WO2012060586A3 - 수술 로봇 시스템 및 그 복강경 조작 방법 및 체감형 수술용 영상 처리 장치 및 방법 - Google Patents

수술 로봇 시스템 및 그 복강경 조작 방법 및 체감형 수술용 영상 처리 장치 및 방법 Download PDF

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Publication number
WO2012060586A3
WO2012060586A3 PCT/KR2011/008152 KR2011008152W WO2012060586A3 WO 2012060586 A3 WO2012060586 A3 WO 2012060586A3 KR 2011008152 W KR2011008152 W KR 2011008152W WO 2012060586 A3 WO2012060586 A3 WO 2012060586A3
Authority
WO
WIPO (PCT)
Prior art keywords
laparoscope
manipulation
robot system
surgical
image processing
Prior art date
Application number
PCT/KR2011/008152
Other languages
English (en)
French (fr)
Other versions
WO2012060586A2 (ko
Inventor
최승욱
민동명
이민규
Original Assignee
주식회사 이턴
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
Priority claimed from KR1020100108156A external-priority patent/KR20110049703A/ko
Priority claimed from KR1020100117546A external-priority patent/KR20110114421A/ko
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Priority to CN201180052600.7A priority Critical patent/CN103188987B/zh
Publication of WO2012060586A2 publication Critical patent/WO2012060586A2/ko
Publication of WO2012060586A3 publication Critical patent/WO2012060586A3/ko

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • A61B34/37—Master-slave 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)

Abstract

수술 로봇 시스템 및 그 복강경 조작 방법이 개시된다. 접촉된 수술자 얼굴의 움직임 방향 및 크기에 상응하는 방향 및 크기로 유동되는 접면부와, 접면부가 유동되는 방향 및 크기에 상응하는 센싱 정보를 출력하는 움직임 감지부와, 센싱 정보를 이용하여 비젼부의 위치 및 영상 입력 각도 중 하나 이상에 대한 조작명령을 생성하여 출력하는 조작 명령 생성부를 포함하는 수술용 로봇에 의하여, 수술자가 원하는 수술 부위를 보고자 하는 행위만으로 복강경의 위치 및 영상 입력 각도가 제어되도록 할 수 있는 효과가 있다.
PCT/KR2011/008152 2010-11-02 2011-10-28 수술 로봇 시스템 및 그 복강경 조작 방법 및 체감형 수술용 영상 처리 장치 및 방법 WO2012060586A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201180052600.7A CN103188987B (zh) 2010-11-02 2011-10-28 手术机器人系统及其腹腔镜操作方法以及体感式手术用图像处理装置及其方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2010-0108156 2010-11-02
KR1020100108156A KR20110049703A (ko) 2009-11-04 2010-11-02 수술 로봇 시스템 및 그 복강경 조작 방법
KR1020100117546A KR20110114421A (ko) 2010-04-13 2010-11-24 체감형 수술용 영상 처리 장치 및 방법
KR10-2010-0117546 2010-11-24

Publications (2)

Publication Number Publication Date
WO2012060586A2 WO2012060586A2 (ko) 2012-05-10
WO2012060586A3 true WO2012060586A3 (ko) 2012-09-07

Family

ID=46025237

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/008152 WO2012060586A2 (ko) 2010-11-02 2011-10-28 수술 로봇 시스템 및 그 복강경 조작 방법 및 체감형 수술용 영상 처리 장치 및 방법

Country Status (2)

Country Link
CN (1) CN105078580B (ko)
WO (1) WO2012060586A2 (ko)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102914284B (zh) * 2012-10-19 2015-07-08 中铁隧道集团有限公司 一种作业臂工位的实时测量系统及其测量方法
EP3139843B1 (en) 2014-05-05 2023-08-30 Vicarious Surgical Inc. Virtual reality surgical device
EP3459430A4 (en) * 2016-05-17 2020-04-08 Kairos Co., Ltd. ENDOSCOPE DEVICE
CA3051258A1 (en) 2017-02-09 2018-08-16 Vicarious Surgical Inc. Virtual reality surgical tools system
JP2020516408A (ja) 2017-04-13 2020-06-11 ブイ．ティー．エム．（バーチャル テープ メジャー）テクノロジーズ リミテッド 内視鏡測定の方法および器具
JP7387588B2 (ja) 2017-09-14 2023-11-28 ヴィカリアス・サージカル・インコーポレイテッド バーチャルリアリティ手術カメラシステム
CN110393499B (zh) * 2018-08-31 2021-12-07 上海微创医疗机器人（集团）股份有限公司 电子内窥镜及电子内窥镜系统
US20210259789A1 (en) * 2018-10-12 2021-08-26 Sony Corporation Surgical support system, data processing apparatus and method
US11897127B2 (en) 2018-10-22 2024-02-13 Intuitive Surgical Operations, Inc. Systems and methods for master/tool registration and control for intuitive motion
CN115607285B (zh) * 2022-12-20 2023-02-24 长春理工大学 一种单孔腹腔镜定位装置及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6804581B2 (en) * 1992-08-10 2004-10-12 Computer Motion, Inc. Automated endoscope system for optimal positioning
US6926709B2 (en) * 2000-05-22 2005-08-09 Siemens Aktiengesellschaft Fully automatic, robot-assisted camera guidance system employing position sensors for laparoscopic interventions
US20090048611A1 (en) * 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
KR100962472B1 (ko) * 2009-08-28 2010-06-14 주식회사 래보 수술 로봇 시스템 및 그 제어 방법

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4009581B2 (ja) * 2003-11-18 2007-11-14 オリンパス株式会社 カプセル型医療システム
JP4441464B2 (ja) * 2005-09-09 2010-03-31 オリンパスメディカルシステムズ株式会社 画像表示装置
JP4914685B2 (ja) * 2006-09-21 2012-04-11 オリンパスメディカルシステムズ株式会社 内視鏡システム
JP2008119146A (ja) * 2006-11-09 2008-05-29 Olympus Medical Systems Corp 画像表示装置
CN105342705A (zh) * 2009-03-24 2016-02-24 伊顿株式会社 利用增强现实技术的手术机器人系统及其控制方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090048611A1 (en) * 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US6804581B2 (en) * 1992-08-10 2004-10-12 Computer Motion, Inc. Automated endoscope system for optimal positioning
US6926709B2 (en) * 2000-05-22 2005-08-09 Siemens Aktiengesellschaft Fully automatic, robot-assisted camera guidance system employing position sensors for laparoscopic interventions
KR100962472B1 (ko) * 2009-08-28 2010-06-14 주식회사 래보 수술 로봇 시스템 및 그 제어 방법

Also Published As

Publication number Publication date
CN105078580B (zh) 2017-09-12
CN105078580A (zh) 2015-11-25
WO2012060586A2 (ko) 2012-05-10

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