KR101861176B1 - 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법 - Google Patents

정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법 Download PDF

Info

Publication number
KR101861176B1
KR101861176B1 KR1020160103716A KR20160103716A KR101861176B1 KR 101861176 B1 KR101861176 B1 KR 101861176B1 KR 1020160103716 A KR1020160103716 A KR 1020160103716A KR 20160103716 A KR20160103716 A KR 20160103716A KR 101861176 B1 KR101861176 B1 KR 101861176B1
Authority
KR
South Korea
Prior art keywords
surgical
unit
rotation
stereotactic surgery
robot
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
KR1020160103716A
Other languages
English (en)
Korean (ko)
Other versions
KR20180019401A (ko
Inventor
권영식
정재헌
Original Assignee
주식회사 고영테크놀러지
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 주식회사 고영테크놀러지 filed Critical 주식회사 고영테크놀러지
Priority to KR1020160103716A priority Critical patent/KR101861176B1/ko
Priority to US15/386,205 priority patent/US10363106B2/en
Priority to EP16205848.1A priority patent/EP3284434B1/en
Priority to JP2016248816A priority patent/JP6678565B2/ja
Priority to CN202110416647.2A priority patent/CN113229938B/zh
Priority to CN201611195452.5A priority patent/CN107753106B/zh
Publication of KR20180019401A publication Critical patent/KR20180019401A/ko
Application granted granted Critical
Publication of KR101861176B1 publication Critical patent/KR101861176B1/ko
Priority to JP2018193383A priority patent/JP6898030B2/ja
Priority to US16/440,611 priority patent/US11395707B2/en
Active 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
    • A61B34/20—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
    • 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
    • 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
    • A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
    • 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
    • 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
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2090/103—Cranial plugs for access to brain
    • 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
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Neurosurgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
KR1020160103716A 2016-08-16 2016-08-16 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법 Active KR101861176B1 (ko)

Priority Applications (8)

Application Number Priority Date Filing Date Title
KR1020160103716A KR101861176B1 (ko) 2016-08-16 2016-08-16 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법
EP16205848.1A EP3284434B1 (en) 2016-08-16 2016-12-21 Surgical robot for stereotactic surgery
US15/386,205 US10363106B2 (en) 2016-08-16 2016-12-21 Surgical robot for stereotactic surgery and method for controlling stereotactic surgery robot
CN202110416647.2A CN113229938B (zh) 2016-08-16 2016-12-22 定位手术用手术机器人
JP2016248816A JP6678565B2 (ja) 2016-08-16 2016-12-22 定位手術用の手術ロボット及び定位手術用の手術ロボットの制御方法
CN201611195452.5A CN107753106B (zh) 2016-08-16 2016-12-22 定位手术用手术机器人及其控制方法
JP2018193383A JP6898030B2 (ja) 2016-08-16 2018-10-12 定位手術用の手術ロボット及び定位手術用の手術ロボットの制御方法
US16/440,611 US11395707B2 (en) 2016-08-16 2019-06-13 Surgical robot for stereotactic surgery and method for controlling stereotactic surgery robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160103716A KR101861176B1 (ko) 2016-08-16 2016-08-16 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법

Publications (2)

Publication Number Publication Date
KR20180019401A KR20180019401A (ko) 2018-02-26
KR101861176B1 true KR101861176B1 (ko) 2018-05-28

Family

ID=57590374

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020160103716A Active KR101861176B1 (ko) 2016-08-16 2016-08-16 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법

Country Status (5)

Country Link
US (2) US10363106B2 (enExample)
EP (1) EP3284434B1 (enExample)
JP (2) JP6678565B2 (enExample)
KR (1) KR101861176B1 (enExample)
CN (2) CN107753106B (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210029035A (ko) * 2019-09-05 2021-03-15 국방과학연구소 이식물 삽입 수술에서 이식물 및 대상체를 고정하기 위한 장치

Families Citing this family (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9026242B2 (en) 2011-05-19 2015-05-05 Taktia Llc Automatically guided tools
EP2852868B1 (en) * 2012-04-26 2021-12-01 Shaper Tools, Inc. Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US12484990B2 (en) 2012-06-21 2025-12-02 Globus Medical, Inc. Method and system for improving 2D-3D registration convergence
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10842461B2 (en) 2012-06-21 2020-11-24 Globus Medical, Inc. Systems and methods of checking registrations for surgical systems
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
WO2016183390A1 (en) 2015-05-13 2016-11-17 Taktia Llc Systems, methods and apparatus for guided tools
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
KR101861176B1 (ko) 2016-08-16 2018-05-28 주식회사 고영테크놀러지 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법
JP7306986B2 (ja) 2016-08-19 2023-07-11 シェイパー ツールズ，インク． 工具製作及び設計データを共有するためのシステム、方法、装置
CA3053652C (en) * 2017-10-16 2022-08-02 Epica International, Inc. Robot-assisted surgical guide system for performing surgery
US11121583B2 (en) * 2018-01-23 2021-09-14 Stryker Corporation Operating room wireless power transfer
JP6979049B2 (ja) * 2018-06-07 2021-12-08 グローバス メディカル インコーポレイティッド 自然基準を使用した共登録を提供するロボットシステムおよび関連方法
EP3829476B1 (en) * 2018-08-01 2025-04-09 Brain Navi Biotechnology Co., Ltd. Method and system to update an operation pathway for a robotic arm assembly.
EP3644890B1 (en) * 2018-09-07 2021-03-17 Brainlab AG Head-holder support
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297426A1 (en) * 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
CN110720984A (zh) * 2019-10-11 2020-01-24 西人马（厦门）科技有限公司 定位系统模拟装置和定位模拟系统
CN114022612A (zh) * 2021-11-02 2022-02-08 武汉联影智融医疗科技有限公司 模型构建方法、装置、计算机设备和存储介质
CN114711965B (zh) * 2022-05-07 2025-10-17 鑫君特(苏州)医疗科技有限公司 一种可旋转调节的手术定位装置
CN115227396B (zh) * 2022-06-22 2025-03-14 西安电子科技大学 基于人造特征靶标及引导装置的口腔咽喉狭小空间视觉导航方法
DE102022115822A1 (de) * 2022-06-24 2024-01-04 B. Braun New Ventures GmbH Laser-Führungsroboter zur visuellen Projektion einer Führung eines Operationsplans, Projektionsverfahren und Laser-Führungsroboter-System
WO2025222291A1 (en) * 2024-04-23 2025-10-30 Orthosoft Ulc Advanced planning for accessibility assessment in robotic assisted surgery

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005529640A (ja) 2002-05-08 2005-10-06 エレクタ・アクチボラゲット（パブル） 神経学的診断時に患者の頭蓋に固定するための、ピン支持部材及び絶縁部材を含む器具および該器具を組み立てる方法
JP2008513086A (ja) * 2004-09-20 2008-05-01 バログ、アッティラ 特に脳外科的介入のための画像収集部又は医療機器を保持するための可動コンソール、特に人体の部分の３ｄ走査、並びに走査される対象面に関する情報の電子記録及び再構成方法
US7925328B2 (en) 2003-08-28 2011-04-12 Medtronic Navigation, Inc. Method and apparatus for performing stereotactic surgery

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5257998A (en) * 1989-09-20 1993-11-02 Mitaka Kohki Co., Ltd. Medical three-dimensional locating apparatus
JPH03106359A (ja) 1989-09-20 1991-05-02 Shiyouwakai Ota Kinen Biyouin 医療用三次元定位装置
US5308352A (en) * 1989-11-17 1994-05-03 Koutrouvelis Panos G Stereotactic device
US5269305A (en) 1990-04-27 1993-12-14 The Nomos Corporation Method and apparatus for performing stereotactic surgery
JP3190705B2 (ja) 1991-08-29 2001-07-23 日本電信電話株式会社 半導体量子細線の形成方法
US5754741A (en) * 1992-08-10 1998-05-19 Computer Motion, Inc. Automated endoscope for optimal positioning
US5695501A (en) 1994-09-30 1997-12-09 Ohio Medical Instrument Company, Inc. Apparatus for neurosurgical stereotactic procedures
US6594839B1 (en) * 1999-04-30 2003-07-22 The Cleveland Clinic Foundation Surgical headrest
AU2001270119A1 (en) 2000-06-22 2002-01-02 Nuvasive, Inc. Polar coordinate surgical guideframe
KR100731052B1 (ko) * 2006-01-23 2007-06-22 한양대학교 산학협력단 미세침습 수술을 위한 컴퓨터통합 수술 보조시스템
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
KR100961428B1 (ko) * 2008-02-20 2010-06-09 (주)미래컴퍼니 침대 일체형 수술용 로봇
KR101061987B1 (ko) 2008-12-12 2011-09-05 주식회사 이턴 침대 장착식 수술용 로봇
WO2010068005A2 (en) 2008-12-12 2010-06-17 Rebo Surgical robot
CN201586068U (zh) * 2009-09-30 2010-09-22 李彦文 脑立体定向装置
WO2013192598A1 (en) * 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
KR101406216B1 (ko) * 2012-12-10 2014-06-12 주식회사 고영테크놀러지 뇌 정위수술용 정위장치
CA2905611C (en) * 2013-03-15 2017-08-15 Synaptive Medical (Barbados) Inc. System and method for using guide clamp for port based procedure
CA2905968A1 (en) * 2013-03-15 2014-09-25 Sri International Hyperdexterous surgical system
JP6117922B2 (ja) * 2013-06-13 2017-04-19 テルモ株式会社 医療用マニピュレータおよびその作動方法
JP6116426B2 (ja) * 2013-07-25 2017-04-19 オリンパス株式会社 マニピュレータシステム
KR101510859B1 (ko) 2013-07-30 2015-04-17 경희대학교 산학협력단 방사선 영상 촬영용 두부 고정장치
CN204410980U (zh) * 2015-01-16 2015-06-24 青岛市市立医院 烧伤手术患者头部取皮支撑架
WO2016125385A1 (ja) 2015-02-06 2016-08-11 オリンパス株式会社 医療用マニピュレータシステム
CN104644415A (zh) * 2015-03-09 2015-05-27 李彦文 一种穴位三维空间定位系统及其使用方法
CN205411945U (zh) * 2015-11-10 2016-08-03 康健 皮肤激光治疗辅助机器人
US10500739B2 (en) * 2015-11-13 2019-12-10 Ethicon Llc Robotic surgical system
KR101861176B1 (ko) 2016-08-16 2018-05-28 주식회사 고영테크놀러지 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005529640A (ja) 2002-05-08 2005-10-06 エレクタ・アクチボラゲット（パブル） 神経学的診断時に患者の頭蓋に固定するための、ピン支持部材及び絶縁部材を含む器具および該器具を組み立てる方法
US7925328B2 (en) 2003-08-28 2011-04-12 Medtronic Navigation, Inc. Method and apparatus for performing stereotactic surgery
JP2008513086A (ja) * 2004-09-20 2008-05-01 バログ、アッティラ 特に脳外科的介入のための画像収集部又は医療機器を保持するための可動コンソール、特に人体の部分の３ｄ走査、並びに走査される対象面に関する情報の電子記録及び再構成方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210029035A (ko) * 2019-09-05 2021-03-15 국방과학연구소 이식물 삽입 수술에서 이식물 및 대상체를 고정하기 위한 장치
KR102301542B1 (ko) 2019-09-05 2021-09-13 국방과학연구소 이식물 삽입 수술에서 이식물 및 대상체를 고정하기 위한 장치

Also Published As

Publication number Publication date
CN113229938B (zh) 2025-02-18
US20180049825A1 (en) 2018-02-22
JP6678565B2 (ja) 2020-04-08
JP2019030702A (ja) 2019-02-28
US11395707B2 (en) 2022-07-26
KR20180019401A (ko) 2018-02-26
CN107753106B (zh) 2021-05-07
EP3284434B1 (en) 2021-04-21
JP2018027288A (ja) 2018-02-22
CN107753106A (zh) 2018-03-06
EP3284434A1 (en) 2018-02-21
JP6898030B2 (ja) 2021-07-07
US10363106B2 (en) 2019-07-30
CN113229938A (zh) 2021-08-10
US20190321113A1 (en) 2019-10-24

Similar Documents

Publication Publication Date Title
KR101861176B1 (ko) 정위수술용 수술로봇 및 정위수술용 수술로봇의 제어방법
KR101848027B1 (ko) 정위수술용 수술로봇 시스템 및 정위수술용 로봇의 제어방법
US12268506B2 (en) System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
JP2013540455A (ja) 解剖学的表面の支援型自動データ収集方法
KR20160069180A (ko) 중재시술 로봇용 공간정합 시스템
EP3881791A1 (en) System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
JP7323489B2 (ja) 誘導された生検針の軌道をロボットによりガイダンスするためのシステムと、関連する方法および装置
KR101895369B1 (ko) 정위수술용 수술로봇 시스템
KR20180100514A (ko) 정위수술용 수술로봇 시스템
US20200297451A1 (en) System for robotic trajectory guidance for navigated biopsy needle, and related methods and devices
KR20200039389A (ko) 정위수술용 수술로봇 시스템 및 정위수술용 로봇의 제어방법
CN112237477A (zh) 骨折复位闭合手术定位导航方法
WO2025222291A1 (en) Advanced planning for accessibility assessment in robotic assisted surgery
HK40051864A (en) System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
HK40029958A (en) System for robotic trajectory guidance for navigated biopsy needle

Legal Events

Date Code Title Description
PA0109 Patent application

Patent event code: PA01091R01D

Comment text: Patent Application

Patent event date: 20160816

PA0201 Request for examination
AMND Amendment
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20170918

Patent event code: PE09021S01D

E601 Decision to refuse application
PE0601 Decision on rejection of patent

Patent event date: 20180104

Comment text: Decision to Refuse Application

Patent event code: PE06012S01D

Patent event date: 20170918

Comment text: Notification of reason for refusal

Patent event code: PE06011S01I

AMND Amendment
PX0901 Re-examination

Patent event code: PX09011S01I

Patent event date: 20180104

Comment text: Decision to Refuse Application

Patent event code: PX09012R01I

Patent event date: 20160921

Comment text: Amendment to Specification, etc.

PG1501 Laying open of application
PX0701 Decision of registration after re-examination

Patent event date: 20180226

Comment text: Decision to Grant Registration

Patent event code: PX07013S01D

Patent event date: 20180202

Comment text: Amendment to Specification, etc.

Patent event code: PX07012R01I

Patent event date: 20180104

Comment text: Decision to Refuse Application

Patent event code: PX07011S01I

Patent event date: 20160921

Comment text: Amendment to Specification, etc.

Patent event code: PX07012R01I

X701 Decision to grant (after re-examination)
GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20180518

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20180521

End annual number: 3

Start annual number: 1

PG1601 Publication of registration
PR1001 Payment of annual fee

Payment date: 20210310

Start annual number: 4

End annual number: 4