KR102491907B1 - 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법 - Google Patents

수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법 Download PDF

Info

Publication number
KR102491907B1
KR102491907B1 KR1020177017901A KR20177017901A KR102491907B1 KR 102491907 B1 KR102491907 B1 KR 102491907B1 KR 1020177017901 A KR1020177017901 A KR 1020177017901A KR 20177017901 A KR20177017901 A KR 20177017901A KR 102491907 B1 KR102491907 B1 KR 102491907B1
Authority
KR
South Korea
Prior art keywords
virtual
boundary
localizer
tracking device
collision
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
KR1020177017901A
Other languages
English (en)
Korean (ko)
Other versions
KR20170139493A (ko
Inventor
조세 루이스 모크테추마 드 라 바레라
도날드 더블유. 말라코브스키
Original Assignee
마코 서지컬 코포레이션
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 마코 서지컬 코포레이션 filed Critical 마코 서지컬 코포레이션
Priority to KR1020237001704A priority Critical patent/KR102653682B1/ko
Publication of KR20170139493A publication Critical patent/KR20170139493A/ko
Application granted granted Critical
Publication of KR102491907B1 publication Critical patent/KR102491907B1/ko
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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (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)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Processing Or Creating Images (AREA)
  • Surgical Instruments (AREA)
  • Traffic Control Systems (AREA)
KR1020177017901A 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법 Active KR102491907B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020237001704A KR102653682B1 (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562120585P 2015-02-25 2015-02-25
US62/120,585 2015-02-25
PCT/US2016/019347 WO2016138124A1 (en) 2015-02-25 2016-02-24 Navigation systems and methods for reducing tracking interruptions during a surgical procedure

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020237001704A Division KR102653682B1 (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법

Publications (2)

Publication Number Publication Date
KR20170139493A KR20170139493A (ko) 2017-12-19
KR102491907B1 true KR102491907B1 (ko) 2023-01-26

Family

ID=55527650

Family Applications (3)

Application Number Title Priority Date Filing Date
KR1020237001704A Active KR102653682B1 (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법
KR1020247009857A Pending KR20240044536A (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법
KR1020177017901A Active KR102491907B1 (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법

Family Applications Before (2)

Application Number Title Priority Date Filing Date
KR1020237001704A Active KR102653682B1 (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법
KR1020247009857A Pending KR20240044536A (ko) 2015-02-25 2016-02-24 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법

Country Status (7)

Country Link
US (3) US10660711B2 (enExample)
EP (3) EP4197479B1 (enExample)
JP (4) JP6748088B2 (enExample)
KR (3) KR102653682B1 (enExample)
CN (2) CN107205786B (enExample)
AU (4) AU2016222790B2 (enExample)
WO (1) WO2016138124A1 (enExample)

Families Citing this family (65)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013033566A1 (en) 2011-09-02 2013-03-07 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
CN107205786B (zh) * 2015-02-25 2020-08-25 马科外科公司 用于在外科手术过程中减少跟踪中断的导航系统和方法
KR102491910B1 (ko) 2015-05-19 2023-01-26 마코 서지컬 코포레이션 해부체를 조작하는 시스템 및 방법
JP6821572B2 (ja) * 2015-08-25 2021-01-27 川崎重工業株式会社 複数のロボットシステム間の情報共有システム及び情報共有方法
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
EP3383285B1 (en) 2015-11-30 2024-01-17 Stryker Corporation Surgical instrument with telescoping nose mechanism
US10717194B2 (en) * 2016-02-26 2020-07-21 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
US11350995B2 (en) 2016-10-05 2022-06-07 Nuvasive, Inc. Surgical navigation systems and methods
US11207139B2 (en) 2016-10-31 2021-12-28 Synaptive Medical Inc. 3D navigation system and methods
WO2018112025A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
WO2019032582A1 (en) * 2017-08-10 2019-02-14 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR DISPLAYING INTERACTION POINTS IN A TELEOPERATIONAL SYSTEM
WO2019092225A1 (en) * 2017-11-13 2019-05-16 Koninklijke Philips N.V. Autonomous x-ray control for robotic navigation
EP3724857B1 (en) 2017-12-14 2022-04-27 Mako Surgical Corp. View angle-independent visual representation of a cut procedure
US11071595B2 (en) * 2017-12-14 2021-07-27 Verb Surgical Inc. Multi-panel graphical user interface for a robotic surgical system
CN111315312A (zh) * 2018-01-04 2020-06-19 柯惠Lp公司 包括扭矩传感器的机器人外科系统
CN108324373B (zh) * 2018-03-19 2020-11-27 南开大学 一种基于电磁定位系统的穿刺手术机器人精确定位实现方法
JP7139643B2 (ja) * 2018-03-23 2022-09-21 カシオ計算機株式会社 ロボット、ロボットの制御方法及びプログラム
EP3785228B8 (en) 2018-04-23 2024-01-24 MAKO Surgical Corp. System, method and software program for aiding in positioning of a camera relative to objects in a surgical environment
US10842699B2 (en) * 2018-04-27 2020-11-24 Ormonde M. Mahoney System and method for patient positioning in an automated surgery
EP3569159A1 (en) * 2018-05-14 2019-11-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
KR20250002662A (ko) 2018-05-18 2025-01-07 아우리스 헬스, 인코포레이티드 로봇식 원격작동 시스템을 위한 제어기
US11026752B2 (en) 2018-06-04 2021-06-08 Medtronic Navigation, Inc. System and method for performing and evaluating a procedure
US11510737B2 (en) 2018-06-21 2022-11-29 Mako Surgical Corp. Patella tracking
US20210369353A1 (en) * 2018-10-04 2021-12-02 Smith & Nephew, Inc. Dual-position tracking hardware mount for surgical navigation
CN113016038B (zh) * 2018-10-12 2024-06-18 索尼集团公司 避免与机器人手术设备碰撞的触觉障碍
JP6895128B2 (ja) * 2018-11-09 2021-06-30 オムロン株式会社 ロボット制御装置、シミュレーション方法、及びシミュレーションプログラム
EP3680738A1 (de) * 2019-01-14 2020-07-15 Siemens Aktiengesellschaft Kollisionsprüfung auf basis höherwertiger geometrie
CN113301866A (zh) * 2019-01-23 2021-08-24 索尼集团公司 医疗臂系统、控制装置、控制方法和程序
ES2972869T3 (es) * 2019-02-14 2024-06-17 Braun Gmbh Sistema para evaluar el uso de un producto de consumo móvil manualmente previsto
US20220338886A1 (en) 2019-06-19 2022-10-27 Think Surgical, Inc. System and method to position a tracking system field-of-view
CN114126529A (zh) 2019-06-25 2022-03-01 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
CN114040727A (zh) 2019-06-28 2022-02-11 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
AU2020300612A1 (en) 2019-07-03 2022-02-03 Stryker Corporation Obstacle avoidance techniques for surgical navigation
EP4616820A3 (en) 2019-07-15 2025-11-12 Stryker Corporation Robotic hand-held surgical instrument systems
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11612440B2 (en) 2019-09-05 2023-03-28 Nuvasive, Inc. Surgical instrument tracking devices and related methods
JP7716391B2 (ja) 2019-09-26 2025-07-31 ストライカー・コーポレイション 手術ナビゲーションのシステム及び方法
US12324645B2 (en) 2019-09-26 2025-06-10 Auris Health, Inc. Systems and methods for collision avoidance using object models
WO2021059099A1 (en) * 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
JP7328861B2 (ja) * 2019-10-09 2023-08-17 キヤノンメディカルシステムズ株式会社 医用情報処理装置、医用情報処理システム、医用情報処理プログラム、および医用画像撮像装置
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
CN114727850A (zh) 2019-11-21 2022-07-08 奥瑞斯健康公司 用于覆盖外科系统的系统和方法
CN113040922B (zh) * 2019-12-27 2022-06-14 重庆海扶医疗科技股份有限公司 聚焦超声手术执行机构的运动控制方法、介质、系统和设备
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
EP4125691A1 (en) * 2020-03-27 2023-02-08 MAKO Surgical Corp. Systems and methods for controlling robotic movement of a tool based on a virtual boundary
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
EP4171427A4 (en) 2020-06-29 2024-08-07 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
EP4196035B1 (en) * 2020-08-12 2025-02-19 Brainlab AG Determining an avoidance region for a reference device
JP7753345B2 (ja) * 2020-09-02 2025-10-14 オーリス ヘルス インコーポレイテッド ロボット衝突の境界の判定
CN112700474B (zh) * 2020-12-31 2024-08-20 广东美的白色家电技术创新中心有限公司 碰撞检测方法、设备及计算机可读存储介质
CN112716603B (zh) * 2021-01-19 2021-11-26 威海威高骨科手术机器人有限公司 一种骨科复位定位机器人
CN114948067B (zh) * 2021-02-18 2025-04-15 杭州柳叶刀机器人有限公司 磨挫深度控制方法、装置和髋关节置换机器人
CN113081272B (zh) * 2021-03-22 2023-02-03 珞石（北京）科技有限公司 虚拟墙引导的膝关节置换手术辅助定位系统
US12467489B2 (en) 2022-03-17 2025-11-11 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
US20250239177A1 (en) * 2022-05-05 2025-07-24 Virginia Commonwealth University Methods and systems for surgical training
AU2023276628A1 (en) * 2022-05-26 2024-12-12 Stryker Corporation Alert system behavior based on localization awareness
JP2024094769A (ja) * 2022-12-28 2024-07-10 川崎重工業株式会社 手術支援システムおよび手術支援システムの制御方法
EP4406503A1 (en) * 2023-01-27 2024-07-31 Ecential Robotics Surgical navigation system dealing with partially-obscured markers
CN120304953B (zh) * 2025-05-27 2025-11-11 北京和华瑞博医疗科技有限公司 定位系统及手术系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140276943A1 (en) 2013-03-13 2014-09-18 Stryker Corporation Systems and Methods for Establishing Virtual Constraint Boundaries
US20170245946A1 (en) 2014-10-22 2017-08-31 Think Surgical, Inc. Actively controlled optical tracker with a robot

Family Cites Families (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5548694A (en) 1995-01-31 1996-08-20 Mitsubishi Electric Information Technology Center America, Inc. Collision avoidance system for voxel-based object representation
DE19817039A1 (de) * 1998-04-17 1999-10-21 Philips Patentverwaltung Anordnung für die bildgeführte Chirurgie
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US7747312B2 (en) 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
DE10025285A1 (de) 2000-05-22 2001-12-06 Siemens Ag Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
JP2004223128A (ja) 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
WO2005039835A1 (en) 2003-10-24 2005-05-06 The University Of Western Ontario Force reflective robotic control system and minimally invasive surgical device
JP3946711B2 (ja) 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム
JP4335160B2 (ja) 2005-03-02 2009-09-30 任天堂株式会社 衝突判定プログラムおよび衝突判定装置
JP4417877B2 (ja) * 2005-04-20 2010-02-17 株式会社セブンスディメンジョンデザイン 光送受信装置制御システム
WO2007087351A2 (en) 2006-01-24 2007-08-02 Carnegie Mellon University Method, apparatus, and system for computer-aided tracking, navigation, and motion teaching
JP2009537231A (ja) * 2006-05-19 2009-10-29 マコ サージカル コーポレーション 触覚デバイスを制御するための方法および装置
US8560047B2 (en) 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
US9718190B2 (en) * 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
ATE412929T1 (de) 2006-09-14 2008-11-15 Abb Research Ltd Verfahren und vorrichtung zur vermeidung von kollisionen zwischen einem industrieroboter und einem objekt
US8082064B2 (en) 2007-08-24 2011-12-20 Elite Engineering Corporation Robotic arm and control system
DE102007055205A1 (de) 2007-11-19 2009-05-20 Kuka Roboter Gmbh Verfahren zum Ermitteln eines Aufstellortes und zum Aufstellen einer Erfassungsvorrichtung eines Navigationssystems
EP2359205A1 (de) 2008-12-17 2011-08-24 KUKA Laboratories GmbH Verfahren und vorrichtung zur befehlseingabe in eine steuerung eines manipulators
US8386080B2 (en) 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
KR101666859B1 (ko) * 2009-10-01 2016-10-17 마코 서지컬 코포레이션 도구, 다기능 도구용 부품들의 키트 및 다기능 도구용 로봇 시스템
JP2013524952A (ja) * 2010-04-22 2013-06-20 ブルー ベルト テクノロジーズ，エル エル シー 再構成可能なナビゲートされる外科用器具のトラッキング装置
WO2011134083A1 (en) * 2010-04-28 2011-11-03 Ryerson University System and methods for intraoperative guidance feedback
US9439556B2 (en) 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9381085B2 (en) 2011-06-23 2016-07-05 Stryker Corporation Prosthetic implant and method of implantation
WO2013033566A1 (en) 2011-09-02 2013-03-07 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
US9770828B2 (en) 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
WO2013101273A1 (en) * 2011-12-30 2013-07-04 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for detection and avoidance of collisions of robotically-controlled medical devices
JP6368710B2 (ja) 2012-06-01 2018-08-01 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 ゼロ空間を使用したマニピュレータアームと患者との衝突回避
WO2013192598A1 (en) 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
EP2838698B2 (de) 2012-07-10 2020-01-01 Siemens Aktiengesellschaft Roboteranordnung und verfahren zum steuern eines roboters
KR102186365B1 (ko) 2012-08-15 2020-12-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 시스템의 운동을 조종하기 위한 가상 자유도
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
CA2896873A1 (en) 2012-12-31 2014-07-03 Mako Surgical Corp. System for image-based robotic surgery
US9566120B2 (en) 2013-01-16 2017-02-14 Stryker Corporation Navigation systems and methods for indicating and reducing line-of-sight errors
US9717461B2 (en) 2013-01-24 2017-08-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US9827054B2 (en) 2014-03-14 2017-11-28 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
EP2967292A4 (en) * 2013-03-15 2017-03-01 Synaptive Medical (Barbados) Inc. Systems and methods for navigation and simulation of minimally invasive therapy
JP2014180720A (ja) 2013-03-19 2014-09-29 Yaskawa Electric Corp ロボットシステム及びキャリブレーション方法
WO2015120008A1 (en) 2014-02-05 2015-08-13 Intuitive Surgical Operations, Inc. System and method for dynamic virtual collision objects
US10335116B2 (en) 2014-04-17 2019-07-02 The Johns Hopkins University Robot assisted ultrasound system
WO2015191605A1 (en) 2014-06-09 2015-12-17 The Johns Hopkins University Virtual rigid body optical tracking system and method
KR102477470B1 (ko) 2014-11-21 2022-12-13 씽크 써지컬, 인크. 시각 추적 시스템과 추적 마커 간에 데이터를 전송하기 위한 가시광 통신 시스템
CN107205786B (zh) * 2015-02-25 2020-08-25 马科外科公司 用于在外科手术过程中减少跟踪中断的导航系统和方法
DE102015007395A1 (de) 2015-06-08 2016-12-08 Kuka Roboter Gmbh Verfahren und System zum Betreiben und/oder Überwachen einer Maschine, insbesondere eines Roboters
CN105427819B (zh) 2015-12-24 2017-06-27 深圳市华星光电技术有限公司 栅极驱动架构及其阵列基板
US10717194B2 (en) 2016-02-26 2020-07-21 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
JP6939778B2 (ja) 2016-04-28 2021-09-22 ソニーグループ株式会社 制御装置、制御方法及び手術システム
DE102016118123A1 (de) 2016-09-26 2018-03-29 Medineering Gmbh Medizinischer Haltearm zur Einbindung in ein OP-Navigationssystem
EP3585294A1 (en) 2017-02-22 2020-01-01 Orthosoft Inc. Bone and tool tracking in robotized computer-assisted surgery
US11551810B2 (en) 2018-01-03 2023-01-10 Siemens Healthcare Gmbh Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device
WO2020015836A1 (en) 2018-07-20 2020-01-23 Brainlab Ag Method for automatic detection of instrument orientation for robotic surgery

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140276943A1 (en) 2013-03-13 2014-09-18 Stryker Corporation Systems and Methods for Establishing Virtual Constraint Boundaries
US20170245946A1 (en) 2014-10-22 2017-08-31 Think Surgical, Inc. Actively controlled optical tracker with a robot

Also Published As

Publication number Publication date
JP7572524B2 (ja) 2024-10-23
US10660711B2 (en) 2020-05-26
KR20230015508A (ko) 2023-01-31
US12453605B2 (en) 2025-10-28
US20200246082A1 (en) 2020-08-06
CN107205786A (zh) 2017-09-26
WO2016138124A1 (en) 2016-09-01
EP3261571B1 (en) 2023-03-08
EP4197479B1 (en) 2025-06-18
KR20170139493A (ko) 2017-12-19
US20160242858A1 (en) 2016-08-25
JP6748088B2 (ja) 2020-08-26
JP6998999B2 (ja) 2022-01-18
AU2020204207B2 (en) 2021-11-04
EP4566559A2 (en) 2025-06-11
EP4197479A1 (en) 2023-06-21
CN111839732A (zh) 2020-10-30
JP2023175727A (ja) 2023-12-12
AU2022200731B2 (en) 2023-11-30
AU2024201278B2 (en) 2025-09-04
JP2018506352A (ja) 2018-03-08
US20230053668A1 (en) 2023-02-23
US11517377B2 (en) 2022-12-06
AU2024201278A1 (en) 2024-03-14
CN107205786B (zh) 2020-08-25
KR102653682B1 (ko) 2024-04-03
JP2022034001A (ja) 2022-03-02
KR20240044536A (ko) 2024-04-04
AU2020204207A1 (en) 2020-07-16
CN111839732B (zh) 2024-07-02
EP4566559A3 (en) 2025-08-06
JP7344271B2 (ja) 2023-09-13
AU2016222790B2 (en) 2020-04-02
AU2016222790A1 (en) 2017-07-13
AU2022200731A1 (en) 2022-02-24
EP3261571A1 (en) 2018-01-03
JP2020189123A (ja) 2020-11-26

Similar Documents

Publication Publication Date Title
KR102491907B1 (ko) 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법
US11844574B2 (en) Patient-specific preoperative planning simulation techniques
US11944396B2 (en) Systems and methods for controlling robotic movement of a tool based on a virtual boundary
CN108472096B (zh) 用于在由虚拟对象限定的目标部位处对患者执行手术的系统和方法
KR20200017418A (ko) 가상 경계를 구현하기 위한 반응력을 생성하기 위한 로봇 시스템 및 방법
US20230329813A1 (en) Systems And Methods For Guided Placement Of A Robotic Manipulator
AU2025271212A1 (en) Navigation systems and methods for reducing tracking interruptions during a surgical procedure

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20170629

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
AMND Amendment
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20210223

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20220224

Patent event code: PE09021S01D

AMND Amendment
E601 Decision to refuse application
PE0601 Decision on rejection of patent

Patent event date: 20220829

Comment text: Decision to Refuse Application

Patent event code: PE06012S01D

Patent event date: 20220224

Comment text: Notification of reason for refusal

Patent event code: PE06011S01I

X091 Application refused [patent]
AMND Amendment
PX0901 Re-examination

Patent event code: PX09011S01I

Patent event date: 20220829

Comment text: Decision to Refuse Application

Patent event code: PX09012R01I

Patent event date: 20220421

Comment text: Amendment to Specification, etc.

Patent event code: PX09012R01I

Patent event date: 20210223

Comment text: Amendment to Specification, etc.

PX0701 Decision of registration after re-examination

Patent event date: 20221117

Comment text: Decision to Grant Registration

Patent event code: PX07013S01D

Patent event date: 20221108

Comment text: Amendment to Specification, etc.

Patent event code: PX07012R01I

Patent event date: 20220829

Comment text: Decision to Refuse Application

Patent event code: PX07011S01I

Patent event date: 20220421

Comment text: Amendment to Specification, etc.

Patent event code: PX07012R01I

Patent event date: 20210223

Comment text: Amendment to Specification, etc.

Patent event code: PX07012R01I

X701 Decision to grant (after re-examination)
A107 Divisional application of patent
PA0104 Divisional application for international application

Comment text: Divisional Application for International Patent

Patent event code: PA01041R01D

Patent event date: 20230116

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20230119

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20230120

End annual number: 3

Start annual number: 1

PG1601 Publication of registration