WO2021064331A1 - Dispositif robotisé d'intervention chirurgicale à bras articulé commandé pour le suivi d'un trajet - Google Patents
Dispositif robotisé d'intervention chirurgicale à bras articulé commandé pour le suivi d'un trajet Download PDFInfo
- Publication number
- WO2021064331A1 WO2021064331A1 PCT/FR2020/051724 FR2020051724W WO2021064331A1 WO 2021064331 A1 WO2021064331 A1 WO 2021064331A1 FR 2020051724 W FR2020051724 W FR 2020051724W WO 2021064331 A1 WO2021064331 A1 WO 2021064331A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- articulated arm
- robotic surgical
- surgical intervention
- surgical instrument
- instructions
- Prior art date
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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
-
- 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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00787—Surgery of the ear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
-
- 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
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0475—Special features of memory means, e.g. removable memory cards
Definitions
- the present invention relates to a robotic device for surgical intervention, in particular in the otolaryngological field, but not only.
- a robotic device comprising: an articulated arm with actuating motors, a distal end of which is intended to carry a surgical instrument; an articulated arm control device for movement of a functional end of the surgical instrument along a path; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm.
- Such a device is described in the article by Miroir et al, entitled “RobOtol: from design to evaluation of a robot for middle ear surgery", published on the occasion of the IEEE / RSJ International Conference on Intelligent Robots and Systems held October 18-22, 2010 in Taipei (TW). It has an architecture and kinematics that are particularly well suited to otological surgeries in the middle or inner ear of patients. These interventions are sensitive to false movements, so robotic assistance is a great help.
- a robotic surgical intervention device comprising: an articulated arm with actuating motors, a distal end of which is intended to carry a surgical instrument; an articulated arm control device for movement of a functional end of the surgical instrument along a path; and means for processing movement instructions provided by the control device to convert them into individual instructions for controlling each of the actuating motors of the articulated arm; further comprising an automatic reverse actuator of the articulated arm, the actuation of which causes, independently of any instruction to move the control peripheral, the sending of individual reverse control instructions to each of the actuating motors of the articulated arm for reverse displacement of the functional end of the surgical instrument along the path made.
- any backtracking can be performed automatically by trigger and without the aid of the control peripheral, with the guarantee that the reverse path is strictly followed. In the aforementioned delicate situations, this prevents any deviation from the desired withdrawals, including in constricted or crevice volumes and regardless of any instructions issued by the control device when the automatic reverse rollback is triggered.
- the robotic device is configured so that the actuation of the automatic reverse return trigger causes a suspension. processing of new move instructions provided by the control peripheral.
- the processing means comprise means for storing in memory an ordered series of successive arrangements of the articulated arm during the controlled movement of the functional end along the path; and the processing means are configured so that actuation of the automatic backtracking trigger causes successive returns of the articulated arm step by step from a last disposition to a first recorded disposition of this ordered series.
- each recorded arrangement of the ordered series of successive arrangements of the articulated arm comprises a set of positions of its actuating motors.
- the recording means are configured to record in memory the successive arrangements of the articulated arm at regular time intervals.
- the memory in which the ordered series of successive arrangements of the articulated arm is recorded is configured as a stack structure.
- the automatic reverse return trigger comprises a pedal or a speed variator stop push button for the automatic reverse return of the articulated arm as a function of pressure exerted by an operator.
- the processing means are configured to stop the automatic backtracking in progress and to resume the processing of new movement instructions supplied by the control peripheral as soon as no pressure is exerted on the trigger any longer. automatic backtracking by the operator.
- control device is a handle on a 6D base.
- a robotic surgical intervention device according to the invention can be configured and sized for an intervention in middle or internal ear surgery of a patient, the surgical instrument itself being an instrument. intervention in the patient's middle or internal ear surgery.
- Figure 1 shows schematically the general structure of a robotic device for surgical intervention, according to one embodiment of the invention
- Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1, according to one embodiment of the invention.
- FIG. 3 illustrates an example of a scenario produced by executing the method of FIG. 2.
- a robotic device for surgical intervention comprises an articulated arm 10 with actuating motors carrying a surgical instrument 12.
- the non-limiting example illustrated in this figure is more precisely that of a robotic device for an application in otological surgery of the middle or internal ear of a patient, the architecture and kinematics of which are optimized in accordance with the teaching of the document by Miroir et al above.
- the articulated arm 10 thus has, from its base to its end carrying the surgical instrument 12, three motorized prismatic links in series followed by three motorized rotoidal links in series.
- a first prismatic connection L1, actuated by a first motor M1 allows the translational movement of a first member 14 of the articulated arm 10 along the axis Z1 (for example vertical) of a first local orthogonal Cartesian coordinate system ( X1, Y1, Z1) linked to the first motor M1.
- the first motor M1 is attached to the robotic device so that the first local coordinate system (X1, Y1, Z1) has the same directions as a global orthogonal Cartesian coordinate system (X0, Y0, Z0) linked to a fixed base of the robotic device.
- the axis of movement of the first member 14 is therefore parallel to Z0.
- a second prismatic link L2, actuated by a second motor M2 carried by one end of the first member 14, allows the movement in translation of a second member 16 of the articulated arm 10, along the axis Z2 of a second local orthogonal Cartesian coordinate system (X2, Y2, Z2) linked to the second motor M2.
- the second local coordinate system (X2, Y2, Z2) is returned by a right angle with respect to the Y1 axis of the first local coordinate system (X1, Y1, Z1) so that its Z2 axis is parallel to the X1 axis.
- the axis of movement of the second member 16 is therefore parallel to X0.
- a third prismatic link L3, actuated by a third motor M3 carried by one end of the second member 16, allows the translational movement of a third member 18 of the articulated arm 10, along the Z3 axis of a third mark Local orthogonal Cartesian (X3, Y3, Z3) linked to the third motor M3.
- the third local coordinate system (X3, Y3, Z3) is returned by a right angle with respect to the X2 axis of the second local coordinate system (X2, Y2, Z2) so that its Z3 axis is parallel to the Y2 axis. -even parallel to the Y1 axis.
- the axis of movement of the third member 18 is therefore parallel to Y0.
- a fourth rotoidal link L4 actuated by a fourth cylindrical motor M4 and carried by one end of the third member 18, allows the rotational movement of a fourth member 20 of the articulated arm 10, around the axis Z4 of a fourth local orthogonal Cartesian coordinate system (X4, Y4, Z4) linked to the fourth motor M4.
- X6, Y6, Z6 a sixth Local orthogonal Cartesian coordinate system
- the three respective axes of rotation Z4, Z5 and Z6 of the three rotoidal links converge at a same central point of the functional distal end 24 of the surgical instrument 12, thus doing from this point a pivot point.
- any instruction to actuate at least one of the motors M4, M5, M6 of the rotary links causes a rotation of the surgical instrument 12 around its pivot point without any displacement of the latter in the global frame of reference (X0, Y0, Z0).
- the surgical instrument 12 has a proximal end 26 for fixing to the articulated arm 10, more precisely to a corresponding fixing end of the arm 10 linked to the motor M6.
- This fixing is for example advantageously carried out in accordance with the locking system described in patent FR 2 998 344 B1, but this is not an obligation. Any other fastening system suitable for the intended application is also suitable.
- the surgical instrument 12 may have a rectilinear shape so its main axis Zp, around which is defined a local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it, is that which connects a central point of its end proximal 26 for attachment to the pivot point of its functional distal end 24.
- a local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it, is that which connects a central point of its end proximal 26 for attachment to the pivot point of its functional distal end 24.
- the axis Zp merges with the axis Z6.
- FIG. 1 it may be a surgical instrument with deviated portions such as that described in patent application FR 3,066,378 A1.
- its main axis Zp around which the local Cartesian coordinate system (Xp, Yp, Zp) which is linked to it is always defined, is that of a rectilinear distal portion of this instrument, offset with respect to the Z6 axis. which always connects the central point of its proximal end 26 of attachment to the pivot point of its functional distal end 24.
- the robotic surgical intervention device further comprises a control peripheral 28 of the articulated arm 10, such as a handle on a 6D base (from the English "joystick 6D") or any other equivalent device, adapted to allow a displacement of the functional distal end 24 of the surgical instrument 12 along a desired path according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may also include a screen 30, in particular for displaying and monitoring any movement of the surgical instrument 12 during the operating phase along its path.
- a control peripheral 28 of the articulated arm 10 such as a handle on a 6D base (from the English "joystick 6D") or any other equivalent device, adapted to allow a displacement of the functional distal end 24 of the surgical instrument 12 along a desired path according to three degrees of freedom in translation and three degrees of freedom in rotation by actuation of the six motors M1 to M6. It may also include a screen 30, in particular for displaying and monitoring any movement of the surgical instrument 12 during the operating phase along its path
- the robotic surgical intervention device further comprises means for processing movement instructions supplied by the control peripheral 28 to convert them into individual control instructions for each of the motors M1 to M6 of the articulated arm 10. These processing means take the form of an electronic circuit 32.
- the robotic surgical intervention device further comprises a trigger 34 for automatic rearward return of the articulated arm 10.
- a trigger 34 for automatic rearward return of the articulated arm 10. This is for example a pedal device or a speed variator stop push button. return automatic rear of the articulated arm 10 as a function of pressure exerted by an operator. Its function when it is actuated, for example by pressure of the foot in the case of a pedal, to cause, independently of any instruction to move the control peripheral 28, the sending of individual instructions of reverse control of each of the six motors M1 to M6 for reverse displacement of the functional end 24 of the surgical instrument 12 along the path produced.
- the trigger 34 is advantageously a pedal since its actuation by the foot frees the hands of the practitioner.
- the electronic circuit 32 is connected to the articulated arm 10 in order to transmit to it the individual control instructions of the motors M1 to M6 and to receive in return as often as he wishes the Cartesian or angular positions of the motors M1 to M6. It is connected to the control peripheral 28 in order to receive its movement instructions. These last are generally expressed in the total reference mark (X0, Y0, Z0). It is connected to the reverse trigger 34 to detect its actuation and consequently initiate the automatic reverse return of the articulated arm 10.
- central processing unit 36 such as a microprocessor designed to send to the articulated arm 10 the individual control instructions, to receive from the control peripheral 28 the movement instructions and to receive from the articulated arm 10 the positions of motors M1 to M6.
- memory 38 in which is stored at least one computer program, intended to be executed by the central unit 36, performing the aforementioned conversion and automatic rollback.
- Two computer programs 40 and 42, selectable by a soft switch 44 are shown in Figure 1.
- the first computer program 40 includes instructions for implementing the conversion of the movement instructions supplied by the control peripheral 28 into individual control instructions. each of the motors M1 to M6, and for the implementation of the recording of the respective positions of the latter at the desired instants.
- the second computer program 42 includes instructions for implementing the automatic rollback.
- the electronic circuit 32 as shown schematically in Figure 1 can for example be implemented in a computer device such as a conventional computer comprising a processor associated with one or more memories for storing data files and computer programs whose instructions are intended to be executed by the processor, such as the instructions of programs 40, 42 and of the software switch 44 which can also constitute a computer program .
- These programs are shown as separate, but this distinction is purely functional. They could just as easily be grouped together in all possible combinations in one or more software. Their functions could also be at least partly micro programmed or micro wired in dedicated integrated circuits.
- the computer device implementing the electronic circuit 32 could be replaced by an electronic device composed solely of digital circuits (without a computer program) for carrying out the same actions.
- the first computer program 40 includes instructions 46 performing a Jacobian conversion of the instructions supplied by the control peripheral 28, expressed in the global reference (X0, Y0, Z0), into individual control instructions. each of the motors M1 to M6 for actuating the articulated arm 10 using Jacobian parameters stored in memory. This Jacobian converter function is well known to those skilled in the art and will not be detailed.
- the individual control instructions provided by executing the computer program 40 are to be transmitted by the central unit 36 to the articulated arm 10.
- the first computer program 40 further comprises instructions 48 performing a recovery, for example at regular time intervals when the surgical instrument 12 is in motion, of the positions of the motors M1 to M6 to record them in memory 38 , more precisely in a portion 50 of the memory 38 dedicated to data storage.
- This portion of memory 50 is advantageously structured in a stack, that is to say in memory of LIFO type (standing for "Last In First Out").
- the data retrieval is performed by the central unit 36.
- the successive arrangements of the articulated arm 10 retrieved at regular time intervals during the controlled movement of the functional end 24 along the path followed, i.e. to say more precisely the respective successive positions of the motors M1 to M6 in the example of FIG. 1, are recorded in LIFO memory 50 according to an ordered series.
- the second computer program 42 includes instructions 52 performing a reading of the successive positions respective motors M1 to M6 recorded in LIFO memory 50 for successive returns of the articulated arm 10 step by step from the last to the first set of these successive positions.
- the instructions 52 On each reading of a new set of positions of the motors M1 to M6 making it possible to go up in the reverse direction the path followed by the functional end 24 of the surgical instrument 12, the instructions 52 generate the individual instructions for controlling the motors M1 to Corresponding M6. The latter are transmitted to the articulated arm 10 by the central unit 36 and the set of positions read is then deleted from the LIFO memory 50.
- the software switch 44 allows selection of the execution of one or the other of the computer programs 40, 42 depending on whether the pedal 34 is actuated or not.
- the first computer program 40 is selected. Any movement instruction provided by the control peripheral 28 is taken into account by the central unit 36 and converted into individual control instructions for each of the motors M1 to M6 by executing this program.
- the successive positions of the motors M1 to M6 are stored in an ordered list by stacking in the LIFO memory 50. Pressing the foot on the pedal 34 makes it possible to orient the software switch 44 on an execution of the. second computer program 42.
- the new movement instructions possibly sent by the control peripheral 28 are then no longer taken into account.
- Figure 2 illustrates the successive steps of a method of surgical intervention using the robotic device of Figure 1.
- the pedal 34 is not actuated and an operator engages the displacement of the functional distal end 24 of the surgical instrument 12 carried by the articulated arm 10 using the control device 28.
- the central unit 36 executes the instructions 46 and 48 of the first computer program 40 to convert the instructions supplied by the control peripheral 28 into individual instructions for controlling the motors M1 to M6 and to regularly record their successive positions so as to keep in LIFO 50 memory the path followed by the surgical instrument 12. It will be noted that the fact of recording the successive positions of the motors M1 to M6 at regular time intervals advantageously allows to keep information on the speed of movement of the surgical instrument 12 since the distance traveled by its functional distal end 24 between two recordings is proportional to its speed of movement.
- a next step 104 the practitioner wishes to initiate a rapid and automatic backtracking of the surgical instrument 12 along the path already taken. To do this, he presses pedal 34.
- the central unit 36 then executes the instructions 52 of the second computer program 42 to achieve this automatic backtracking as explained above, the speed of the backtracking being able to be a function of the pressure exerted on the pedal 34.
- step 108 the practitioner releases the pedal 34 so that the rapid and automatic backtracking is interrupted, whether the LIFO memory 50 is emptied or not.
- the process can then resume at step 100 or 104.
- FIG. 3 illustrates an example of a scenario produced by executing the method of FIG. 2.
- the LIFO memory 50 is empty and the functional distal end 24 of the surgical instrument 12 is at an initial point P1.
- the functional distal end 24 moves: from point P1 to a point P2 at high speed, hence the recording of a small number of successive movement information in LIFO 50 memory; then from point P2 to a point P3 at average speed, hence the recording of an intermediate number of information on successive displacements in LIFO memory 50; then from point P3 to a point P4 at average speed, hence the recording of an intermediate number of information on successive displacements in LIFO memory 50; then from point P4 to point P5 at slow speed, hence the recording of a large number of information on successive movements in LIFO memory 50; then from point P5 to point P6 at high speed, hence the recording of a small number of information on successive movements in LIFO 50 memory.
- the operator decides to activate the rapid and automatic reverse rewind of the surgical instrument 12 by pressing the pedal 34 (step 104).
- step 106 results in the execution of step 106 during which the functional distal end 24 returns: from P6 to P5 in rapid return, hence the unstacking of the successive displacement information previously recorded between P5 and P6; then from P5 to P4 in rapid return, from where the unstacking of the successive displacement information previously recorded between P4 and P5; then from P4 to P3 in rapid return, hence the unstacking of the successive displacement information previously recorded between P3 and P4.
- step 102 marking the end of the scenario illustrated in FIG. 3 the functional distal end 24 moves: from point P3 to a point P7 at high speed, hence the recording of a small number of information on successive movements in LIFO 50 memory; then from point P7 to point P8 at slow speed, hence the recording of a large number of information on successive movements in LIFO 50 memory.
- the surgical intervention method of Figure 2 and its example scenario of Figure 3 can easily be generalized to the implementation of other interventions than those on the middle or inner ear of a patient.
- the successive arrangements of the articulated arm 10 are recorded in the form of positions of the motors, but they could be in other forms, such as for example the successive 6D positions of the surgical instrument 12.
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3153057A CA3153057A1 (fr) | 2019-10-04 | 2020-10-01 | Dispositif robotise d'intervention chirurgicale a bras articule commande pour le suivi d'un trajet |
EP20793034.8A EP4037596A1 (fr) | 2019-10-04 | 2020-10-01 | Dispositif robotisé d'intervention chirurgicale à bras articulé commandé pour le suivi d'un trajet |
KR1020227015208A KR20220074960A (ko) | 2019-10-04 | 2020-10-01 | 경로를 따라 제어된 관절형 아암을 갖는 로봇 수술 개입 장치 |
CN202080078695.9A CN114786610A (zh) | 2019-10-04 | 2020-10-01 | 带有受控以跟随路径的关节臂的介入手术机器人设备 |
JP2022520626A JP2022551274A (ja) | 2019-10-04 | 2020-10-01 | 経路をたどるための制御された関節アーム付きのロボット手術介入装置 |
AU2020361050A AU2020361050A1 (en) | 2019-10-04 | 2020-10-01 | Robotic surgical intervention device with controlled articulated arm for tracing a path |
US17/764,375 US20220331026A1 (en) | 2019-10-04 | 2020-10-01 | Robotic surgical intervention device with controlled articulated arm for following a path |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FRFR1911028 | 2019-10-04 | ||
FR1911028A FR3101532A1 (fr) | 2019-10-04 | 2019-10-04 | Dispositif robotisé d’intervention chirurgicale à bras articulé commandé pour le suivi d’un trajet |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021064331A1 true WO2021064331A1 (fr) | 2021-04-08 |
Family
ID=69158063
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2020/051724 WO2021064331A1 (fr) | 2019-10-04 | 2020-10-01 | Dispositif robotisé d'intervention chirurgicale à bras articulé commandé pour le suivi d'un trajet |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220331026A1 (fr) |
EP (1) | EP4037596A1 (fr) |
JP (1) | JP2022551274A (fr) |
KR (1) | KR20220074960A (fr) |
CN (1) | CN114786610A (fr) |
AU (1) | AU2020361050A1 (fr) |
CA (1) | CA3153057A1 (fr) |
FR (1) | FR3101532A1 (fr) |
WO (1) | WO2021064331A1 (fr) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0276691A (ja) * | 1988-09-09 | 1990-03-16 | Daikin Ind Ltd | 産業用ロボットにおける動作停止方法およびその装置 |
FR2998344B1 (fr) | 2012-11-22 | 2017-05-19 | Collin | Systeme de verrouillage d'un raccordement d'elements a embouts male et femelle |
US20170333275A1 (en) * | 2014-10-27 | 2017-11-23 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table icons |
FR3066378A1 (fr) | 2017-05-18 | 2018-11-23 | Collin | Instrument chirurgical a portions deviees et installation robotisee comportant un tel instrument |
US20190000585A1 (en) * | 2016-01-25 | 2019-01-03 | Sony Corporation | Medical safety control apparatus, medical safety control method, and medical support system |
WO2020026457A1 (fr) * | 2018-07-30 | 2020-02-06 | 株式会社ダイアディックシステムズ | Système de commande de robot, procédé de commande de robot et programme |
-
2019
- 2019-10-04 FR FR1911028A patent/FR3101532A1/fr active Pending
-
2020
- 2020-10-01 JP JP2022520626A patent/JP2022551274A/ja active Pending
- 2020-10-01 US US17/764,375 patent/US20220331026A1/en active Pending
- 2020-10-01 WO PCT/FR2020/051724 patent/WO2021064331A1/fr unknown
- 2020-10-01 KR KR1020227015208A patent/KR20220074960A/ko unknown
- 2020-10-01 AU AU2020361050A patent/AU2020361050A1/en active Pending
- 2020-10-01 EP EP20793034.8A patent/EP4037596A1/fr active Pending
- 2020-10-01 CA CA3153057A patent/CA3153057A1/fr active Pending
- 2020-10-01 CN CN202080078695.9A patent/CN114786610A/zh active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0276691A (ja) * | 1988-09-09 | 1990-03-16 | Daikin Ind Ltd | 産業用ロボットにおける動作停止方法およびその装置 |
FR2998344B1 (fr) | 2012-11-22 | 2017-05-19 | Collin | Systeme de verrouillage d'un raccordement d'elements a embouts male et femelle |
US20170333275A1 (en) * | 2014-10-27 | 2017-11-23 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table icons |
US20190000585A1 (en) * | 2016-01-25 | 2019-01-03 | Sony Corporation | Medical safety control apparatus, medical safety control method, and medical support system |
FR3066378A1 (fr) | 2017-05-18 | 2018-11-23 | Collin | Instrument chirurgical a portions deviees et installation robotisee comportant un tel instrument |
WO2020026457A1 (fr) * | 2018-07-30 | 2020-02-06 | 株式会社ダイアディックシステムズ | Système de commande de robot, procédé de commande de robot et programme |
Non-Patent Citations (1)
Title |
---|
MIROIR ET AL.: "RobOtol : from design to évaluation of a robot for middle ear surgery", IEEE/RSJ INTERNATIONAL CONFÉRENCE ON INTELLIGENT ROBOTS AND SYSTEMS, vol. 18, 22 October 2010 (2010-10-22) |
Also Published As
Publication number | Publication date |
---|---|
CA3153057A1 (fr) | 2021-04-08 |
AU2020361050A1 (en) | 2022-05-12 |
EP4037596A1 (fr) | 2022-08-10 |
CN114786610A (zh) | 2022-07-22 |
FR3101532A1 (fr) | 2021-04-09 |
US20220331026A1 (en) | 2022-10-20 |
JP2022551274A (ja) | 2022-12-08 |
KR20220074960A (ko) | 2022-06-03 |
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