JP7747651B2 - 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 - Google Patents

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

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Publication number
JP7747651B2
JP7747651B2 JP2022558329A JP2022558329A JP7747651B2 JP 7747651 B2 JP7747651 B2 JP 7747651B2 JP 2022558329 A JP2022558329 A JP 2022558329A JP 2022558329 A JP2022558329 A JP 2022558329A JP 7747651 B2 JP7747651 B2 JP 7747651B2
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tool
boundary
virtual
input
user
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JP2023519880A (ja
JP2023519880A5 (https=
Inventor
ドゼマン，マイケル，デール
ロエスラー，パトリック
ガルシア，グレゴリー
クラーナー，リシャブ
ダン，ジェレミー，エル．
ボウリング，デイヴィッド，ジーン
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マコ サージカル コーポレーション
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    • 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
    • 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
    • A61B34/10—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
    • A61B34/20—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022558329A 2020-03-27 2021-03-25 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 Active JP7747651B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063000860P 2020-03-27 2020-03-27
US63/000,860 2020-03-27
PCT/US2021/024135 WO2021195369A1 (en) 2020-03-27 2021-03-25 Systems and methods for controlling robotic movement of a tool based on a virtual boundary

Publications (3)

Publication Number Publication Date
JP2023519880A JP2023519880A (ja) 2023-05-15
JP2023519880A5 JP2023519880A5 (https=) 2024-04-04
JP7747651B2 true JP7747651B2 (ja) 2025-10-01

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JP2022558329A Active JP7747651B2 (ja) 2020-03-27 2021-03-25 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

Country Status (7)

Country Link
US (2) US11944396B2 (https=)
EP (1) EP4125691A1 (https=)
JP (1) JP7747651B2 (https=)
KR (1) KR20220158737A (https=)
CN (1) CN115379814B (https=)
AU (1) AU2021241577A1 (https=)
WO (1) WO2021195369A1 (https=)

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AU2021241577A1 (en) 2020-03-27 2022-11-03 Mako Surgical Corp. Systems and methods for controlling robotic movement of a tool based on a virtual boundary
US20240026658A1 (en) * 2020-08-19 2024-01-25 Kobelco Construction Machinery Co., Ltd. Target path changing system for attachment
US12161419B2 (en) * 2021-03-05 2024-12-10 Verb Surgical Inc. Robot-assisted setup for a surgical robotic system
EP4070752A1 (en) * 2021-04-09 2022-10-12 MinMaxMedical Computer-assisted surgery system
DE102021204495A1 (de) * 2021-05-04 2022-11-10 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Teleroboters
WO2023076468A1 (en) * 2021-10-29 2023-05-04 Intuitive Surgical Operations, Inc. Systems for control of a surgical system
EP4465915A2 (en) 2022-01-20 2024-11-27 MAKO Surgical Corp. Robotic hand-held surgical system
US12295683B2 (en) * 2022-02-02 2025-05-13 Mazor Robotics Ltd. Systems and methods for robotic collision avoidance using medical imaging
US20230363826A1 (en) * 2022-05-10 2023-11-16 Auris Health, Inc. Pre-docking pose optimization
US20230404572A1 (en) * 2022-06-17 2023-12-21 Cilag Gmbh International Smart circular staplers
CN115317132B (zh) * 2022-08-02 2025-09-05 华中科技大学 用于机器人辅助关节置换手术的虚拟夹具控制方法与系统
US12508712B2 (en) * 2022-08-30 2025-12-30 Alcon, Inc Contact management mode for robotic imaging system using multiple sensors
KR102777950B1 (ko) * 2022-12-12 2025-03-11 큐렉소 주식회사 수술로봇의 수술 가능 영역 생성 장치 및 방법
US11844585B1 (en) * 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US20240424663A1 (en) * 2023-06-26 2024-12-26 Honda Motor Co., Ltd. Robot-mediated physical human-human interaction
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CN118697464B (zh) * 2024-05-10 2025-10-14 杭州三坛医疗科技有限公司 一种髋关节磨锉控制方法及系统
CN121596849A (zh) * 2024-08-15 2026-03-03 上海术济客医疗科技有限公司 一种手术机器人测试方法、装置、设备以及存储介质

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JP2018506352A (ja) 2015-02-25 2018-03-08 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ナビゲーションシステム及び方法
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Also Published As

Publication number Publication date
US20240197413A1 (en) 2024-06-20
CN115379814A (zh) 2022-11-22
US20210298846A1 (en) 2021-09-30
KR20220158737A (ko) 2022-12-01
US12564455B2 (en) 2026-03-03
JP2023519880A (ja) 2023-05-15
US11944396B2 (en) 2024-04-02
EP4125691A1 (en) 2023-02-08
AU2021241577A1 (en) 2022-11-03
WO2021195369A1 (en) 2021-09-30
CN115379814B (zh) 2026-04-07

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