JP6748088B2 - 外科手術中の追跡中断を低減するナビゲーションシステム及び方法 - Google Patents

外科手術中の追跡中断を低減するナビゲーションシステム及び方法 Download PDF

Info

Publication number
JP6748088B2
JP6748088B2 JP2017541250A JP2017541250A JP6748088B2 JP 6748088 B2 JP6748088 B2 JP 6748088B2 JP 2017541250 A JP2017541250 A JP 2017541250A JP 2017541250 A JP2017541250 A JP 2017541250A JP 6748088 B2 JP6748088 B2 JP 6748088B2
Authority
JP
Japan
Prior art keywords
virtual
localizer
boundary
sight
line
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
JP2017541250A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018506352A (ja
JP2018506352A5 (https=
Inventor
モクテスマ・デ・ラ・バレラ，ホセ・ルイス
マラコウスキー，ドナルド・ダブリュー
Original Assignee
マコ サージカル コーポレーション
マコ サージカル コーポレーション
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 マコ サージカル コーポレーション, マコ サージカル コーポレーション filed Critical マコ サージカル コーポレーション
Publication of JP2018506352A publication Critical patent/JP2018506352A/ja
Publication of JP2018506352A5 publication Critical patent/JP2018506352A5/ja
Application granted granted Critical
Publication of JP6748088B2 publication Critical patent/JP6748088B2/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
    • A61B34/20—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Processing Or Creating Images (AREA)
  • Surgical Instruments (AREA)
  • Traffic Control Systems (AREA)
JP2017541250A 2015-02-25 2016-02-24 外科手術中の追跡中断を低減するナビゲーションシステム及び方法 Active JP6748088B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562120585P 2015-02-25 2015-02-25
US62/120,585 2015-02-25
PCT/US2016/019347 WO2016138124A1 (en) 2015-02-25 2016-02-24 Navigation systems and methods for reducing tracking interruptions during a surgical procedure

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020133117A Division JP6998999B2 (ja) 2015-02-25 2020-08-05 外科手術中の追跡中断を低減するナビゲーションシステム及び方法

Publications (3)

Publication Number Publication Date
JP2018506352A JP2018506352A (ja) 2018-03-08
JP2018506352A5 JP2018506352A5 (https=) 2019-03-28
JP6748088B2 true JP6748088B2 (ja) 2020-08-26

Family

ID=55527650

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2017541250A Active JP6748088B2 (ja) 2015-02-25 2016-02-24 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
JP2020133117A Active JP6998999B2 (ja) 2015-02-25 2020-08-05 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
JP2021206995A Active JP7344271B2 (ja) 2015-02-25 2021-12-21 外科手術中の追跡中断を低減するシステムを操作する方法
JP2023142314A Active JP7572524B2 (ja) 2015-02-25 2023-09-01 外科用ナビゲーションシステム及びその操作方法

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2020133117A Active JP6998999B2 (ja) 2015-02-25 2020-08-05 外科手術中の追跡中断を低減するナビゲーションシステム及び方法
JP2021206995A Active JP7344271B2 (ja) 2015-02-25 2021-12-21 外科手術中の追跡中断を低減するシステムを操作する方法
JP2023142314A Active JP7572524B2 (ja) 2015-02-25 2023-09-01 外科用ナビゲーションシステム及びその操作方法

Country Status (7)

Country Link
US (4) US10660711B2 (https=)
EP (3) EP3261571B1 (https=)
JP (4) JP6748088B2 (https=)
KR (3) KR20240044536A (https=)
CN (2) CN107205786B (https=)
AU (5) AU2016222790B2 (https=)
WO (1) WO2016138124A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022034001A (ja) * 2015-02-25 2022-03-02 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するシステムを操作する方法

Families Citing this family (68)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2012301718B2 (en) 2011-09-02 2017-06-15 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
US10098704B2 (en) 2015-05-19 2018-10-16 Mako Surgical Corp. System and method for manipulating an anatomy
US10835333B2 (en) * 2015-08-25 2020-11-17 Kawasaki Jukogyo Kabushiki Kaisha Remote control robot system
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
CA3005991A1 (en) 2015-11-30 2017-06-08 Stryker Corporation Surgical instrument with telescoping nose mechanism
US10717194B2 (en) * 2016-02-26 2020-07-21 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
EP3375399B1 (en) 2016-10-05 2022-05-25 NuVasive, Inc. Surgical navigation system
WO2018076094A1 (en) * 2016-10-31 2018-05-03 Synaptive Medical (Barbados) Inc. 3d navigation system and methods
WO2018112025A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
EP3664739A4 (en) * 2017-08-10 2021-04-21 Intuitive Surgical Operations, Inc. Systems and methods for point of interaction displays in a teleoperational assembly
CN111479507B (zh) * 2017-11-13 2024-07-16 皇家飞利浦有限公司 用于机器人导航的自主x射线控制
EP3724857B1 (en) 2017-12-14 2022-04-27 Mako Surgical Corp. View angle-independent visual representation of a cut procedure
US11071595B2 (en) * 2017-12-14 2021-07-27 Verb Surgical Inc. Multi-panel graphical user interface for a robotic surgical system
CN111315312A (zh) * 2018-01-04 2020-06-19 柯惠Lp公司 包括扭矩传感器的机器人外科系统
CN108324373B (zh) * 2018-03-19 2020-11-27 南开大学 一种基于电磁定位系统的穿刺手术机器人精确定位实现方法
JP7139643B2 (ja) * 2018-03-23 2022-09-21 カシオ計算機株式会社 ロボット、ロボットの制御方法及びプログラム
US11166781B2 (en) 2018-04-23 2021-11-09 Mako Surgical Corp. System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment
US10842699B2 (en) * 2018-04-27 2020-11-24 Ormonde M. Mahoney System and method for patient positioning in an automated surgery
EP3569159A1 (en) * 2018-05-14 2019-11-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
EP3793465A4 (en) 2018-05-18 2022-03-02 Auris Health, Inc. CONTROL DEVICES FOR ROBOTIC ACTIVATION REMOTE CONTROL SYSTEMS
US11026752B2 (en) 2018-06-04 2021-06-08 Medtronic Navigation, Inc. System and method for performing and evaluating a procedure
US11510737B2 (en) 2018-06-21 2022-11-29 Mako Surgical Corp. Patella tracking
CN112867460B (zh) * 2018-10-04 2024-10-29 史密夫和内修有限公司 用于手术导航的双位置跟踪硬件安装件
CN113016038B (zh) * 2018-10-12 2024-06-18 索尼集团公司 避免与机器人手术设备碰撞的触觉障碍
JP6895128B2 (ja) * 2018-11-09 2021-06-30 オムロン株式会社 ロボット制御装置、シミュレーション方法、及びシミュレーションプログラム
EP3680738A1 (de) 2019-01-14 2020-07-15 Siemens Aktiengesellschaft Kollisionsprüfung auf basis höherwertiger geometrie
CN113301866A (zh) * 2019-01-23 2021-08-24 索尼集团公司 医疗臂系统、控制装置、控制方法和程序
EP3696740B1 (en) * 2019-02-14 2024-01-10 Braun GmbH System for assessing the usage of an envisaged manually movable consumer product
US20220338886A1 (en) 2019-06-19 2022-10-27 Think Surgical, Inc. System and method to position a tracking system field-of-view
CN114126529B (zh) 2019-06-25 2026-03-27 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
US11109928B2 (en) 2019-06-28 2021-09-07 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
EP3993725A1 (en) 2019-07-03 2022-05-11 Stryker Corporation Obstacle avoidance techniques for surgical navigation
US12232744B2 (en) 2019-07-15 2025-02-25 Stryker Corporation Robotic hand-held surgical instrument systems and methods
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11612440B2 (en) 2019-09-05 2023-03-28 Nuvasive, Inc. Surgical instrument tracking devices and related methods
US12324645B2 (en) 2019-09-26 2025-06-10 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4494572A3 (en) 2019-09-26 2025-04-02 Stryker Corporation Surgical navigation systems
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
JP7328861B2 (ja) * 2019-10-09 2023-08-17 キヤノンメディカルシステムズ株式会社 医用情報処理装置、医用情報処理システム、医用情報処理プログラム、および医用画像撮像装置
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
CN113040922B (zh) * 2019-12-27 2022-06-14 重庆海扶医疗科技股份有限公司 聚焦超声手术执行机构的运动控制方法、介质、系统和设备
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
US11944396B2 (en) 2020-03-27 2024-04-02 Mako Surgical Corp. Systems and methods for controlling robotic movement of a tool based on a virtual boundary
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
US12262953B2 (en) * 2020-08-12 2025-04-01 Brainlab Ag Determining an avoidance region for a reference device
KR20230061461A (ko) 2020-09-02 2023-05-08 아우리스 헬스, 인코포레이티드 로봇 충돌 경계 결정
JP7744982B2 (ja) 2020-11-06 2025-09-26 ストライカー・コーポレイション 手持ち式ロボット手術機器システムおよび方法
CN112700474B (zh) * 2020-12-31 2024-08-20 广东美的白色家电技术创新中心有限公司 碰撞检测方法、设备及计算机可读存储介质
CN112716603B (zh) * 2021-01-19 2021-11-26 威海威高骨科手术机器人有限公司 一种骨科复位定位机器人
CN114948067B (zh) * 2021-02-18 2025-04-15 杭州柳叶刀机器人有限公司 磨挫深度控制方法、装置和髋关节置换机器人
CN113081272B (zh) * 2021-03-22 2023-02-03 珞石（北京）科技有限公司 虚拟墙引导的膝关节置换手术辅助定位系统
US12558107B2 (en) 2022-01-20 2026-02-24 Mako Surgical Corp. Robotic hand-held surgical system
WO2023177785A1 (en) 2022-03-17 2023-09-21 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
EP4518784A4 (en) * 2022-05-05 2026-04-22 Univ Virginia Commonwealth SURGICAL TRAINING PROCESSES AND SYSTEMS
AU2023276628A1 (en) * 2022-05-26 2024-12-12 Stryker Corporation Alert system behavior based on localization awareness
US20260013970A1 (en) * 2022-09-30 2026-01-15 Brainlab Ag 2d tracking marker
JP2024094769A (ja) * 2022-12-28 2024-07-10 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
EP4406503A1 (en) * 2023-01-27 2024-07-31 Ecential Robotics Surgical navigation system dealing with partially-obscured markers
CN121040947A (zh) * 2024-12-26 2025-12-02 北京歌锐科技有限公司 一种数据显示方法、装置、介质及设备
CN120304953B (zh) * 2025-05-27 2025-11-11 北京和华瑞博医疗科技有限公司 定位系统及手术系统

Family Cites Families (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5548694A (en) 1995-01-31 1996-08-20 Mitsubishi Electric Information Technology Center America, Inc. Collision avoidance system for voxel-based object representation
DE19817039A1 (de) * 1998-04-17 1999-10-21 Philips Patentverwaltung Anordnung für die bildgeführte Chirurgie
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US9492235B2 (en) 1999-09-17 2016-11-15 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US9295525B2 (en) 1999-09-17 2016-03-29 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of surgical systems
US7747312B2 (en) 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
DE10025285A1 (de) 2000-05-22 2001-12-06 Siemens Ag Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
JP2004223128A (ja) 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
US20070018958A1 (en) 2003-10-24 2007-01-25 Tavakoli Seyed M Force reflective robotic control system and minimally invasive surgical device
JP3946711B2 (ja) 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム
JP4335160B2 (ja) 2005-03-02 2009-09-30 任天堂株式会社 衝突判定プログラムおよび衝突判定装置
JP4417877B2 (ja) * 2005-04-20 2010-02-17 株式会社セブンスディメンジョンデザイン 光送受信装置制御システム
WO2007087351A2 (en) 2006-01-24 2007-08-02 Carnegie Mellon University Method, apparatus, and system for computer-aided tracking, navigation, and motion teaching
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
CA2654261C (en) 2006-05-19 2017-05-16 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US8560047B2 (en) 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
ATE412929T1 (de) 2006-09-14 2008-11-15 Abb Research Ltd Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt
US8082064B2 (en) 2007-08-24 2011-12-20 Elite Engineering Corporation Robotic arm and control system
DE102007055205A1 (de) 2007-11-19 2009-05-20 Kuka Roboter Gmbh Verfahren zum Ermitteln eines Aufstellortes und zum Aufstellen einer Erfassungsvorrichtung eines Navigationssystems
KR101660064B1 (ko) 2008-12-17 2016-09-26 쿠카 레보라토리즈 게엠베하 사전 결정된 경로를 매니퓰레이터가 주행하게 하기 위한 방법, 및 이러한 방법을 실행하기 위한 제어 장치
US8386080B2 (en) 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
EP3763303B1 (en) 2009-10-01 2024-04-03 MAKO Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
JP2013524952A (ja) * 2010-04-22 2013-06-20 ブルー ベルト テクノロジーズ，エル エル シー 再構成可能なナビゲートされる外科用器具のトラッキング装置
CA2797302C (en) * 2010-04-28 2019-01-15 Ryerson University System and methods for intraoperative guidance feedback
US9439556B2 (en) 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
EP2720643B1 (en) 2011-06-23 2015-04-29 Stryker Corporation Prosthetic implant
AU2012301718B2 (en) 2011-09-02 2017-06-15 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
US9770828B2 (en) 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
US9333044B2 (en) 2011-12-30 2016-05-10 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for detection and avoidance of collisions of robotically-controlled medical devices
CN104428107B (zh) 2012-07-10 2016-06-29 西门子公司 机器人布置和用于控制机器人的方法
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
WO2014106262A1 (en) 2012-12-31 2014-07-03 Mako Surgical Corp. System for image-based robotic surgery
EP3424459B1 (en) * 2013-01-16 2023-12-13 Stryker Corporation Navigation systems for indicating line-of-sight errors
US9717461B2 (en) 2013-01-24 2017-08-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
WO2014165060A2 (en) * 2013-03-13 2014-10-09 Stryker Corporation Systems and methods for establishing virtual constraint boundaries
AU2014231344B2 (en) * 2013-03-15 2018-10-04 Synaptive Medical Inc. Systems and methods for navigation and simulation of minimally invasive therapy
JP2014180720A (ja) 2013-03-19 2014-09-29 Yaskawa Electric Corp ロボットシステム及びキャリブレーション方法
US9993222B2 (en) 2014-02-05 2018-06-12 Intuitive Surgical Operations, Inc. System and method for dynamic virtual collision objects
KR20170035831A (ko) 2014-03-14 2017-03-31 시냅티브 메디컬 (바베이도스) 아이엔씨. 인텔리전트 포지셔닝 시스템과 그것의 방법들
US10335116B2 (en) 2014-04-17 2019-07-02 The Johns Hopkins University Robot assisted ultrasound system
WO2015191605A1 (en) 2014-06-09 2015-12-17 The Johns Hopkins University Virtual rigid body optical tracking system and method
US10441366B2 (en) 2014-10-22 2019-10-15 Think Surgical, Inc. Actively controlled optical tracker with a robot
CN107072740B (zh) 2014-11-21 2020-05-22 思外科有限公司 视觉跟踪系统和跟踪识别器间传输数据的可见光通信系统
EP3261571B1 (en) * 2015-02-25 2023-03-08 Mako Surgical Corporation Navigation systems and methods for reducing tracking interruptions during a surgical procedure
DE102015007395A1 (de) 2015-06-08 2016-12-08 Kuka Roboter Gmbh Verfahren und System zum Betreiben und/oder Überwachen einer Maschine, insbesondere eines Roboters
CN105427819B (zh) 2015-12-24 2017-06-27 深圳市华星光电技术有限公司 栅极驱动架构及其阵列基板
US10717194B2 (en) 2016-02-26 2020-07-21 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
JP6939778B2 (ja) 2016-04-28 2021-09-22 ソニーグループ株式会社 制御装置、制御方法及び手術システム
DE102016118123A1 (de) 2016-09-26 2018-03-29 Medineering Gmbh Medizinischer Haltearm zur Einbindung in ein OP-Navigationssystem
WO2018154491A1 (en) 2017-02-22 2018-08-30 Orthosoft Inc. Bone and tool tracking in robotized computer-assisted surgery
WO2019134743A1 (en) 2018-01-03 2019-07-11 Siemens Healthcare Gmbh Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device
WO2020015836A1 (en) 2018-07-20 2020-01-23 Brainlab Ag Method for automatic detection of instrument orientation for robotic surgery

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022034001A (ja) * 2015-02-25 2022-03-02 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するシステムを操作する方法
JP7344271B2 (ja) 2015-02-25 2023-09-13 マコ サージカル コーポレーション 外科手術中の追跡中断を低減するシステムを操作する方法
JP2023175727A (ja) * 2015-02-25 2023-12-12 マコ サージカル コーポレーション 外科用ナビゲーションシステム及びその操作方法
JP7572524B2 (ja) 2015-02-25 2024-10-23 マコ サージカル コーポレーション 外科用ナビゲーションシステム及びその操作方法

Also Published As

Publication number Publication date
KR20230015508A (ko) 2023-01-31
KR20240044536A (ko) 2024-04-04
EP3261571B1 (en) 2023-03-08
AU2020204207B2 (en) 2021-11-04
JP6998999B2 (ja) 2022-01-18
US12453605B2 (en) 2025-10-28
CN111839732B (zh) 2024-07-02
WO2016138124A1 (en) 2016-09-01
AU2016222790A1 (en) 2017-07-13
JP2022034001A (ja) 2022-03-02
AU2022200731A1 (en) 2022-02-24
KR102653682B1 (ko) 2024-04-03
CN107205786A (zh) 2017-09-26
US20260007477A1 (en) 2026-01-08
JP7344271B2 (ja) 2023-09-13
EP4197479A1 (en) 2023-06-21
AU2024201278B2 (en) 2025-09-04
US20200246082A1 (en) 2020-08-06
JP2018506352A (ja) 2018-03-08
US11517377B2 (en) 2022-12-06
EP4566559A3 (en) 2025-08-06
US20230053668A1 (en) 2023-02-23
US20160242858A1 (en) 2016-08-25
AU2016222790B2 (en) 2020-04-02
CN111839732A (zh) 2020-10-30
EP4566559A2 (en) 2025-06-11
AU2025271212A1 (en) 2025-12-18
US10660711B2 (en) 2020-05-26
EP4197479B1 (en) 2025-06-18
EP3261571A1 (en) 2018-01-03
KR20170139493A (ko) 2017-12-19
JP2020189123A (ja) 2020-11-26
JP2023175727A (ja) 2023-12-12
JP7572524B2 (ja) 2024-10-23
AU2022200731B2 (en) 2023-11-30
AU2024201278A1 (en) 2024-03-14
AU2020204207A1 (en) 2020-07-16
KR102491907B1 (ko) 2023-01-26
CN107205786B (zh) 2020-08-25

Similar Documents

Publication Publication Date Title
JP7344271B2 (ja) 外科手術中の追跡中断を低減するシステムを操作する方法
JP7747651B2 (ja) 仮想境界に基づくツールのロボットの動きを制御するためのシステム及び方法
EP2996611B1 (en) Systems and software for establishing virtual constraint boundaries
KR20220070226A (ko) 로봇 매니퓰레이터들을 안내하기 위한 수술 시스템 및 방법
US20230329813A1 (en) Systems And Methods For Guided Placement Of A Robotic Manipulator

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190214

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190214

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20191217

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20191220

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200311

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: 20200710

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200806

R150 Certificate of patent or registration of utility model

Ref document number: 6748088

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