JP6912481B2 - 画像ベースのロボット誘導 - Google Patents

画像ベースのロボット誘導 Download PDF

Info

Publication number
JP6912481B2
JP6912481B2 JP2018533939A JP2018533939A JP6912481B2 JP 6912481 B2 JP6912481 B2 JP 6912481B2 JP 2018533939 A JP2018533939 A JP 2018533939A JP 2018533939 A JP2018533939 A JP 2018533939A JP 6912481 B2 JP6912481 B2 JP 6912481B2
Authority
JP
Japan
Prior art keywords
robot
end effector
image
planned
reference object
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.)
Expired - Fee Related
Application number
JP2018533939A
Other languages
English (en)
Japanese (ja)
Other versions
JP2019502462A (ja
JP2019502462A5 (enExample
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 JP2019502462A publication Critical patent/JP2019502462A/ja
Publication of JP2019502462A5 publication Critical patent/JP2019502462A5/ja
Application granted granted Critical
Publication of JP6912481B2 publication Critical patent/JP6912481B2/ja
Expired - Fee Related 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
JP2018533939A 2015-12-30 2016-12-21 画像ベースのロボット誘導 Expired - Fee Related JP6912481B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562272737P 2015-12-30 2015-12-30
US62/272,737 2015-12-30
PCT/IB2016/057863 WO2017115227A1 (en) 2015-12-30 2016-12-21 Image based robot guidance

Publications (3)

Publication Number Publication Date
JP2019502462A JP2019502462A (ja) 2019-01-31
JP2019502462A5 JP2019502462A5 (enExample) 2020-02-06
JP6912481B2 true JP6912481B2 (ja) 2021-08-04

Family

ID=57838433

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018533939A Expired - Fee Related JP6912481B2 (ja) 2015-12-30 2016-12-21 画像ベースのロボット誘導

Country Status (5)

Country Link
US (1) US20200261155A1 (enExample)
EP (1) EP3397187A1 (enExample)
JP (1) JP6912481B2 (enExample)
CN (1) CN108601626A (enExample)
WO (1) WO2017115227A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018052966A1 (en) 2016-09-16 2018-03-22 Zimmer, Inc. Augmented reality surgical technique guidance
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11432877B2 (en) * 2017-08-02 2022-09-06 Medtech S.A. Surgical field camera system that only uses images from cameras with an unobstructed sight line for tracking
WO2019148428A1 (en) 2018-02-01 2019-08-08 Abb Schweiz Ag Vision-based operation for robot
CN109223176B (zh) * 2018-10-26 2021-06-25 中南大学湘雅三医院 一种手术规划系统
CN113490464B (zh) 2019-02-28 2025-07-18 皇家飞利浦有限公司 对末端执行器的前馈连续定位控制
EP3824839A1 (en) 2019-11-19 2021-05-26 Koninklijke Philips N.V. Robotic positioning of a device
KR102278149B1 (ko) * 2020-01-08 2021-07-16 최홍희 의료용 다목적 레이저 포인팅장치
RU2753118C2 (ru) * 2020-01-09 2021-08-11 Федеральное государственное автономное образовательное учреждение высшего образования "Севастопольский государственный университет" Роботизированная система для удержания и перемещения хирургического инструмента при проведении лапароскопических операций
WO2021173541A1 (en) * 2020-02-24 2021-09-02 Intuitive Surgical Operations, Inc. Systems and methods for registration feature integrity checking
CN115361930A (zh) * 2020-04-10 2022-11-18 川崎重工业株式会社 医疗用移动体系统及其运行方法
CN112932669B (zh) * 2021-01-18 2024-03-15 广州市微眸医疗器械有限公司 一种执行视网膜层防渗漏隧道的机械臂控制方法
EP4066749B1 (en) * 2021-02-05 2024-08-14 Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Soft apparatus for opening eyelids and method therefor
CN113687627B (zh) * 2021-08-18 2022-08-19 太仓中科信息技术研究院 一种基于摄像机器人的目标跟踪方法
CN113766083B (zh) * 2021-09-09 2024-05-14 思看科技(杭州)股份有限公司 跟踪式扫描系统的参数配置方法、电子装置和存储介质
CN115194760B (zh) * 2022-06-07 2025-02-07 西安电子科技大学 一种多自由度嫁接机器人的时序运动控制方法与系统
CN115192092B (zh) * 2022-07-04 2024-06-25 合肥工业大学 面向体内柔性动态环境的机器人自主活检取样方法
CN117103286B (zh) * 2023-10-25 2024-03-19 杭州汇萃智能科技有限公司 一种机械手手眼标定方法、系统和可读存储介质
CN118766505A (zh) * 2024-08-23 2024-10-15 合肥工业大学 用于腹部超声检测的rcm装置及机器人
CN119344872B (zh) * 2024-12-03 2025-11-14 北京瞳沐医疗科技有限公司 眼底手术机器人远心不动点标定方法、系统、介质及设备

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6187018B1 (en) * 1999-10-27 2001-02-13 Z-Kat, Inc. Auto positioner
WO2003041057A2 (en) * 2001-11-08 2003-05-15 The Johns Hopkins University System and method for robot targeting under flouroscopy based on image servoing
EP2158004B1 (en) * 2007-06-12 2016-04-13 Koninklijke Philips N.V. Image guided therapy
US20110071541A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8934003B2 (en) 2010-01-08 2015-01-13 Koninklijkle Philips N.V. Uncalibrated visual servoing using real-time velocity optimization
JP5795599B2 (ja) 2010-01-13 2015-10-14 コーニンクレッカ フィリップス エヌ ヴェ 内視鏡手術のための画像統合ベースレジストレーション及びナビゲーション
DE102010029275A1 (de) * 2010-05-25 2011-12-01 Siemens Aktiengesellschaft Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar
WO2012035492A1 (en) 2010-09-15 2012-03-22 Koninklijke Philips Electronics N.V. Robotic control of an endoscope from blood vessel tree images
KR20140090374A (ko) * 2013-01-08 2014-07-17 삼성전자주식회사 싱글 포트 수술 로봇 및 그 제어 방법
GB201303917D0 (en) * 2013-03-05 2013-04-17 Ezono Ag System for image guided procedure
CN105979902A (zh) * 2014-02-04 2016-09-28 皇家飞利浦有限公司 用于机器人系统的使用光源的远程运动中心定义
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
DE102014209368A1 (de) * 2014-05-16 2015-11-19 Siemens Aktiengesellschaft Magnetresonanztomographie-System und Verfahren zur Unterstützung einer Person bei der Positionierung eines medizinischen Instruments für eine perkutane Intervention

Also Published As

Publication number Publication date
CN108601626A (zh) 2018-09-28
JP2019502462A (ja) 2019-01-31
WO2017115227A1 (en) 2017-07-06
US20200261155A1 (en) 2020-08-20
EP3397187A1 (en) 2018-11-07

Similar Documents

Publication Publication Date Title
JP6912481B2 (ja) 画像ベースのロボット誘導
US20230000565A1 (en) Systems and methods for autonomous suturing
CN109069217B (zh) 图像引导外科手术中的姿势估计以及透视成像系统的校准的系统和方法
US8971597B2 (en) Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
Azizian et al. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging–techniques and applications
Saeidi et al. Autonomous laparoscopic robotic suturing with a novel actuated suturing tool and 3D endoscope
US9066737B2 (en) Method for moving an instrument arm of a laparoscopy robot into a predeterminable relative position with respect to a trocar
CN110051436B (zh) 自动化协同工作组件及其在手术器械中的应用
US12465441B2 (en) Multi-arm robotic systems and methods for identifying a target
JP2018110873A (ja) 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
KR20240021747A (ko) 초음파 안내식 바늘 배치를 위한 의료용 로봇
Zhan et al. Autonomous tissue scanning under free-form motion for intraoperative tissue characterisation
KR20080027256A (ko) 최소침습 로봇수술 동안 센서 및/또는 카메라로부터 도출된데이터와의 융합에 의한 3차원 툴 추적을 수행하기 위한방법 및 시스템
Molnár et al. Visual servoing-based camera control for the da vinci surgical system
Heunis et al. Collaborative surgical robots: Optical tracking during endovascular operations
US11596567B2 (en) Systems and methods for determining and maintaining a center of rotation
Wang et al. Robot-assisted occlusion avoidance for surgical instrument optical tracking system
Marmol et al. ArthroSLAM: Multi-sensor robust visual localization for minimally invasive orthopedic surgery
Nageotte et al. Visual servoing-based endoscopic path following for robot-assisted laparoscopic surgery
CN118401191A (zh) 外科手术机器人系统和控制方法
Vrooijink et al. A preliminary study on using a robotically-actuated delivery sheath (rads) for transapical aortic valve implantation
Piccinelli et al. Rigid 3D registration of pre-operative information for semi-autonomous surgery
Vitrani et al. Robust ultrasound-based visual servoing for beating heart intracardiac surgery
Krupa et al. Autonomous retrieval and positioning of surgical instruments in robotized laparoscopic surgery using visual servoing and laser pointers
JP2025534193A (ja) ２ｄ映像基盤自動手術計画方法及びそのシステム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191219

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20191219

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20201228

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210222

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210518

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: 20210609

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210708

R150 Certificate of patent or registration of utility model

Ref document number: 6912481

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees