WO2020256503A3 - 슬레이브 장치 및 이를 제어하는 방법과, 안구 수술 장치 및 이를 제어하는 방법 - Google Patents

슬레이브 장치 및 이를 제어하는 방법과, 안구 수술 장치 및 이를 제어하는 방법 Download PDF

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Publication number
WO2020256503A3
WO2020256503A3 PCT/KR2020/008018 KR2020008018W WO2020256503A3 WO 2020256503 A3 WO2020256503 A3 WO 2020256503A3 KR 2020008018 W KR2020008018 W KR 2020008018W WO 2020256503 A3 WO2020256503 A3 WO 2020256503A3
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WO
WIPO (PCT)
Prior art keywords
control method
method therefor
eye surgery
slave device
shaft
Prior art date
Application number
PCT/KR2020/008018
Other languages
English (en)
French (fr)
Other versions
WO2020256503A2 (ko
Inventor
권동수
양운제
공덕유
김준환
김덕상
안정도
김창균
천병식
Original Assignee
한국과학기술원
주식회사 이지엔도서지컬
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 KR1020190074351A external-priority patent/KR102277148B1/ko
Priority claimed from KR1020190074316A external-priority patent/KR102284388B1/ko
Application filed by 한국과학기술원, 주식회사 이지엔도서지컬 filed Critical 한국과학기술원
Priority to US17/621,558 priority Critical patent/US20220401168A1/en
Publication of WO2020256503A2 publication Critical patent/WO2020256503A2/ko
Publication of WO2020256503A3 publication Critical patent/WO2020256503A3/ko

Links

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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave 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
    • A61B90/20—Surgical microscopes characterised by non-optical aspects
    • A61B90/25—Supports therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00075—Motion
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Vascular Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

일 실시 예에 따른 슬레이브 장치는, 하부 샤프트; 상기 하부 샤프트에 1자유도로 슬라이딩 가능하게 연결되는 상부 샤프트; 상기 하부 샤프트를 회전 가능하게 지지하는 하부 그리퍼; 상기 상부 샤프트를 회전 가능하게 지지하는 상부 그리퍼; 상기 하부 그리퍼를 이동 가능하게 지지하는 하부 델타 로봇; 및 상기 상부 그리퍼를 이동 가능하게 지지하는 상부 델타 로봇을 포함할 수 있다.
PCT/KR2020/008018 2019-06-21 2020-06-19 슬레이브 장치 및 이를 제어하는 방법과, 안구 수술 장치 및 이를 제어하는 방법 WO2020256503A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/621,558 US20220401168A1 (en) 2019-06-21 2020-06-19 Slave Device and Control Method Therefor, and Eye Surgery Device and Control Method Therefor

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020190074351A KR102277148B1 (ko) 2019-06-21 2019-06-21 안구 수술 장치 및 이를 제어하는 방법
KR1020190074316A KR102284388B1 (ko) 2019-06-21 2019-06-21 슬레이브 장치 및 이를 제어하는 방법
KR10-2019-0074316 2019-06-21
KR10-2019-0074351 2019-06-21

Publications (2)

Publication Number Publication Date
WO2020256503A2 WO2020256503A2 (ko) 2020-12-24
WO2020256503A3 true WO2020256503A3 (ko) 2021-02-18

Family

ID=74040585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/008018 WO2020256503A2 (ko) 2019-06-21 2020-06-19 슬레이브 장치 및 이를 제어하는 방법과, 안구 수술 장치 및 이를 제어하는 방법

Country Status (2)

Country Link
US (1) US20220401168A1 (ko)
WO (1) WO2020256503A2 (ko)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4288005A1 (en) * 2021-02-05 2023-12-13 Alcon Inc. Direct drive robot for vitreoretinal surgery
CN113352327B (zh) * 2021-06-28 2022-09-23 深圳亿嘉和科技研发有限公司 五自由度机械臂关节变量确定方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090057984A (ko) * 2006-09-19 2009-06-08 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 중공형 해부학적 부유 기관 상에서의 수술을 위한 시스템, 디바이스 및 방법
KR101567516B1 (ko) * 2014-05-23 2015-11-10 한국기계연구원 바늘 삽입형 원격 중재 로봇 시스템을 위한 6자유도 마스터 장치
WO2016030336A1 (en) * 2014-08-26 2016-03-03 Technische Universiteit Eindhoven Surgical robotic system and control of surgical robotic system
KR20180001153A (ko) * 2016-06-27 2018-01-04 한국과학기술원 병진형 델타 로봇 및 이를 포함하는 수술용 로봇
WO2018025169A1 (en) * 2016-08-01 2018-02-08 Novartis Ag Integrated ophthalmic surgical system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090057984A (ko) * 2006-09-19 2009-06-08 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 중공형 해부학적 부유 기관 상에서의 수술을 위한 시스템, 디바이스 및 방법
KR101567516B1 (ko) * 2014-05-23 2015-11-10 한국기계연구원 바늘 삽입형 원격 중재 로봇 시스템을 위한 6자유도 마스터 장치
WO2016030336A1 (en) * 2014-08-26 2016-03-03 Technische Universiteit Eindhoven Surgical robotic system and control of surgical robotic system
KR20180001153A (ko) * 2016-06-27 2018-01-04 한국과학기술원 병진형 델타 로봇 및 이를 포함하는 수술용 로봇
WO2018025169A1 (en) * 2016-08-01 2018-02-08 Novartis Ag Integrated ophthalmic surgical system

Also Published As

Publication number Publication date
US20220401168A1 (en) 2022-12-22
WO2020256503A2 (ko) 2020-12-24

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