508 WO2021111394A1 (en) 2019-12-05 2020-12-04 Orientation of user-input devices for controlling surgical arms

Publications (2)

Publication Number Publication Date
JP2023504725A true JP2023504725A (ja) 2023-02-06
JP2023504725A5 JP2023504725A5 (cg-RX-API-DMAC7.html) 2024-10-01

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JP2022533563A Pending JP2023504725A (ja) 2019-12-05 2020-12-04 外科手術用アームを制御するためのユーザ入力デバイスの向き
JP2022533557A Active JP7756927B2 (ja) 2019-12-05 2020-12-04 機械外科手術用アームの二重制御
JP2025165601A Pending JP2026016409A (ja) 2019-12-05 2025-10-01 機械外科手術用アームの二重制御

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JP2025165601A Pending JP2026016409A (ja) 2019-12-05 2025-10-01 機械外科手術用アームの二重制御

Country Status (5)

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US (4) US12295694B2 (cg-RX-API-DMAC7.html)
EP (2) EP4069126A4 (cg-RX-API-DMAC7.html)
JP (3) JP2023504725A (cg-RX-API-DMAC7.html)
CN (2) CN115087407B (cg-RX-API-DMAC7.html)
WO (2) WO2021111392A1 (cg-RX-API-DMAC7.html)

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JP2023504725A (ja) 2019-12-05 2023-02-06 モーメンティス サージカル リミテッド 外科手術用アームを制御するためのユーザ入力デバイスの向き
IL272830B2 (en) 2020-02-20 2024-08-01 Momentis Surgical Ltd Surgical robotic positioning cart
WO2023272375A1 (en) * 2021-06-20 2023-01-05 Titan Medical Inc. Method for controlling an articulating instrument
WO2023275697A1 (en) * 2021-06-28 2023-01-05 Momentis Surgical Ltd. Assemblies and methods for performing practice exercises with a surgical device
WO2023286066A1 (en) * 2021-07-15 2023-01-19 Momentis Surgical Ltd Input arm for control of a surgical arm
CN116965938B (zh) * 2022-04-23 2026-07-28 深圳市精锋医疗科技股份有限公司 手术机器人、医疗器械退出方法及可读存储介质
CN117695016A (zh) * 2022-08-24 2024-03-15 上海微创医疗机器人（集团）股份有限公司 机械臂的匹配方法、医生控制台和计算机可读存储介质
CN117414206A (zh) * 2023-10-20 2024-01-19 珠海横乐医疗科技有限公司 一种气管镜机器人系统
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CN115038399A (zh) 2022-09-09
CN115087407A (zh) 2022-09-20
WO2021111394A1 (en) 2021-06-10
US20250090256A1 (en) 2025-03-20
US20230000571A1 (en) 2023-01-05
JP2026016409A (ja) 2026-02-03
US20250288383A1 (en) 2025-09-18
CN115087407B (zh) 2025-05-30
EP4069126A1 (en) 2022-10-12
US20230000579A1 (en) 2023-01-05
CN115038399B (zh) 2025-08-15
JP7756927B2 (ja) 2025-10-21
WO2021111394A8 (en) 2022-01-20
US12295694B2 (en) 2025-05-13
EP4069126A4 (en) 2024-02-21
EP4069127A4 (en) 2023-11-29
US12213758B2 (en) 2025-02-04
JP2023504720A (ja) 2023-02-06
EP4069127A1 (en) 2022-10-12
WO2021111392A1 (en) 2021-06-10

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