JP6290372B2 - カスタム套管針を使用したロボット遠隔運動中心点の位置特定 - Google Patents

カスタム套管針を使用したロボット遠隔運動中心点の位置特定 Download PDF

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Publication number
JP6290372B2
JP6290372B2 JP2016504796A JP2016504796A JP6290372B2 JP 6290372 B2 JP6290372 B2 JP 6290372B2 JP 2016504796 A JP2016504796 A JP 2016504796A JP 2016504796 A JP2016504796 A JP 2016504796A JP 6290372 B2 JP6290372 B2 JP 6290372B2
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Japan
Prior art keywords
robot
marker device
marker
remote motion
motion center
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Expired - Fee Related
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JP2016504796A
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Japanese (ja)
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JP2016520345A (ja
JP2016520345A5 (enExample
Inventor
ハイサム エルハワリー
ハイサム エルハワリー
アレクサンドラ ポポヴィッチ
アレクサンドラ ポポヴィッチ
アーミート クマー ジャイン
アーミート クマー ジャイン
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Koninklijke Philips NV
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Koninklijke Philips NV
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Publication of JP2016520345A5 publication Critical patent/JP2016520345A5/ja
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • 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
    • A61B34/20—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
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2016504796A 2013-03-28 2014-03-21 カスタム套管針を使用したロボット遠隔運動中心点の位置特定 Expired - Fee Related JP6290372B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361805947P 2013-03-28 2013-03-28
US61/805,947 2013-03-28
PCT/IB2014/060020 WO2014155257A1 (en) 2013-03-28 2014-03-21 Localization of robotic remote center of motion point using custom trocar

Publications (3)

Publication Number Publication Date
JP2016520345A JP2016520345A (ja) 2016-07-14
JP2016520345A5 JP2016520345A5 (enExample) 2017-09-28
JP6290372B2 true JP6290372B2 (ja) 2018-03-07

Family

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JP2016504796A Expired - Fee Related JP6290372B2 (ja) 2013-03-28 2014-03-21 カスタム套管針を使用したロボット遠隔運動中心点の位置特定

Country Status (5)

Country Link
US (1) US9782198B2 (enExample)
EP (1) EP3003180B1 (enExample)
JP (1) JP6290372B2 (enExample)
CN (1) CN105073042B (enExample)
WO (1) WO2014155257A1 (enExample)

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KR20250130720A (ko) 2018-09-28 2025-09-02 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2021214456A1 (en) * 2020-04-24 2021-10-28 Cmr Surgical Limited Powering a surgical robot arm
US12233547B2 (en) 2020-04-24 2025-02-25 Cmr Surgical Limited Powering a surgical robot arm
US12274516B2 (en) 2020-04-24 2025-04-15 Cmr Surgical Limited Powering a surgical robot arm

Also Published As

Publication number Publication date
US9782198B2 (en) 2017-10-10
EP3003180B1 (en) 2019-02-27
EP3003180A1 (en) 2016-04-13
WO2014155257A1 (en) 2014-10-02
JP2016520345A (ja) 2016-07-14
US20160045269A1 (en) 2016-02-18
CN105073042A (zh) 2015-11-18
CN105073042B (zh) 2019-03-29

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