WO2020130559A3 - 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법 - Google Patents

사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법 Download PDF

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Publication number
WO2020130559A3
WO2020130559A3 PCT/KR2019/017856 KR2019017856W WO2020130559A3 WO 2020130559 A3 WO2020130559 A3 WO 2020130559A3 KR 2019017856 W KR2019017856 W KR 2019017856W WO 2020130559 A3 WO2020130559 A3 WO 2020130559A3
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WO
WIPO (PCT)
Prior art keywords
master console
user interface
interface device
surgical robot
operation method
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PCT/KR2019/017856
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English (en)
French (fr)
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WO2020130559A2 (ko
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임요안
문순호
Original Assignee
주식회사 미래컴퍼니
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Priority to CN201980084183.0A priority Critical patent/CN113194870B/zh
Publication of WO2020130559A2 publication Critical patent/WO2020130559A2/ko
Publication of WO2020130559A3 publication Critical patent/WO2020130559A3/ko

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    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive 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
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (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)
  • Human Computer Interaction (AREA)
  • Ophthalmology & Optometry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 수술 로봇 장치의 마스터 콘솔의 조작 방법을 제공한다. 본 발명은 사용자가 수술도구가 장착된 슬레이브 로봇을 원격조정하는 수술 로봇 장치의 마스터 콘솔에 있어서, 상기 수술도구의 위치를 설정하는 포지셔닝 암과, 상기 포지셔닝 암의 단부에 배치되며, 상기 수술도구의 방향을 설정하는 짐벌 암과, 상기 짐벌 암의 단부에 회전가능하게 장착 및 탈착되고, 상기 사용자가 접촉을 감지하고, 상기 사용자가 가하는 힘의 크기를 측정할 수 있는 사용자 인터페이스 장치, 및 상기 사용자 인터페이스 장치에서 전달받은 힘이나 접촉에 대한 정보를 기초로 상기 수술도구를 제어하는 컨트롤러를 포함한다.
PCT/KR2019/017856 2018-12-18 2019-12-17 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법 WO2020130559A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201980084183.0A CN113194870B (zh) 2018-12-18 2019-12-17 使用者界面装置、手术机器人装置的主控制台及其操作方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020180164316A KR102221090B1 (ko) 2018-12-18 2018-12-18 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법
KR10-2018-0164316 2018-12-18

Publications (2)

Publication Number Publication Date
WO2020130559A2 WO2020130559A2 (ko) 2020-06-25
WO2020130559A3 true WO2020130559A3 (ko) 2020-08-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2019/017856 WO2020130559A2 (ko) 2018-12-18 2019-12-17 사용자 인터페이스 장치, 수술 로봇 장치의 마스터 콘솔 및 그 조작방법

Country Status (3)

Country Link
KR (1) KR102221090B1 (ko)
CN (1) CN113194870B (ko)
WO (1) WO2020130559A2 (ko)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114391966B (zh) * 2022-01-20 2023-09-29 天津大学 一种新型力反馈主手
CN116636934B (zh) * 2023-06-28 2023-09-26 敏捷医疗科技(苏州)有限公司 一种手术机器人主从延时测试装置

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Also Published As

Publication number Publication date
CN113194870B (zh) 2024-05-14
CN113194870A (zh) 2021-07-30
WO2020130559A2 (ko) 2020-06-25
KR102221090B1 (ko) 2021-02-26
KR20200075535A (ko) 2020-06-26

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