JP7649333B2 - マイクロ手術処置のためのロボットシステム - Google Patents

マイクロ手術処置のためのロボットシステム Download PDF

Info

Publication number
JP7649333B2
JP7649333B2 JP2022580082A JP2022580082A JP7649333B2 JP 7649333 B2 JP7649333 B2 JP 7649333B2 JP 2022580082 A JP2022580082 A JP 2022580082A JP 2022580082 A JP2022580082 A JP 2022580082A JP 7649333 B2 JP7649333 B2 JP 7649333B2
Authority
JP
Japan
Prior art keywords
tool
eye
patient
control component
applications
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
JP2022580082A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023536687A (ja
JP2023536687A5 (https=
Inventor
グロズマン，ダニエル
アーノルド，オファー
Original Assignee
フォーサイト ロボティクス リミテッド
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 フォーサイト ロボティクス リミテッド filed Critical フォーサイト ロボティクス リミテッド
Publication of JP2023536687A publication Critical patent/JP2023536687A/ja
Publication of JP2023536687A5 publication Critical patent/JP2023536687A5/ja
Application granted granted Critical
Publication of JP7649333B2 publication Critical patent/JP7649333B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B34/30—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
    • A61B34/37—Leader-follower 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
    • A61F9/00754—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments for cutting or perforating the anterior lens capsule, e.g. capsulotomes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F2009/0035—Devices for immobilising a patient's head with respect to the instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
JP2022580082A 2020-07-28 2021-07-27 マイクロ手術処置のためのロボットシステム Active JP7649333B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063057391P 2020-07-28 2020-07-28
US63/057,391 2020-07-28
US202063087408P 2020-10-05 2020-10-05
US63/087,408 2020-10-05
PCT/IB2021/056784 WO2022023962A2 (en) 2020-07-28 2021-07-27 Robotic system for microsurgical procedures

Publications (3)

Publication Number Publication Date
JP2023536687A JP2023536687A (ja) 2023-08-29
JP2023536687A5 JP2023536687A5 (https=) 2024-08-05
JP7649333B2 true JP7649333B2 (ja) 2025-03-19

Family

ID=77168342

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022580082A Active JP7649333B2 (ja) 2020-07-28 2021-07-27 マイクロ手術処置のためのロボットシステム

Country Status (6)

Country Link
US (3) US20220378613A1 (https=)
EP (2) EP4360581A3 (https=)
JP (1) JP7649333B2 (https=)
CN (1) CN116348056A (https=)
CA (1) CA3186991A1 (https=)
WO (1) WO2022023962A2 (https=)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2988539T3 (es) 2018-05-15 2024-11-20 Univ California Sistema para cirugía intraocular robótica automatizada guiada por imágenes
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
WO2022165753A1 (zh) * 2021-02-05 2022-08-11 中国科学院深圳先进技术研究院 一种用于眼睑翻开的软体装置及方法
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
CA3238904A1 (en) 2021-12-02 2023-06-08 Forsight Robotics Ltd. Force feedback for robotic microsurgical procedures
CN120751999A (zh) * 2023-02-21 2025-10-03 弗塞特机器人有限公司 用于机器人显微外科手术的控制部件
JP2026509911A (ja) * 2023-03-24 2026-03-25 フォーサイト ロボティクス リミテッド マイクロサージャリーロボットシステムの係合
DE102023129000A1 (de) 2023-10-23 2025-04-24 Carl Zeiss Meditec Ag Chirurgiesystem und Verfahren zum Unterstützen eines chirurgischen Eingriffs
WO2025102005A1 (en) * 2023-11-09 2025-05-15 Horizon Surgical Systems, Inc. Triple pivot remote center of motion joint for surgical robotic systems
CN119791949B (zh) * 2025-01-17 2025-10-03 宁波市眼科医院 纵横-vi睑缘肿物切除与手术修复一体化装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000505328A (ja) 1996-02-20 2000-05-09 コンピュータ・モーション・インコーポレーテッド 侵襲を最小に抑えた心臓手術を施術するための方法および装置
JP2015501729A (ja) 2011-11-04 2015-01-19 ザ・ジョンズ・ホプキンス・ユニバーシティ 安定性を有する顕微手術ロボット
WO2019126863A1 (en) 2017-12-28 2019-07-04 Orbsurgical Ltd. Iviicrosurgery-specific haptic hand controller

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5410638A (en) * 1993-05-03 1995-04-25 Northwestern University System for positioning a medical instrument within a biotic structure using a micromanipulator
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US5828197A (en) * 1996-10-25 1998-10-27 Immersion Human Interface Corporation Mechanical interface having multiple grounded actuators
JP2009539509A (ja) * 2006-06-14 2009-11-19 マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド 直角プーリ駆動機構付きの手術マニピュレータ
EP2244784A2 (en) * 2008-01-30 2010-11-03 The Trustees of Columbia University in the City of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
NL1037348C2 (en) * 2009-10-02 2011-04-05 Univ Eindhoven Tech Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system.
US8716973B1 (en) * 2011-02-28 2014-05-06 Moog Inc. Haptic user interface
US20130035537A1 (en) * 2011-08-05 2013-02-07 Wallace Daniel T Robotic systems and methods for treating tissue
JP6396987B2 (ja) * 2013-03-15 2018-09-26 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ 超精巧外科システム
US10744035B2 (en) * 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
US10442025B2 (en) * 2014-10-22 2019-10-15 Illinois Tool Works Inc. Virtual reality controlled mobile robot
JP6565104B2 (ja) * 2015-05-21 2019-08-28 シャープ株式会社 アクチュエータ
EP3097839B1 (en) * 2015-05-29 2017-12-27 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A laparoscopic medical instrument holding device
AU2015401840B2 (en) * 2015-07-03 2019-05-09 Ophthorobotics Ag Intraocular injection system and methods for controlling such a system
ITUB20155057A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
US10568703B2 (en) * 2016-09-21 2020-02-25 Verb Surgical Inc. User arm support for use in a robotic surgical system
CA3039100A1 (en) * 2016-10-04 2018-04-12 Imperial Innovations Limited Coupling for a robotic surgical instrument
EP3768187A4 (en) * 2018-03-21 2021-12-22 The Regents Of The University Of California FAST AND PRECISE TOOL CHANGE MECHANISM FOR INTRAOCULAR ROBOTIC SURGICAL SYSTEMS
US11260135B2 (en) * 2018-04-13 2022-03-01 Excel-Lens, Inc. Dye enhanced visualization of cataract surgery
JP7039070B2 (ja) * 2018-05-02 2022-03-22 リバーフィールド株式会社 眼内手術用器具ホルダ
ES2988539T3 (es) * 2018-05-15 2024-11-20 Univ California Sistema para cirugía intraocular robótica automatizada guiada por imágenes
GB2577717B (en) * 2018-10-03 2023-06-21 Cmr Surgical Ltd Monitoring performance during manipulation of user input control device of robotic system
US11504200B2 (en) * 2019-01-24 2022-11-22 Verb Surgical Inc. Wearable user interface device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000505328A (ja) 1996-02-20 2000-05-09 コンピュータ・モーション・インコーポレーテッド 侵襲を最小に抑えた心臓手術を施術するための方法および装置
JP2015501729A (ja) 2011-11-04 2015-01-19 ザ・ジョンズ・ホプキンス・ユニバーシティ 安定性を有する顕微手術ロボット
WO2019126863A1 (en) 2017-12-28 2019-07-04 Orbsurgical Ltd. Iviicrosurgery-specific haptic hand controller

Also Published As

Publication number Publication date
US20230165713A1 (en) 2023-06-01
WO2022023962A2 (en) 2022-02-03
CA3186991A1 (en) 2022-02-03
CN116348056A (zh) 2023-06-27
EP4360581A2 (en) 2024-05-01
US20220378613A1 (en) 2022-12-01
EP4087516A2 (en) 2022-11-16
JP2023536687A (ja) 2023-08-29
EP4087516B1 (en) 2024-04-10
WO2022023962A3 (en) 2022-04-28
EP4087516C0 (en) 2024-04-10
EP4360581A3 (en) 2024-07-31
US20230157872A1 (en) 2023-05-25

Similar Documents

Publication Publication Date Title
JP7649333B2 (ja) マイクロ手術処置のためのロボットシステム
US12415269B2 (en) Kinematic structures for robotic microsurgical procedures
US20250017676A1 (en) Robotic unit for microsurgical procedures
US20250228705A1 (en) Robotic capsulotomy
US20230240890A1 (en) Control component with force feedback
US20260033903A1 (en) Input-receiving component for robotic microsurgical procedures
US20240307132A1 (en) Virtual tools for microsurgical procedures
US20260013957A1 (en) Engagement of microsurgical robotic system
US20260047901A1 (en) Control component for robotic microsurgical procedures
CN118574585A (zh) 用于机器人显微外科手术的力反馈
CN117412723A (zh) 用于机器人显微外科手术的运动学结构和无菌盖布

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240726

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240726

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: 20250210

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20250212

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250307

R150 Certificate of patent or registration of utility model

Ref document number: 7649333

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150