CA3125391A1 - Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree - Google Patents

Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree Download PDF

Info

Publication number
CA3125391A1
CA3125391A1 CA3125391A CA3125391A CA3125391A1 CA 3125391 A1 CA3125391 A1 CA 3125391A1 CA 3125391 A CA3125391 A CA 3125391A CA 3125391 A CA3125391 A CA 3125391A CA 3125391 A1 CA3125391 A1 CA 3125391A1
Authority
CA
Canada
Prior art keywords
slave
console
patient
master
handle
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CA3125391A
Other languages
English (en)
Inventor
Julien Chassot
Michael Friedrich
Patrick Schoeneich
Mehrnaz SALEHIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Distalmotion SA
Original Assignee
Distalmotion SA
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 PCT/IB2019/050961 external-priority patent/WO2019155383A1/fr
Application filed by Distalmotion SA filed Critical Distalmotion SA
Publication of CA3125391A1 publication Critical patent/CA3125391A1/fr
Pending legal-status Critical Current

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—Leader-follower 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0804—Counting number of instruments used; Instrument detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne des systèmes robotiques chirurgicaux pour la manipulation à distance comprenant des télémanipulateurs robotisés. L'invention concerne des systèmes robotiques chirurgicaux bien adaptés à une utilisation par le chirurgien, s'intégrant sans discontinuité dans la salle d'opération, qui permettent à un chirurgien de travailler entre le robot et le patient tout au long d'une intervention chirurgicale de manière stérile, et sont relativement peu coûteux, et/ou permettent une laparoscopie intégrée. Le système comprend de préférence une console de commande ayant une pluralité de liaisons principales interconnectées par une pluralité de raccords principaux, et une poignée couplée à la console de commande principale pour le fonctionnement du télémanipulateur. Le système comprend en outre une console esclave fonctionnellement couplée à la console de commande et ayant une pluralité de liaisons esclaves interconnectées par une pluralité de raccords esclaves qui se déplacent en réponse à un mouvement au niveau de la console de commande pour permettre à un effecteur terminal d'effectuer une intervention chirurgicale.
CA3125391A 2019-01-05 2020-01-04 Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree Pending CA3125391A1 (fr)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201962788781P 2019-01-05 2019-01-05
US62/788,781 2019-01-05
PCT/IB2019/050961 WO2019155383A1 (fr) 2018-02-07 2019-02-06 Systèmes robotiques chirurgicaux comportant des télémanipulateurs robotisés et une laparoscopie intégrée
US16/269,383 US10413374B2 (en) 2018-02-07 2019-02-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
IBPCT/IB2019/050961 2019-02-06
US16/269,383 2019-02-06
US16/505,585 2019-07-08
US16/505,585 US11510745B2 (en) 2018-02-07 2019-07-08 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
PCT/IB2020/050039 WO2020141487A2 (fr) 2019-01-05 2020-01-04 Systèmes robotiques chirurgicaux comportant des télémanipulateurs robotisés et une laparoscopie intégrée

Publications (1)

Publication Number Publication Date
CA3125391A1 true CA3125391A1 (fr) 2020-07-09

Family

ID=71407192

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3125391A Pending CA3125391A1 (fr) 2019-01-05 2020-01-04 Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree

Country Status (6)

Country Link
EP (1) EP3905980A2 (fr)
JP (2) JP7726787B2 (fr)
CN (1) CN113473938A (fr)
AU (2) AU2020204810B2 (fr)
CA (1) CA3125391A1 (fr)
WO (1) WO2020141487A2 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーＤｉｓｔａｌｍｏｔｉｏｎ Ｓａ 交換可能な遠位装置を備える機械的遠隔操作デバイス
WO2016097868A1 (fr) 2014-12-19 2016-06-23 Distalmotion Sa Instrument chirurgical réutilisable pour interventions non effractives
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CA3089681A1 (fr) 2018-02-07 2019-08-15 Distalmotion Sa Systemes robotiques chirurgicaux comportant des telemanipulateurs robotises et une laparoscopie integree
WO2022034488A1 (fr) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Appareil et procédé de capsulorhexis
WO2022179638A1 (fr) * 2021-02-26 2022-09-01 武汉联影智融医疗科技有限公司 Dispositif de commande de main maître pour robot, et robot
EP4203829A1 (fr) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Structures cinématiques et champs stériles pour interventions microchirurgicales robotiques
EP4401666A1 (fr) 2021-09-13 2024-07-24 DistalMotion SA Instruments pour système robotique chirurgical et interfaces pour ceux-ci
WO2023062470A1 (fr) 2021-10-17 2023-04-20 Forsight Robotics Ltd. Acte chirurgical robotique unilatéral
CN118076314A (zh) * 2021-12-27 2024-05-24 瑞德医疗机器股份有限公司 手术辅助装置
WO2024084422A1 (fr) 2022-10-19 2024-04-25 Distalmotion Sa Articulations pivotantes pour dispositifs de coupe chirurgicaux, et systèmes associés
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
CN120751999A (zh) * 2023-02-21 2025-10-03 弗塞特机器人有限公司 用于机器人显微外科手术的控制部件
USD1109872S1 (en) 2023-02-23 2026-01-20 Distalmotion Sa Surgical robotic device
IT202400004405A1 (it) * 2024-02-29 2025-08-29 Medical Microinstruments Inc Dispositivo di comando master per chirurgia robotica con interfaccia di manipolazione sterile per l’azionamento di una funzionalita’ del dispositivo slave

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6063095A (en) * 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
KR100961428B1 (ko) * 2008-02-20 2010-06-09 (주)미래컴퍼니 침대 일체형 수술용 로봇
US9186221B2 (en) 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
JP5537204B2 (ja) 2010-03-23 2014-07-02 オリンパス株式会社 医療用マニピュレータシステム
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
CN104334110B (zh) * 2012-06-01 2017-10-03 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
EP2854690B1 (fr) 2012-06-01 2020-04-01 Intuitive Surgical Operations, Inc. Systèmes de reconfiguration ordonnée d'un manipulateur chirurgical par utilisation de la zone non sensible
EP2969403B1 (fr) * 2013-03-15 2022-08-24 Intuitive Surgical Operations, Inc. Système pour positionner un bras de manipulateur par serrage à l'intérieur d'une zone perpendiculaire non sensible coïncidant avec un mouvement dans la zone non sensible
JP6396987B2 (ja) 2013-03-15 2018-09-26 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ 超精巧外科システム
JP6164964B2 (ja) 2013-07-26 2017-07-19 オリンパス株式会社 医療用システムおよびその制御方法
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
EP3185808B1 (fr) 2014-08-27 2022-02-23 DistalMotion SA Système chirurgical pour techniques de microchirurgie
EP3280343B1 (fr) * 2015-04-09 2024-08-21 DistalMotion SA Dispositif mécanique télécommandé pour manipulation à distance
WO2017070266A1 (fr) 2015-10-22 2017-04-27 Covidien Lp Balayage variable pour dispositifs d'entrée
WO2017134077A1 (fr) * 2016-02-04 2017-08-10 Preceyes B.V. Robot chirurgical maître-esclave
EP3512449A4 (fr) 2016-09-16 2020-05-20 Verb Surgical Inc. Adaptateurs de table pour montage de bras robotiques sur une table chirurgicale
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same

Also Published As

Publication number Publication date
WO2020141487A3 (fr) 2020-08-20
CN113473938A (zh) 2021-10-01
JP2022516321A (ja) 2022-02-25
EP3905980A2 (fr) 2021-11-10
JP2025166085A (ja) 2025-11-05
AU2020204810B2 (en) 2025-05-08
JP7726787B2 (ja) 2025-08-20
AU2025213582A1 (en) 2025-09-11
WO2020141487A8 (fr) 2021-10-07
AU2020204810A1 (en) 2021-07-15
WO2020141487A2 (fr) 2020-07-09

Similar Documents

Publication Publication Date Title
AU2020204810B2 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
AU2019218707B2 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US20250387189A1 (en) Master control device with multi-finger grip and methods therefor
EP3651677B1 (fr) Systèmes et procédés de commutation de commande entre de multiples bras d'instruments
JP7743420B2 (ja) ロボット手術システム用無菌マスター入力ハンドルアセンブリ及び無菌マスター入力ハンドル用手術用ドレープ
WO2019099584A1 (fr) Dispositif de commande maître et procédés associés
Low et al. A review of master–slave robotic systems for surgery
Mirbagheri et al. The sina robotic telesurgery system
JP2025536223A (ja) 外科手術用器具に除去可能に取付可能な結合機構を有する協調操作式外科手術用システム
US20210085406A1 (en) User interface for a surgical robotic system
Deinhardt Manipulators and integrated OR systems–requirements and solutions
Heller Robotic laparoscopic surgery

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20231228

MFA Maintenance fee for application paid

Free format text: FEE DESCRIPTION TEXT: MF (APPLICATION, 5TH ANNIV.) - STANDARD

Year of fee payment: 5

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20241206

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT DETERMINED COMPLIANT

Effective date: 20241206

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20241206

D15 Examination report completed

Free format text: ST27 STATUS EVENT CODE: A-2-2-D10-D15-D126 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: EXAMINER'S REPORT

Effective date: 20250612

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-2-2-P10-P11-P100 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: AMENDMENT RECEIVED - RESPONSE TO EXAMINER'S REQUISITION

Effective date: 20251009

MFA Maintenance fee for application paid

Free format text: FEE DESCRIPTION TEXT: MF (APPLICATION, 6TH ANNIV.) - STANDARD

Year of fee payment: 6

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20251202

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20251202

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-2-2-P10-P11-P102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: AMENDMENT DETERMINED COMPLIANT

Effective date: 20251209

P13 Application amended

Free format text: ST27 STATUS EVENT CODE: A-2-2-P10-P13-X000 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: APPLICATION AMENDED

Effective date: 20251209

W00 Other event occurred

Free format text: ST27 STATUS EVENT CODE: A-2-2-W10-W00-W111 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: CORRESPONDENT DETERMINED COMPLIANT

Effective date: 20251209