WO2015110929A1 - Commande robotique d'une orientation d'endoscope - Google Patents
Commande robotique d'une orientation d'endoscope Download PDFInfo
- Publication number
- WO2015110929A1 WO2015110929A1 PCT/IB2015/050137 IB2015050137W WO2015110929A1 WO 2015110929 A1 WO2015110929 A1 WO 2015110929A1 IB 2015050137 W IB2015050137 W IB 2015050137W WO 2015110929 A1 WO2015110929 A1 WO 2015110929A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- endoscope
- robot
- anatomical region
- endoscopic image
- controller
- Prior art date
Links
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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using 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
- A61B34/30—Surgical robots
-
- 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
Definitions
- endoscope 12 is mounted to the end-effector of robot 11.
- a pose of the end-effector of robot 11 is a location and an orientation of the end-effector within a coordinate system of an actuator of robot.
- any given pose of a field-of-view ("FOV") of endoscope 12 within an anatomical region corresponds to a distinct pose of the end-effector of robot 11 within the robotic coordinate system. Consequently, each distinct individual endoscopic image of the anatomical region generated by endoscope 12 may be linked to a corresponding pose of endoscope 12 within the robotic coordinate system.
- FOV field-of-view
Abstract
La présente invention concerne un système de guidage de robot utilisant une unité robotique (10) comprenant un endoscope (12) et un robot (11), et une unité de commande (20) comprenant un dispositif de commande d'image endoscopique (22) et un dispositif de commande de robot (21). En fonctionnement, l'endoscope (12) génère une image endoscopique d'une région anatomique à mesure que le robot (11) déplace ledit endoscope (12) à l'intérieur de la région anatomique en réponse à des instructions d'actionnement robotique. Le dispositif de commande d'image endoscopique (22) commande un affichage de l'image endoscopique (14) de la région anatomique, et le dispositif de commande (21) communique les instructions d'actionneur robotique au robot (11). Le dispositif de commande de robot (21) et/ou le dispositif de commande d'image endoscopique (22) permettent de maintenir une orientation affichée de la région anatomique au sein de l'image endoscopique (14) à mesure que le robot (11) déplace l'endoscope (12) à l'intérieur de ladite région anatomique.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461931187P | 2014-01-24 | 2014-01-24 | |
US61/931,187 | 2014-01-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015110929A1 true WO2015110929A1 (fr) | 2015-07-30 |
Family
ID=52474042
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2015/050137 WO2015110929A1 (fr) | 2014-01-24 | 2015-01-08 | Commande robotique d'une orientation d'endoscope |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2015110929A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4183313A1 (fr) * | 2021-11-22 | 2023-05-24 | ROEN Surgical, Inc. | Système et dispositif pour robot de chirurgie endoscopique |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020082612A1 (en) * | 1998-11-20 | 2002-06-27 | Intuitive Surgical, Inc. | Arm cart for telerobotic surgical system |
US20050154260A1 (en) * | 2004-01-09 | 2005-07-14 | Schara Nathan J. | Gravity referenced endoscopic image orientation |
US20110196199A1 (en) * | 2010-02-11 | 2011-08-11 | Intuitive Surgical Operations, Inc. | Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope |
-
2015
- 2015-01-08 WO PCT/IB2015/050137 patent/WO2015110929A1/fr active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020082612A1 (en) * | 1998-11-20 | 2002-06-27 | Intuitive Surgical, Inc. | Arm cart for telerobotic surgical system |
US20050154260A1 (en) * | 2004-01-09 | 2005-07-14 | Schara Nathan J. | Gravity referenced endoscopic image orientation |
US20110196199A1 (en) * | 2010-02-11 | 2011-08-11 | Intuitive Surgical Operations, Inc. | Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4183313A1 (fr) * | 2021-11-22 | 2023-05-24 | ROEN Surgical, Inc. | Système et dispositif pour robot de chirurgie endoscopique |
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