WO2023172422A3 - Robotic surgery system - Google Patents

Robotic surgery system Download PDF

Info

Publication number
WO2023172422A3
WO2023172422A3 PCT/US2023/014285 US2023014285W WO2023172422A3 WO 2023172422 A3 WO2023172422 A3 WO 2023172422A3 US 2023014285 W US2023014285 W US 2023014285W WO 2023172422 A3 WO2023172422 A3 WO 2023172422A3
Authority
WO
WIPO (PCT)
Prior art keywords
drive unit
instrument
motion
robotic
patient
Prior art date
Application number
PCT/US2023/014285
Other languages
French (fr)
Other versions
WO2023172422A2 (en
Inventor
Hans Christian Pflaumer
Rupert Anthony BARTON
Thomas Henry Brittain
James Angus BOONZAIER
Chace Francis Medeiros
Austin Paul DAVIS
Robert Ian NOAKES
Matthew Michael MARINOVICH
Andre Fraser Monteiro
Marcus Joseph WOLF
Jozsef Horvath
Adrian Edward Cooper
Paul SMITHEMAN
Ian MCDIARMID
Mark Pawulski
Brian Gregory HOLMES
Original Assignee
Titan Medical Inc.
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
Application filed by Titan Medical Inc. filed Critical Titan Medical Inc.
Publication of WO2023172422A2 publication Critical patent/WO2023172422A2/en
Publication of WO2023172422A3 publication Critical patent/WO2023172422A3/en

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
    • 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
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously

Abstract

A robotic surgical system is provided with a central drive unit movably coupled to a robotic arm. The central drive unit includes telescoping assemblies, each facilitating movement of an instrument drive unit along a Z-axis (e.g., for moving surgical instruments into and out of the patient). An instrument (e.g., surgical tool, endoscope camera) is removably coupleable to each instrument drive unit. A method of setting a remote center of motion for the robotic surgical system includes measuring with a sensor a force exerted on an insertion tube by the instrument(s), as the robotic arm is moved within a range of motion, to determine a minimum load on tissue (e.g., on the incision in the patient) and setting the remote center of motion at a position corresponding with the measured minimum load.
PCT/US2023/014285 2022-03-10 2023-03-01 Robotic surgery system WO2023172422A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263269158P 2022-03-10 2022-03-10
US63/269,158 2022-03-10

Publications (2)

Publication Number Publication Date
WO2023172422A2 WO2023172422A2 (en) 2023-09-14
WO2023172422A3 true WO2023172422A3 (en) 2023-11-02

Family

ID=87935723

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2023/014285 WO2023172422A2 (en) 2022-03-10 2023-03-01 Robotic surgery system

Country Status (1)

Country Link
WO (1) WO2023172422A2 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108272509A (en) * 2018-02-08 2018-07-13 哈尔滨工业大学深圳研究生院 A kind of suspension type multioperation arm system
US20200188050A1 (en) * 2017-08-16 2020-06-18 Covidien Lp Robotic surgical systems and drapes for covering components of robotic surgical systems
CN111345894A (en) * 2018-12-21 2020-06-30 微创（上海）医疗机器人有限公司 Mechanical arm and surgical robot
CN211460507U (en) * 2018-10-09 2020-09-11 成都博恩思医学机器人有限公司 Minimally invasive surgery robot
US20210196408A1 (en) * 2019-12-31 2021-07-01 Titan Medical Inc. Manual instrument retractor for a robotic surgery system
US20210228290A1 (en) * 2019-05-22 2021-07-29 Titan Medical Inc. Robotic surgery system
CN113952035A (en) * 2020-11-19 2022-01-21 李志强 Multi-degree-of-freedom holding mirror device
US11259881B2 (en) * 2016-11-03 2022-03-01 Verb Surgical Inc. Tool driver with reaction torque sensor for use in robotic surgery

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11259881B2 (en) * 2016-11-03 2022-03-01 Verb Surgical Inc. Tool driver with reaction torque sensor for use in robotic surgery
US20200188050A1 (en) * 2017-08-16 2020-06-18 Covidien Lp Robotic surgical systems and drapes for covering components of robotic surgical systems
CN108272509A (en) * 2018-02-08 2018-07-13 哈尔滨工业大学深圳研究生院 A kind of suspension type multioperation arm system
CN211460507U (en) * 2018-10-09 2020-09-11 成都博恩思医学机器人有限公司 Minimally invasive surgery robot
CN111345894A (en) * 2018-12-21 2020-06-30 微创（上海）医疗机器人有限公司 Mechanical arm and surgical robot
US20210228290A1 (en) * 2019-05-22 2021-07-29 Titan Medical Inc. Robotic surgery system
US20210196408A1 (en) * 2019-12-31 2021-07-01 Titan Medical Inc. Manual instrument retractor for a robotic surgery system
CN113952035A (en) * 2020-11-19 2022-01-21 李志强 Multi-degree-of-freedom holding mirror device

Also Published As

Publication number Publication date
WO2023172422A2 (en) 2023-09-14

Similar Documents

Publication Publication Date Title
KR102437404B1 (en) Systems and methods for controlling surgical instruments
US10307199B2 (en) Robotic surgical devices and related methods
CN111084661A (en) Operation support device, method of controlling the same, and recording medium
CN209464087U (en) A kind of laparoscope machinery holds mirror arm
JP2010524634A (en) Surgical manipulator
WO2011063715A1 (en) Orthopaedic robot navigation apparatus and positioning system
US20080039867A1 (en) Actuator Platform For Guiding End Effectors In Minimally Invasive Interventions
Zhong et al. Foot-controlled robot-enabled endoscope manipulator (freedom) for sinus surgery: Design, control, and evaluation
CN109549774A (en) A kind of minimally invasive executing agency suitable for eyeground micrurgy
US11534254B2 (en) Console for operating actuating mechanism
CN113679473A (en) Human-computer cooperative force feedback ventricular puncture robot device
WO2021188017A1 (en) Assistive surgical complex
CN110916801B (en) Surgical robot mechanical arm capable of realizing high-precision positioning and posture adjustment
JP7082090B2 (en) How to tune virtual implants and related surgical navigation systems
CN109602500B (en) Ophthalmic microsurgery auxiliary robot system
CN114795496A (en) Passive surgical robot navigation positioning system
Lee et al. Design of a Compact Laparoscopic Assistant Robot; KaLAR
WO2023172422A3 (en) Robotic surgery system
CN217938333U (en) Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot
CN110146272A (en) A kind of endoscopic surgery clamping force carry-over factor test device
EP4018957A1 (en) Systems and methods for surgical port positioning
CN114699142A (en) Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot
CN112754683A (en) Intelligent adsorption soft heart fixator instrument
CN215502944U (en) Portable contactless cornea diameter biological measuring instrument
Feng et al. Development of master-slave magnetic anchoring vision robotic system for single-port laparoscopy (SPL) surgery

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23767313

Country of ref document: EP

Kind code of ref document: A2