JP6714085B2 - ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法 - Google Patents

ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法 Download PDF

Info

Publication number
JP6714085B2
JP6714085B2 JP2018533800A JP2018533800A JP6714085B2 JP 6714085 B2 JP6714085 B2 JP 6714085B2 JP 2018533800 A JP2018533800 A JP 2018533800A JP 2018533800 A JP2018533800 A JP 2018533800A JP 6714085 B2 JP6714085 B2 JP 6714085B2
Authority
JP
Japan
Prior art keywords
robot
head
tracking data
user
image
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.)
Active
Application number
JP2018533800A
Other languages
English (en)
Japanese (ja)
Other versions
JP2019506922A (ja
JP2019506922A5 (cg-RX-API-DMAC10.html
Inventor
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
デイビッド ポール ヌーナン
デイビッド ポール ヌーナン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of JP2019506922A publication Critical patent/JP2019506922A/ja
Publication of JP2019506922A5 publication Critical patent/JP2019506922A5/ja
Application granted granted Critical
Publication of JP6714085B2 publication Critical patent/JP6714085B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • 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
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Processing Or Creating Images (AREA)
  • Manipulator (AREA)
JP2018533800A 2015-12-29 2016-12-27 ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法 Active JP6714085B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562272512P 2015-12-29 2015-12-29
US62/272,512 2015-12-29
PCT/EP2016/082716 WO2017114834A1 (en) 2015-12-29 2016-12-27 System, controller and method using virtual reality device for robotic surgery

Publications (3)

Publication Number Publication Date
JP2019506922A JP2019506922A (ja) 2019-03-14
JP2019506922A5 JP2019506922A5 (cg-RX-API-DMAC10.html) 2020-02-13
JP6714085B2 true JP6714085B2 (ja) 2020-06-24

Family

ID=57714596

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018533800A Active JP6714085B2 (ja) 2015-12-29 2016-12-27 ロボット手術のために仮想現実デバイスを使用するシステム、コントローラ、及び方法

Country Status (5)

Country Link
US (2) US10646289B2 (cg-RX-API-DMAC10.html)
EP (1) EP3397185A1 (cg-RX-API-DMAC10.html)
JP (1) JP6714085B2 (cg-RX-API-DMAC10.html)
CN (1) CN108472095B (cg-RX-API-DMAC10.html)
WO (1) WO2017114834A1 (cg-RX-API-DMAC10.html)

Families Citing this family (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10179407B2 (en) * 2014-11-16 2019-01-15 Robologics Ltd. Dynamic multi-sensor and multi-robot interface system
CN108778113B (zh) 2015-09-18 2022-04-15 奥瑞斯健康公司 管状网络的导航
US10646289B2 (en) * 2015-12-29 2020-05-12 Koninklijke Philips N.V. System, controller and method using virtual reality device for robotic surgery
US10492873B2 (en) * 2016-10-25 2019-12-03 Novartis Ag Medical spatial orientation system
JP6850183B2 (ja) * 2017-04-11 2021-03-31 川崎重工業株式会社 ロボットシステム及びその運転方法
WO2018195319A1 (en) 2017-04-20 2018-10-25 Intuitive Surgical Operations, Inc. Systems and methods for constraining a virtual reality surgical system
US11779192B2 (en) * 2017-05-03 2023-10-10 Covidien Lp Medical image viewer control from surgeon's camera
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
CN107566510B (zh) * 2017-09-20 2020-12-01 歌尔光学科技有限公司 远程医疗诊断服务系统
US11351005B2 (en) 2017-10-23 2022-06-07 Intuitive Surgical Operations, Inc. Systems and methods for presenting augmented reality in a display of a teleoperational system
WO2019139935A1 (en) * 2018-01-10 2019-07-18 Covidien Lp Guidance for positioning a patient and surgical robot
US20190254753A1 (en) * 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
TWI741196B (zh) * 2018-06-26 2021-10-01 華宇藥品股份有限公司 整合擴增實境之手術導航方法及系統
JP7457692B2 (ja) * 2018-08-01 2024-03-28 ブレイン ナビ バイオテクノロジー カンパニー リミテッド 手術を実行するためにロボットアームアセンブリの手術経路を更新するためのシステムの作動方法及びそのシステム、並びに記憶媒体
US11612438B2 (en) * 2018-09-05 2023-03-28 Point Robotics Medtech Inc. Navigation system and method for medical operation by a robotic system using a tool
GB2577718B (en) 2018-10-03 2022-08-24 Cmr Surgical Ltd Feature identification
GB2577719B (en) 2018-10-03 2023-04-26 Cmr Surgical Ltd Navigational aid
US11989930B2 (en) 2018-10-25 2024-05-21 Beyeonics Surgical Ltd. UI for head mounted display system
EP4318401A3 (en) 2018-10-26 2024-05-08 Intuitive Surgical Operations, Inc. Mixed reality systems and methods for indicating an extent of a field of view of an imaging device
US12008721B2 (en) 2018-10-26 2024-06-11 Intuitive Surgical Operations, Inc. Mixed reality systems and methods for indicating an extent of a field of view of an imaging device
DE102018128848A1 (de) * 2018-11-16 2020-05-20 Olympus Winter & Ibe Gmbh Verfahren und Vorrichtung zur Ausführung verschiedener Funktionen im Zusammenhang mit chirurgischen Geräten
CN109410680A (zh) * 2018-11-19 2019-03-01 叶哲伟 一种基于混合现实的虚拟手术训练方法及系统
WO2020123671A1 (en) * 2018-12-11 2020-06-18 Project Moray, Inc. Hybrid-dimensional, augmented reality, and/or registration of user interface and simulation systems for robotic catheters and other uses
US12471994B2 (en) * 2019-01-31 2025-11-18 Intuitive Surgical Operations, Inc. Systems and methods for facilitating insertion of a surgical instrument into a surgical space
KR102297517B1 (ko) * 2019-03-06 2021-09-02 서울대학교 산학협력단 최소 침습 수술을 위한 수술로봇 시스템 및 상기 수술로봇 시스템의 구동방법
WO2021092194A1 (en) * 2019-11-05 2021-05-14 Vicarious Surgical Inc. Surgical virtual reality user interface
US11871904B2 (en) * 2019-11-08 2024-01-16 Covidien Ag Steerable endoscope system with augmented view
US12400750B1 (en) 2019-11-15 2025-08-26 Verily Life Sciences Llc Automatic content tagging in videos of minimally invasive surgeries
EP4076260B1 (en) * 2019-12-19 2025-07-09 Covidien LP Systems and methods for mitigating collision of a robotic system
US20230017738A1 (en) * 2019-12-19 2023-01-19 Sony Group Corporation Method, apparatus and system for controlling an image capture device during surgery
US11607287B2 (en) * 2019-12-31 2023-03-21 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11864841B2 (en) 2019-12-31 2024-01-09 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11409091B2 (en) 2019-12-31 2022-08-09 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
US11048072B1 (en) * 2019-12-31 2021-06-29 Carl Zeiss Meditec Ag Method of operating a surgical microscope and surgical microscope
IL294566A (en) * 2020-01-06 2022-09-01 Beyeonics Surgical Ltd User interface for controlling a surgical system
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
GB2593473B (en) * 2020-03-23 2024-09-04 Cmr Surgical Ltd Virtual console for controlling a surgical robot
US11690674B2 (en) * 2020-04-03 2023-07-04 Verb Surgical Inc. Mobile virtual reality system for surgical robotic systems
FR3109237B1 (fr) 2020-04-10 2022-08-05 Virtualisurg Système de connexion d’un dispositif d’entraînement chirurgical à un dispositif virtuel
FR3109078B1 (fr) 2020-04-10 2022-05-06 Virtualisurg Dispositif de simulation chirurgicale
US11607277B2 (en) 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
US11166765B1 (en) 2020-05-08 2021-11-09 Verb Surgical Inc. Feedback for surgical robotic system with virtual reality
US12478453B2 (en) * 2020-05-29 2025-11-25 Medtronic, Inc. Presentation of patient information for cardiac blood flow procedures
CN112914730B (zh) * 2021-01-19 2022-12-16 上海市第十人民医院 一种基于vr技术的远程介入治疗系统
US12251167B2 (en) * 2021-05-24 2025-03-18 Biosense Webster (Israel) Ltd. Gesture based selection of portion of catheter
JP7701774B2 (ja) * 2021-08-04 2025-07-02 浩太郎 久保 教育ｖｒ用コンテンツ提供プログラム及び医療教育ｖｒ用コンテンツ提供システム
US12564471B2 (en) * 2021-08-11 2026-03-03 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
CN113766267B (zh) * 2021-09-15 2023-10-24 深圳市道通智能航空技术股份有限公司 基于无人机的多路视频直播方法、系统、设备及存储介质
CN114305695B (zh) * 2021-12-06 2023-12-26 上海微创医疗机器人（集团）股份有限公司 移动指引方法及系统、可读存储介质、及手术机器人系统
CN114972415B (zh) * 2021-12-28 2023-03-28 广东东软学院 机器人视觉跟踪方法、系统、电子设备及介质
US12149624B2 (en) 2022-09-02 2024-11-19 Bank Of America Corporation System and method for pre-authenticating user devices within a metaverse
CN115607294B (zh) * 2022-11-02 2025-09-26 苏州微创畅行机器人有限公司 手术机器人系统和数据处理方法
CN116152331A (zh) * 2023-02-08 2023-05-23 上海微创医疗机器人（集团）股份有限公司 图像获取组件的调节方法、装置及操作系统
CN118542635B (zh) * 2024-07-24 2024-10-22 显微智能科技(湖南)有限公司 一种基于眼球运动识别的内窥镜控制系统
CN119257733A (zh) * 2024-09-20 2025-01-07 哈尔滨思哲睿智能医疗设备股份有限公司 一种手术机器人规划导航方法、装置、设备和存储介质

Family Cites Families (64)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5641288A (en) * 1996-01-11 1997-06-24 Zaenglein, Jr.; William G. Shooting simulating process and training device using a virtual reality display screen
US6139490A (en) * 1996-02-22 2000-10-31 Precision Optics Corporation Stereoscopic endoscope with virtual reality viewing
US6847336B1 (en) * 1996-10-02 2005-01-25 Jerome H. Lemelson Selectively controllable heads-up display system
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
CA2437286C (en) * 2002-08-13 2008-04-29 Garnette Roy Sutherland Microsurgical robot system
CN1993688B (zh) * 2004-08-03 2012-01-18 西尔弗布鲁克研究有限公司 走近启动的打印
WO2008004222A2 (en) * 2006-07-03 2008-01-10 Yissum Research Development Company Of The Hebrew University Of Jerusalem Computer image-aided method and system for guiding instruments through hollow cavities
CN100468295C (zh) * 2007-04-10 2009-03-11 南京航空航天大学 基于人体表面肌电信息的头盔显示器虚拟视觉时延补偿系统及方法
GB0712690D0 (en) * 2007-06-29 2007-08-08 Imp Innovations Ltd Imagee processing
GB2464092A (en) 2008-09-25 2010-04-07 Prosurgics Ltd Surgical mechanism control system
WO2011083374A1 (en) * 2010-01-08 2011-07-14 Koninklijke Philips Electronics N.V. Uncalibrated visual servoing using real-time velocity optimization
CN102711650B (zh) 2010-01-13 2015-04-01 皇家飞利浦电子股份有限公司 用于内窥镜手术的基于图像整合的配准和导航
IT1401669B1 (it) 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
JP5704833B2 (ja) * 2010-05-10 2015-04-22 オリンパス株式会社 操作入力装置およびマニピュレータシステム
DE202012013197U1 (de) 2011-08-21 2015-05-21 M.S.T. Medical Surgery Technologies Ltd. Vorrichtung zum Unterstützen einer laparoskopischen Chirurgie - Regelbasierte Herangehensweise
US20190029765A1 (en) * 2012-06-21 2019-01-31 Globus Medical, Inc. Surgical robotic systems providing transfer of registration and related methods and computer program products
US9058053B2 (en) * 2012-10-26 2015-06-16 The Boeing Company Virtual reality display system
JP2016032485A (ja) * 2012-12-27 2016-03-10 国立大学法人 東京医科歯科大学 内視鏡下手術支援システム及び画像制御方法
EP2956814A1 (en) * 2013-02-14 2015-12-23 Seiko Epson Corporation Head mounted display and control method for head mounted display
KR20140112207A (ko) * 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
KR20140121581A (ko) 2013-04-08 2014-10-16 삼성전자주식회사 수술 로봇 시스템
US20170115736A1 (en) * 2013-04-10 2017-04-27 Google Inc. Photo-Based Unlock Patterns
US10584940B2 (en) * 2013-05-09 2020-03-10 Shooting Simulator, Llc System and method for marksmanship training
US10274287B2 (en) * 2013-05-09 2019-04-30 Shooting Simulator, Llc System and method for marksmanship training
US9592095B2 (en) * 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
JP6252004B2 (ja) * 2013-07-16 2017-12-27 セイコーエプソン株式会社 情報処理装置、情報処理方法、および、情報処理システム
WO2015008470A2 (en) * 2013-07-16 2015-01-22 Seiko Epson Corporation Information processing apparatus, information processing method, and information processing system
CN104035760A (zh) * 2014-03-04 2014-09-10 苏州天魂网络科技有限公司 跨移动平台实现沉浸式虚拟现实的系统
KR102404559B1 (ko) * 2014-03-19 2022-06-02 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 눈 시선 추적을 사용하는 의료 디바이스, 시스템, 및 방법
JP2015192697A (ja) * 2014-03-31 2015-11-05 ソニー株式会社 制御装置および制御方法、並びに撮影制御システム
EP3139843B1 (en) * 2014-05-05 2023-08-30 Vicarious Surgical Inc. Virtual reality surgical device
EP4233700B1 (en) * 2014-08-10 2025-11-12 Autonomix Medical, Inc. Systems for assessing neural activity in an eye
US10034508B2 (en) * 2014-08-12 2018-07-31 Microsoft Technology Licensing, Llc Weight-distributing headband for head-worn assembly
US10702353B2 (en) * 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
WO2016092698A1 (ja) * 2014-12-12 2016-06-16 キヤノン株式会社 画像処理装置、画像処理方法およびプログラム
US10154239B2 (en) * 2014-12-30 2018-12-11 Onpoint Medical, Inc. Image-guided surgery with surface reconstruction and augmented reality visualization
US9538962B1 (en) * 2014-12-31 2017-01-10 Verily Life Sciences Llc Heads-up displays for augmented reality network in a medical environment
US10013808B2 (en) * 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
EP3258876B1 (en) * 2015-02-20 2023-10-18 Covidien LP Operating room and surgical site awareness
JP5944600B1 (ja) * 2015-08-28 2016-07-05 株式会社タカラトミー 頭部装着型ディスプレイを備えた情報処理装置
EP3383247A4 (en) * 2015-11-25 2019-06-26 Camplex, Inc. SURGICAL VISUALIZATION SYSTEMS AND DISPLAYS
EP3174267B1 (en) 2015-11-30 2018-11-07 Sap Se Interaction pattern for a mobile telecommunication device
WO2017114855A1 (en) * 2015-12-29 2017-07-06 Koninklijke Philips N.V. System, control unit and method for control of a surgical robot
US10646289B2 (en) * 2015-12-29 2020-05-12 Koninklijke Philips N.V. System, controller and method using virtual reality device for robotic surgery
CN111329554B (zh) * 2016-03-12 2021-01-05 P·K·朗 用于手术的装置与方法
CN109069207B (zh) * 2016-03-17 2021-09-10 皇家飞利浦有限公司 机器人系统及其控制单元和计算机可读存储介质
WO2018005690A1 (en) * 2016-06-28 2018-01-04 Against Gravity Corp. Systems and methods for assisting virtual gestures based on viewing frustum
KR102577634B1 (ko) * 2016-07-25 2023-09-11 매직 립, 인코포레이티드 증강 현실 및 가상 현실 안경류를 사용한 이미징 수정, 디스플레이 및 시각화
US9844321B1 (en) * 2016-08-04 2017-12-19 Novartis Ag Enhanced ophthalmic surgical experience using a virtual reality head-mounted display
US10499997B2 (en) * 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
EP3529686A4 (en) * 2017-01-13 2019-09-25 Samsung Electronics Co., Ltd. METHOD AND DEVICE FOR PROVIDING A GUIDANCE IN A VIRTUAL ENVIRONMENT
US10416769B2 (en) * 2017-02-14 2019-09-17 Microsoft Technology Licensing, Llc Physical haptic feedback system with spatial warping
AU2018250049B2 (en) * 2017-04-07 2023-06-29 Auris Health, Inc. Patient introducer alignment
US20180356880A1 (en) * 2017-04-14 2018-12-13 Colopl, Inc. Information processing method and apparatus, and program for executing the information processing method on computer
US10861236B2 (en) * 2017-09-08 2020-12-08 Surgical Theater, Inc. Dual mode augmented reality surgical system and method
EP3735674B1 (en) * 2018-01-03 2025-09-24 Koninklijke Philips N.V. System and method for detecting abnormal tissue using vascular features
US20190254753A1 (en) * 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
WO2019231891A1 (en) * 2018-05-31 2019-12-05 Auris Health, Inc. Path-based navigation of tubular networks
EP3810017A1 (en) * 2018-06-19 2021-04-28 Tornier, Inc. Virtual checklists for orthopedic surgery
KR102612146B1 (ko) * 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
WO2020107127A1 (en) * 2018-11-30 2020-06-04 Ma Joseph J K Ocular systems, devices, and methods
EP3897346A4 (en) * 2019-01-23 2022-09-28 Proprio, Inc. ALIGNMENT OF PREOPERATIVE SCAN IMAGES WITH REAL-TIME OPERATIVE IMAGES FOR A MEDIATED REALITY VIEW OF A SURGICAL SITE
WO2020163352A1 (en) * 2019-02-05 2020-08-13 Smith & Nephew, Inc. Computer-assisted arthroplasty system

Also Published As

Publication number Publication date
US10646289B2 (en) 2020-05-12
WO2017114834A1 (en) 2017-07-06
EP3397185A1 (en) 2018-11-07
US20200268462A1 (en) 2020-08-27
CN108472095A (zh) 2018-08-31
JP2019506922A (ja) 2019-03-14
US20190008595A1 (en) 2019-01-10
US11413099B2 (en) 2022-08-16
CN108472095B (zh) 2021-11-02

Similar Documents

Publication Publication Date Title
US11413099B2 (en) System, controller and method using virtual reality device for robotic surgery
US20240215856A1 (en) Skeleton model instrument localization
JP6835850B2 (ja) 手術ロボットの制御のためのシステム、制御ユニット、及び方法
US12239380B2 (en) Control unit, system and method for controlling hybrid robot having rigid proximal portion and flexible distal portion
US11406255B2 (en) System and method for detecting abnormal tissue using vascular features
JP2023171877A (ja) 生検装置およびシステム
US10159532B1 (en) Robotic systems for determining a roll of a medical device in luminal networks
KR20200073245A (ko) 항행(navigation)을 위한 이미지 기반 분지(branch) 감지 및 매핑
CN103619280B (zh) 医疗用机械手系统
US20250134610A1 (en) Systems and methods for remote mentoring in a robot assisted medical system

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191224

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20191224

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20200313

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20200424

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200508

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200604

R150 Certificate of patent or registration of utility model

Ref document number: 6714085

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250