EP3840682A4 - Appareil de commande manuelle dans un système de chirurgie robotique - Google Patents

Appareil de commande manuelle dans un système de chirurgie robotique Download PDF

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Publication number
EP3840682A4
EP3840682A4 EP19877560.3A EP19877560A EP3840682A4 EP 3840682 A4 EP3840682 A4 EP 3840682A4 EP 19877560 A EP19877560 A EP 19877560A EP 3840682 A4 EP3840682 A4 EP 3840682A4
Authority
EP
European Patent Office
Prior art keywords
control device
surgical system
robotic surgical
hand control
hand
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.)
Withdrawn
Application number
EP19877560.3A
Other languages
German (de)
English (en)
Other versions
EP3840682A1 (fr
Inventor
Brandon Michael Kelly
Michael Darter Collins
Zachary Kevin Durand
William Jacob Ward
Mark Curtis Rector
Chad Clayton Walters
Jonathan Bradley Duke
Olivier Franck Currat
Eric Collins
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.)
Conavi Medical Inc
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
Priority claimed from US16/174,602 external-priority patent/US11116591B2/en
Priority claimed from US16/174,649 external-priority patent/US10758311B2/en
Priority claimed from US16/174,620 external-priority patent/US11166769B2/en
Priority claimed from US16/174,646 external-priority patent/US10426561B1/en
Application filed by Titan Medical Inc filed Critical Titan Medical Inc
Publication of EP3840682A1 publication Critical patent/EP3840682A1/fr
Publication of EP3840682A4 publication Critical patent/EP3840682A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A61B34/70—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • 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
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • 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
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • 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
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • 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
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0223—Magnetic field sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45119—Telesurgery with local assistent, voice communication
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of two-dimensional [2D] relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03547—Touch pads, in which fingers can move on a surface

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (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)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
EP19877560.3A 2018-10-30 2019-10-25 Appareil de commande manuelle dans un système de chirurgie robotique Withdrawn EP3840682A4 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US16/174,602 US11116591B2 (en) 2018-10-30 2018-10-30 Hand controller apparatus including ergonomic features for a robotic surgery system
US16/174,649 US10758311B2 (en) 2018-10-30 2018-10-30 Hand controller apparatus for gesture control and shared input control in a robotic surgery system
US16/174,620 US11166769B2 (en) 2018-10-30 2018-10-30 Hand controller apparatus with feedback responsive to function change in a robotic surgery system
US16/174,646 US10426561B1 (en) 2018-10-30 2018-10-30 Hand controller apparatus for detecting input position in a robotic surgery system
US16/514,782 US11045272B2 (en) 2018-10-30 2019-07-17 Hand controller apparatus for detecting input position in a robotic surgery system
PCT/US2019/058170 WO2020092172A1 (fr) 2018-10-30 2019-10-25 Appareil de commande manuelle dans un système de chirurgie robotique

Publications (2)

Publication Number Publication Date
EP3840682A1 EP3840682A1 (fr) 2021-06-30
EP3840682A4 true EP3840682A4 (fr) 2021-10-20

Family

ID=74851904

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19877560.3A Withdrawn EP3840682A4 (fr) 2018-10-30 2019-10-25 Appareil de commande manuelle dans un système de chirurgie robotique

Country Status (4)

Country Link
EP (1) EP3840682A4 (fr)
KR (1) KR102518757B1 (fr)
CN (1) CN112996453A (fr)
CA (1) CA3109376A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2803231C1 (ru) * 2022-10-27 2023-09-11 Акционерное общество "Казанский электротехнический завод" Ведущий манипулятор роботохирургического комплекса

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116236283A (zh) * 2021-12-08 2023-06-09 瑞龙诺赋(上海)医疗科技有限公司 手术机器人遥操作控制方法、系统、设备及介质
CN114176790B (zh) * 2021-12-13 2023-07-18 佗道医疗科技有限公司 一种主从式机器人的离合控制方法
CN114052925B (zh) * 2022-01-12 2022-04-12 极限人工智能有限公司 手柄机构、分体式手术装置及手术机器人
CN119388434B (zh) * 2024-11-29 2025-09-19 华南理工大学 一种基于反馈预训练语言及视觉模型的机器人系统与方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015163943A1 (fr) * 2014-04-24 2015-10-29 Covidien Lp Systèmes et procédés de détermination de positionnement d'interface robotique
US20170225337A1 (en) * 2008-08-22 2017-08-10 Titan Medical Inc. Robotic hand controller
WO2018013197A1 (fr) * 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Identification des instruments sur un écran dans un système médical téléopérationnel.

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103607968B (zh) * 2011-05-31 2017-07-04 直观外科手术操作公司 机器人外科器械末端执行器的主动控制
CN104105577B (zh) * 2012-02-15 2017-06-27 直观外科手术操作公司 使用模式区分操作员动作的机器人系统操作模式的用户选择
US9198714B2 (en) * 2012-06-29 2015-12-01 Ethicon Endo-Surgery, Inc. Haptic feedback devices for surgical robot
CN107847284B (zh) * 2015-06-16 2021-03-23 提坦医疗公司 用于在机器人手术系统中接收操作员输入的手柄设备
US10188552B2 (en) * 2015-08-14 2019-01-29 The Johns Hopkins University Surgical system providing hands-free control of a surgical tool
WO2017123796A1 (fr) * 2016-01-12 2017-07-20 Intuitive Surgical Operations, Inc. Transition étagée par retour de force entre états de commande
US10813710B2 (en) * 2017-03-02 2020-10-27 KindHeart, Inc. Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170225337A1 (en) * 2008-08-22 2017-08-10 Titan Medical Inc. Robotic hand controller
WO2015163943A1 (fr) * 2014-04-24 2015-10-29 Covidien Lp Systèmes et procédés de détermination de positionnement d'interface robotique
WO2018013197A1 (fr) * 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Identification des instruments sur un écran dans un système médical téléopérationnel.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2020092172A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2803231C1 (ru) * 2022-10-27 2023-09-11 Акционерное общество "Казанский электротехнический завод" Ведущий манипулятор роботохирургического комплекса

Also Published As

Publication number Publication date
KR102518757B1 (ko) 2023-04-06
CN112996453A (zh) 2021-06-18
CA3109376A1 (fr) 2020-05-07
KR20210064386A (ko) 2021-06-02
EP3840682A1 (fr) 2021-06-30

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