JP2024543877A - ロボットによるマイクロ手術処置のための力フィードバック - Google Patents

ロボットによるマイクロ手術処置のための力フィードバック Download PDF

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Publication number
JP2024543877A
JP2024543877A JP2024530436A JP2024530436A JP2024543877A JP 2024543877 A JP2024543877 A JP 2024543877A JP 2024530436 A JP2024530436 A JP 2024530436A JP 2024530436 A JP2024530436 A JP 2024530436A JP 2024543877 A JP2024543877 A JP 2024543877A
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Japan
Prior art keywords
tool
control component
incision
ophthalmic
operator
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JP2024530436A
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Japanese (ja)
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JP2024543877A5 (https=
Inventor
ゴラン，ヨアブ
ゼエブ，オリ ベン
コーマン，タル
グロズマン，ダニエル
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フォーサイト ロボティクス リミテッド
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Publication of JP2024543877A publication Critical patent/JP2024543877A/ja
Publication of JP2024543877A5 publication Critical patent/JP2024543877A5/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
    • A61B34/30—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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/70—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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
    • A61F9/00754—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments for cutting or perforating the anterior lens capsule, e.g. capsulotomes
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • 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
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2024530436A 2021-12-02 2022-12-01 ロボットによるマイクロ手術処置のための力フィードバック Pending JP2024543877A (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202163285218P 2021-12-02 2021-12-02
US63/285,218 2021-12-02
US202263406881P 2022-09-15 2022-09-15
US63/406,881 2022-09-15
PCT/IB2022/061636 WO2023100126A1 (en) 2021-12-02 2022-12-01 Force feedback for robotic microsurgical procedures

Publications (2)

Publication Number Publication Date
JP2024543877A true JP2024543877A (ja) 2024-11-26
JP2024543877A5 JP2024543877A5 (https=) 2025-12-05

Family

ID=84767181

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024530436A Pending JP2024543877A (ja) 2021-12-02 2022-12-01 ロボットによるマイクロ手術処置のための力フィードバック

Country Status (5)

Country Link
US (2) US20230240779A1 (https=)
EP (1) EP4440483A1 (https=)
JP (1) JP2024543877A (https=)
CA (1) CA3238904A1 (https=)
WO (1) WO2023100126A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
WO2025196696A1 (en) 2024-03-21 2025-09-25 Forsight Robotics Ltd. Controlling a surgical tool for performing microsurgical procedures in a robotic manner
WO2025229483A1 (en) 2024-04-28 2025-11-06 Forsight Robotics Ltd. Augmented images for facilitating ophthalmic surgery

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6233504B1 (en) * 1998-04-16 2001-05-15 California Institute Of Technology Tool actuation and force feedback on robot-assisted microsurgery system
KR101901580B1 (ko) * 2011-12-23 2018-09-28 삼성전자주식회사 수술 로봇 및 그 제어 방법
KR20140090374A (ko) * 2013-01-08 2014-07-17 삼성전자주식회사 싱글 포트 수술 로봇 및 그 제어 방법
EP3689284B1 (en) * 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US10888389B2 (en) * 2015-09-10 2021-01-12 Duke University Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance
CN108882968B (zh) * 2016-06-09 2022-05-13 直观外科手术操作公司 计算机辅助远程操作手术系统和方法
US11564757B2 (en) * 2017-02-27 2023-01-31 The Regents Of The University Of California Laser-assisted surgical alignment
US10952801B2 (en) * 2017-11-10 2021-03-23 Intuitive Surgical Operations, Inc. Systems and methods for controlling a robotic manipulator or associated tool
US11259960B2 (en) * 2018-02-22 2022-03-01 Alcon Inc. Surgical instrument using detected light
US11504200B2 (en) * 2019-01-24 2022-11-22 Verb Surgical Inc. Wearable user interface device
US11179214B2 (en) * 2019-07-16 2021-11-23 Asensus Surgical Us, Inc. Haptic user interface for robotically controlled surgical instruments
EP4360581A3 (en) 2020-07-28 2024-07-31 Forsight Robotics Ltd. Robotic system for microsurgical procedures

Also Published As

Publication number Publication date
CA3238904A1 (en) 2023-06-08
US20230240779A1 (en) 2023-08-03
EP4440483A1 (en) 2024-10-09
WO2023100126A1 (en) 2023-06-08
US20230240890A1 (en) 2023-08-03

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