JP7848238B2 - 手術支援システムおよび手術支援ロボット - Google Patents

手術支援システムおよび手術支援ロボット

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Publication number
JP7848238B2
JP7848238B2 JP2023569462A JP2023569462A JP7848238B2 JP 7848238 B2 JP7848238 B2 JP 7848238B2 JP 2023569462 A JP2023569462 A JP 2023569462A JP 2023569462 A JP2023569462 A JP 2023569462A JP 7848238 B2 JP7848238 B2 JP 7848238B2
Authority
JP
Japan
Prior art keywords
arm
unit
control unit
surgical
circuit board
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
JP2023569462A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023120526A1 (https=
Inventor
剛史 東條
洋孝 久野
達郎 保田
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of JPWO2023120526A1 publication Critical patent/JPWO2023120526A1/ja
Application granted granted Critical
Publication of JP7848238B2 publication Critical patent/JP7848238B2/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
    • 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
    • A61B34/30—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
    • A61B34/35—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
    • A61B34/70—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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/742—Joysticks
    • 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
    • A61B2034/743—Keyboards
    • 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
    • A61B2034/744—Mouse
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Electromagnetism (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2023569462A 2021-12-22 2022-12-20 手術支援システムおよび手術支援ロボット Active JP7848238B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021208662 2021-12-22
JP2021208662 2021-12-22
PCT/JP2022/046911 WO2023120526A1 (ja) 2021-12-22 2022-12-20 手術支援システムおよび手術支援ロボット

Publications (2)

Publication Number Publication Date
JPWO2023120526A1 JPWO2023120526A1 (https=) 2023-06-29
JP7848238B2 true JP7848238B2 (ja) 2026-04-20

Family

ID=86902525

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023569462A Active JP7848238B2 (ja) 2021-12-22 2022-12-20 手術支援システムおよび手術支援ロボット

Country Status (4)

Country Link
US (1) US20250057615A1 (https=)
EP (1) EP4454593A4 (https=)
JP (1) JP7848238B2 (https=)
WO (1) WO2023120526A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024036816A (ja) * 2022-09-06 2024-03-18 川崎重工業株式会社 手術支援システムおよび操作装置の制御方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008544814A (ja) 2005-06-30 2008-12-11 インテュイティブ サージカル， インコーポレイテッド マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011517419A (ja) 2008-03-31 2011-06-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術用ロボット設定アームにおける力とトルクの感知
JP2012192497A (ja) 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
JP2016064472A (ja) 2014-09-25 2016-04-28 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
JP2020103889A (ja) 2018-12-26 2020-07-09 川崎重工業株式会社 外科手術システムに使用されるマニピュレータアームおよび患者側システム
JP2021065405A (ja) 2019-10-23 2021-04-30 株式会社メディカロイド 手術器具
JP2021171457A (ja) 2020-04-28 2021-11-01 川崎重工業株式会社 手術支援ロボットおよびピボット位置設定方法
JP2021175500A (ja) 2020-04-28 2021-11-04 川崎重工業株式会社 手術支援ロボット

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6433293B2 (ja) 2011-06-02 2018-12-05 メドロボティクス コーポレイション ロボットシステム
JP2015085454A (ja) * 2013-10-31 2015-05-07 セイコーエプソン株式会社 ロボット
US11369443B2 (en) * 2019-06-27 2022-06-28 Cilag Gmbh International Method of using a surgical modular robotic assembly
JP7559073B2 (ja) * 2020-09-03 2024-10-01 川崎重工業株式会社 基板搬送ロボットシステム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008544814A (ja) 2005-06-30 2008-12-11 インテュイティブ サージカル， インコーポレイテッド マルチアームロボット遠隔手術におけるツール状態および通信のためのインディケータ
JP2011517419A (ja) 2008-03-31 2011-06-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術用ロボット設定アームにおける力とトルクの感知
JP2012192497A (ja) 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
JP2016064472A (ja) 2014-09-25 2016-04-28 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
JP2020103889A (ja) 2018-12-26 2020-07-09 川崎重工業株式会社 外科手術システムに使用されるマニピュレータアームおよび患者側システム
JP2021065405A (ja) 2019-10-23 2021-04-30 株式会社メディカロイド 手術器具
JP2021171457A (ja) 2020-04-28 2021-11-01 川崎重工業株式会社 手術支援ロボットおよびピボット位置設定方法
JP2021175500A (ja) 2020-04-28 2021-11-04 川崎重工業株式会社 手術支援ロボット

Also Published As

Publication number Publication date
JPWO2023120526A1 (https=) 2023-06-29
EP4454593A4 (en) 2025-04-23
US20250057615A1 (en) 2025-02-20
EP4454593A1 (en) 2024-10-30
WO2023120526A1 (ja) 2023-06-29

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