WO2023237105A1 - Procédé d'affichage d'un instrument chirurgical virtuel sur une console de chirurgien, et console de chirurgien - Google Patents
Procédé d'affichage d'un instrument chirurgical virtuel sur une console de chirurgien, et console de chirurgien Download PDFInfo
- Publication number
- WO2023237105A1 WO2023237105A1 PCT/CN2023/099487 CN2023099487W WO2023237105A1 WO 2023237105 A1 WO2023237105 A1 WO 2023237105A1 CN 2023099487 W CN2023099487 W CN 2023099487W WO 2023237105 A1 WO2023237105 A1 WO 2023237105A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- control arm
- main control
- virtual
- instrument
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000002674 endoscopic surgery Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 41
- 238000010801 machine learning Methods 0.000 claims description 20
- 238000012549 training Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 30
- 230000015654 memory Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 230000009466 transformation Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000003190 augmentative effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000001364 causal effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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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
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
Landscapes
- 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)
- Endoscopes (AREA)
Abstract
La présente invention concerne le domaine technique de la chirurgie endoscopique. Sont en particulier divulgués un procédé d'affichage d'un instrument chirurgical virtuel sur une console de chirurgien, et la console de chirurgien. Le procédé consiste à : acquérir une image d'un bras de commande principal de la console de chirurgien ; déterminer, en fonction de l'image du bras de commande principal, des données de position du bras de commande principal ; et générer, sur la base des données de position du bras de commande principal et d'un modèle tridimensionnel d'un instrument chirurgical, des données de position virtuelle de l'instrument chirurgical de façon à afficher une image d'instrument d'instruction virtuel sur un moniteur tridimensionnel de la console de chirurgien. Selon le système ci-dessus, l'image de l'instrument d'instruction virtuel est affichée sur le moniteur tridimensionnel, de telle sorte qu'un chirurgien peut facilement découvrir un dysfonctionnement à temps, repérer une défaillance de l'instrument à temps, et est assisté pendant l'opération, ce qui permet d'améliorer l'efficacité chirurgicale, de même que la qualité chirurgicale et le taux de réussite ou, encore, l'expérience chirurgicale des chirurgiens et des patients.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210652288.5A CN115068114A (zh) | 2022-06-10 | 2022-06-10 | 用于在医生控制台显示虚拟手术器械的方法及医生控制台 |
| CN202210652288.5 | 2022-06-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023237105A1 true WO2023237105A1 (fr) | 2023-12-14 |
Family
ID=83250819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2023/099487 WO2023237105A1 (fr) | 2022-06-10 | 2023-06-09 | Procédé d'affichage d'un instrument chirurgical virtuel sur une console de chirurgien, et console de chirurgien |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115068114A (fr) |
| WO (1) | WO2023237105A1 (fr) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068114A (zh) * | 2022-06-10 | 2022-09-20 | 上海微创医疗机器人（集团）股份有限公司 | 用于在医生控制台显示虚拟手术器械的方法及医生控制台 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080004603A1 (en) * | 2006-06-29 | 2008-01-03 | Intuitive Surgical Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| CN102341046A (zh) * | 2009-03-24 | 2012-02-01 | 伊顿株式会社 | 利用增强现实技术的手术机器人系统及其控制方法 |
| KR101825929B1 (ko) * | 2017-11-24 | 2018-02-06 | 재단법인 구미전자정보기술원 | 수술로봇 조종을 위한 무구속의 3차원 손동작 모션 인식 시스템, 방법, 컴퓨터 프로그램 및 컴퓨터 판독 가능한 기록 매체 |
| US20180280099A1 (en) * | 2017-03-31 | 2018-10-04 | Verb Surgical Inc. | Multi-functional foot pedal assembly for controlling a robotic surgical system |
| CN109806002A (zh) * | 2019-01-14 | 2019-05-28 | 微创（上海）医疗机器人有限公司 | 一种用于手术机器人的成像系统及手术机器人 |
| CN111991084A (zh) * | 2020-10-08 | 2020-11-27 | 深圳市精锋医疗科技有限公司 | 手术机器人及其虚拟成像控制方法、虚拟成像控制装置 |
| WO2022019318A2 (fr) * | 2020-07-20 | 2022-01-27 | Sony Group Corporation | Système de commande de bras médical, procédé de commande de bras médical, simulateur de bras médical, modèle d'apprentissage de bras médical et programmes associés |
| CN115068114A (zh) * | 2022-06-10 | 2022-09-20 | 上海微创医疗机器人（集团）股份有限公司 | 用于在医生控制台显示虚拟手术器械的方法及医生控制台 |
-
2022
- 2022-06-10 CN CN202210652288.5A patent/CN115068114A/zh active Pending
-
2023
- 2023-06-09 WO PCT/CN2023/099487 patent/WO2023237105A1/fr unknown
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080004603A1 (en) * | 2006-06-29 | 2008-01-03 | Intuitive Surgical Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| CN102341046A (zh) * | 2009-03-24 | 2012-02-01 | 伊顿株式会社 | 利用增强现实技术的手术机器人系统及其控制方法 |
| US20180280099A1 (en) * | 2017-03-31 | 2018-10-04 | Verb Surgical Inc. | Multi-functional foot pedal assembly for controlling a robotic surgical system |
| KR101825929B1 (ko) * | 2017-11-24 | 2018-02-06 | 재단법인 구미전자정보기술원 | 수술로봇 조종을 위한 무구속의 3차원 손동작 모션 인식 시스템, 방법, 컴퓨터 프로그램 및 컴퓨터 판독 가능한 기록 매체 |
| CN109806002A (zh) * | 2019-01-14 | 2019-05-28 | 微创（上海）医疗机器人有限公司 | 一种用于手术机器人的成像系统及手术机器人 |
| WO2022019318A2 (fr) * | 2020-07-20 | 2022-01-27 | Sony Group Corporation | Système de commande de bras médical, procédé de commande de bras médical, simulateur de bras médical, modèle d'apprentissage de bras médical et programmes associés |
| CN111991084A (zh) * | 2020-10-08 | 2020-11-27 | 深圳市精锋医疗科技有限公司 | 手术机器人及其虚拟成像控制方法、虚拟成像控制装置 |
| CN115068114A (zh) * | 2022-06-10 | 2022-09-20 | 上海微创医疗机器人（集团）股份有限公司 | 用于在医生控制台显示虚拟手术器械的方法及医生控制台 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115068114A (zh) | 2022-09-20 |
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