JP7846024B2 - 手持ち式医療ロボット器具の動きをガイドするシステム及び方法 - Google Patents

手持ち式医療ロボット器具の動きをガイドするシステム及び方法

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Publication number
JP7846024B2
JP7846024B2 JP2022574608A JP2022574608A JP7846024B2 JP 7846024 B2 JP7846024 B2 JP 7846024B2 JP 2022574608 A JP2022574608 A JP 2022574608A JP 2022574608 A JP2022574608 A JP 2022574608A JP 7846024 B2 JP7846024 B2 JP 7846024B2
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Prior art keywords
tool
orientation
actuators
virtual
constraints
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JP2023539710A (ja
JP2023539710A5 (https=
Inventor
ポスト，ニコラス，ジョン
ドゼマン，マイケル，デイル
デルーカ，リチャード，トーマス
ボズン，ティモシー，ジェイ．
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マコ サージカル コーポレーション
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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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/142—Surgical saws with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • 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
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • 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
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2022574608A 2020-09-08 2021-09-08 手持ち式医療ロボット器具の動きをガイドするシステム及び方法 Active JP7846024B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063075615P 2020-09-08 2020-09-08
US63/075,615 2020-09-08
US202063085651P 2020-09-30 2020-09-30
US63/085,651 2020-09-30
PCT/US2021/049440 WO2022055980A1 (en) 2020-09-08 2021-09-08 Systems and methods for guiding movement of a handheld medical robotic instrument

Publications (3)

Publication Number Publication Date
JP2023539710A JP2023539710A (ja) 2023-09-19
JP2023539710A5 JP2023539710A5 (https=) 2024-09-18
JP7846024B2 true JP7846024B2 (ja) 2026-04-14

Family

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JP2022574608A Active JP7846024B2 (ja) 2020-09-08 2021-09-08 手持ち式医療ロボット器具の動きをガイドするシステム及び方法

Country Status (6)

Country Link
US (1) US20230255701A1 (https=)
EP (1) EP4210619A1 (https=)
JP (1) JP7846024B2 (https=)
CN (1) CN115916093A (https=)
AU (1) AU2021342049A1 (https=)
WO (1) WO2022055980A1 (https=)

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KR20220070212A (ko) * 2019-09-30 2022-05-30 마코 서지컬 코포레이션 도구의 이동을 안내하기 위한 시스템 및 방법
CN111227943B (zh) * 2020-01-23 2021-07-06 诺创智能医疗科技(杭州)有限公司 手术机械臂的控制方法、计算机设备及一种手术机械臂
WO2021147267A1 (zh) 2020-01-23 2021-07-29 诺创智能医疗科技(杭州)有限公司 手术机械臂及手术机器人
JP2023512760A (ja) * 2020-02-04 2023-03-29 マコ サージカル コーポレーション 視覚インジケータを備える手持ち式ロボット手術器具システム及びそれを制御する方法
WO2022159568A1 (en) 2021-01-20 2022-07-28 Mako Surgical Corp. Robotic hand-held surgical instrument systems and methods
CN118042999A (zh) * 2021-09-27 2024-05-14 柯惠Lp公司 具有不同长度的进入端口的外科机器人系统的操作系统
JP2025503705A (ja) * 2022-01-12 2025-02-04 マコ サージカル コーポレーション 手持ち式医療ロボット器具の動きをガイドするシステム及び方法
EP4465915A2 (en) * 2022-01-20 2024-11-27 MAKO Surgical Corp. Robotic hand-held surgical system
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CN117289796B (zh) * 2023-09-22 2024-05-07 中山大学 基于触觉手套的复杂装备高交互混合现实系统与方法
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CN117901089B (zh) * 2023-12-26 2024-11-15 杭州三坛医疗科技有限公司 一种机器人导纳控制方法、装置、电子设备及介质
US20250255579A1 (en) * 2024-02-08 2025-08-14 Fujifilm Sonosite, Inc. Repeatable Ultrasound
US20260090851A1 (en) 2024-09-30 2026-04-02 Mako Surgical Corp. Robotic Surgical Systems And Methods Employing Machine Learning Models To Characterize Tool Interactions
CN119689926B (zh) * 2024-11-15 2025-10-14 西安电子科技大学 一种用于并联驱动式天线座的运动控制器
CN119587170B (zh) * 2024-11-22 2025-10-21 北京中科鸿泰医疗科技有限公司 介入手术机器人控制端旋转限位结构及方法

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US20110196377A1 (en) 2009-08-13 2011-08-11 Zimmer, Inc. Virtual implant placement in the or
JP2015502180A (ja) 2011-09-02 2015-01-22 ストライカー・コーポレイション ハウジングから延びる切断アクセサリ及びハウジングに対する切断アクセサリの位置を確立するアクチュエータを備える手術器具
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JP2017528255A (ja) 2014-09-23 2017-09-28 シンク サージカル， インコーポレイテッド 複数平面の可変形状のジグザグ切断の関節接合ドリルシステム
JP2019501677A (ja) 2015-11-24 2019-01-24 シンク サージカル， インコーポレイテッド 膝関節全置換術における、能動的なロボットピン配置
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US20200229878A1 (en) 2019-01-18 2020-07-23 Nuvasive, Inc. Motion programming of a robotic device

Also Published As

Publication number Publication date
AU2021342049A1 (en) 2023-01-19
US20230255701A1 (en) 2023-08-17
JP2023539710A (ja) 2023-09-19
EP4210619A1 (en) 2023-07-19
WO2022055980A1 (en) 2022-03-17
CN115916093A (zh) 2023-04-04

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