JP2025500455A - 電動アームを備えた手術プラットフォーム - Google Patents

電動アームを備えた手術プラットフォーム Download PDF

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Publication number
JP2025500455A
JP2025500455A JP2024538105A JP2024538105A JP2025500455A JP 2025500455 A JP2025500455 A JP 2025500455A JP 2024538105 A JP2024538105 A JP 2024538105A JP 2024538105 A JP2024538105 A JP 2024538105A JP 2025500455 A JP2025500455 A JP 2025500455A
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Japan
Prior art keywords
joint
arm
link
motion
robotic
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Pending
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JP2024538105A
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English (en)
Japanese (ja)
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JP2025500455A5 (cg-RX-API-DMAC7.html
Inventor
エア・ニコラス・ジェイ
ホー・アルビン・ゼット
キム・セドリック
フアン・ヤナン
ウィルソン・コリン・アレン
ジョウ・レンビン
グエン・ヒューン・タイ・チャウ
デヴェンジェンゾ・ロマン・エル
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オーリス ヘルス インコーポレイテッド
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Publication of JP2025500455A publication Critical patent/JP2025500455A/ja
Publication of JP2025500455A5 publication Critical patent/JP2025500455A5/ja
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/101—Clamping means for connecting accessories to the operating table
    • 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
    • A61B34/30—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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00809—Lung operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00818—Treatment of the gastro-intestinal system
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B2034/2051—Electromagnetic tracking 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
    • A61B34/20—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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • 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
    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • 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)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
JP2024538105A 2021-12-22 2022-12-20 電動アームを備えた手術プラットフォーム Pending JP2025500455A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202163293072P 2021-12-22 2021-12-22
US63/293,072 2021-12-22
PCT/IB2022/062545 WO2023119158A1 (en) 2021-12-22 2022-12-20 Surgical platform with motorized arms

Publications (2)

Publication Number Publication Date
JP2025500455A true JP2025500455A (ja) 2025-01-09
JP2025500455A5 JP2025500455A5 (cg-RX-API-DMAC7.html) 2025-10-21

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JP2024538105A Pending JP2025500455A (ja) 2021-12-22 2022-12-20 電動アームを備えた手術プラットフォーム

Country Status (6)

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US (1) US20240342035A1 (cg-RX-API-DMAC7.html)
EP (1) EP4452121A4 (cg-RX-API-DMAC7.html)
JP (1) JP2025500455A (cg-RX-API-DMAC7.html)
KR (1) KR20240124368A (cg-RX-API-DMAC7.html)
CN (1) CN118714984A (cg-RX-API-DMAC7.html)
WO (1) WO2023119158A1 (cg-RX-API-DMAC7.html)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023544317A (ja) * 2020-09-30 2023-10-23 オーリス ヘルス インコーポレイテッド ロボット手術において術中の患者を位置決めするためのガイド付きの協調されたベッド運動

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013135859A (ja) * 2004-09-30 2013-07-11 Intuitive Surgical Inc オフセット遠隔中心マニピュレーター
JP2015519146A (ja) * 2012-06-01 2015-07-09 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 手術器具マニピュレータの態様
US20190000576A1 (en) * 2017-06-28 2019-01-03 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
JP2021035507A (ja) * 2016-09-16 2021-03-04 バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． ロボットアーム

Family Cites Families (9)

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US20190142396A1 (en) * 2016-05-04 2019-05-16 The Johns Hopkins University Remote center of motion robot
KR102257827B1 (ko) * 2016-09-16 2021-05-31 버브 서지컬 인크. 로봇 아암
CN111867511A (zh) * 2018-01-17 2020-10-30 奥瑞斯健康公司 具有改进的机器人臂的外科机器人系统
US20210015519A1 (en) * 2018-04-20 2021-01-21 Covidien Lp Surgical port manipulator
US11576738B2 (en) * 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
US11202683B2 (en) * 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2021059099A1 (en) * 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision detection and avoidance
US12350829B2 (en) * 2020-03-26 2025-07-08 Auris Health, Inc. Systems and methods for constrained motion control of medical instruments
WO2021216091A1 (en) * 2020-04-24 2021-10-28 Verb Surgical Inc. Remote center of motion control for a surgical robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013135859A (ja) * 2004-09-30 2013-07-11 Intuitive Surgical Inc オフセット遠隔中心マニピュレーター
JP2015519146A (ja) * 2012-06-01 2015-07-09 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 手術器具マニピュレータの態様
JP2021035507A (ja) * 2016-09-16 2021-03-04 バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． ロボットアーム
US20190000576A1 (en) * 2017-06-28 2019-01-03 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints

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Publication number Publication date
US20240342035A1 (en) 2024-10-17
CN118714984A (zh) 2024-09-27
WO2023119158A1 (en) 2023-06-29
KR20240124368A (ko) 2024-08-16
EP4452121A1 (en) 2024-10-30
EP4452121A4 (en) 2025-12-17

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