EP4048183A4 - Einrastung und/oder homing eines chirurgischen instruments in einem chirurgischen robotersystem - Google Patents

Einrastung und/oder homing eines chirurgischen instruments in einem chirurgischen robotersystem Download PDF

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Publication number
EP4048183A4
EP4048183A4 EP19950081.0A EP19950081A EP4048183A4 EP 4048183 A4 EP4048183 A4 EP 4048183A4 EP 19950081 A EP19950081 A EP 19950081A EP 4048183 A4 EP4048183 A4 EP 4048183A4
Authority
EP
European Patent Office
Prior art keywords
surgical
homing
locking
robot system
surgical instrument
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
EP19950081.0A
Other languages
English (en)
French (fr)
Other versions
EP4048183A1 (de
Inventor
Renbin ZHOU
Haoran YU
Sina Nia KOSARI
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.)
Auris Health Inc
Original Assignee
Verb Surgical 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 US16/661,590 external-priority patent/US11759269B2/en
Application filed by Verb Surgical Inc filed Critical Verb Surgical Inc
Publication of EP4048183A1 publication Critical patent/EP4048183A1/de
Publication of EP4048183A4 publication Critical patent/EP4048183A4/de
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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • 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
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • 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
    • 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
    • A61B2090/0807—Indication means
    • A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
EP19950081.0A 2019-10-23 2019-10-29 Einrastung und/oder homing eines chirurgischen instruments in einem chirurgischen robotersystem Pending EP4048183A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/661,590 US11759269B2 (en) 2018-08-20 2019-10-23 Engagement and/or homing of a surgical tool in a surgical robotic system
PCT/US2019/058477 WO2021080623A1 (en) 2019-10-23 2019-10-29 Engagement and/or homing of a surgical tool in a surigical robotic system

Publications (2)

Publication Number Publication Date
EP4048183A1 EP4048183A1 (de) 2022-08-31
EP4048183A4 true EP4048183A4 (de) 2024-04-03

Family

ID=75620237

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19950081.0A Pending EP4048183A4 (de) 2019-10-23 2019-10-29 Einrastung und/oder homing eines chirurgischen instruments in einem chirurgischen robotersystem

Country Status (5)

Country Link
EP (1) EP4048183A4 (de)
JP (1) JP7532513B2 (de)
KR (1) KR20220082913A (de)
CN (1) CN114929150A (de)
WO (1) WO2021080623A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023101970A1 (en) * 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Controller arrangements for robotic surgical systems
CN117838314B (zh) * 2022-09-30 2026-01-06 深圳市精锋医疗科技股份有限公司 一种导管机器人及其控制方法
CN119837468B (zh) * 2025-01-16 2025-12-09 敏捷医疗科技(苏州)有限公司 内窥镜接头、手术机器人及其对接传动方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050149003A1 (en) * 1996-12-12 2005-07-07 Intuitive Surgical , Inc. Surgical robotic tools, data architecture, and use
EP1897511A2 (de) * 1998-12-08 2008-03-12 Intuitive Surgical, Inc. Chirurgischer Roboter, Datenstruktur und Verwendung
US20120083801A1 (en) * 2004-05-04 2012-04-05 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
CN102630154A (zh) * 2009-09-23 2012-08-08 伊顿株式会社 无菌适配器、转轮联接结构以及手术用器械的联接结构
US20160184033A1 (en) * 2013-08-15 2016-06-30 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US20160361126A1 (en) * 2014-03-17 2016-12-15 Intuitive Surgical Operations, Inc. Method for Engaging Surgical Instrument with Teleoperated Actuator
WO2016201313A1 (en) * 2015-06-11 2016-12-15 Intuitive Surgical Operations, Inc. Systems and methods for instrument engagement
US20170172549A1 (en) * 2014-03-17 2017-06-22 Intuitive Surgical Operations, Inc. Systems and Methods for Confirming Disc Engagement
US20190059974A1 (en) * 2017-08-29 2019-02-28 Ethicon Llc Electrically-powered surgical systems

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9026247B2 (en) 2011-03-30 2015-05-05 University of Washington through its Center for Communication Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods
WO2016194868A1 (ja) * 2015-06-01 2016-12-08 オリンパス株式会社 医療用マニピュレータ
GB2552855B (en) * 2017-01-31 2019-02-13 Cmr Surgical Ltd Surgical instrument engagement detection
JP7301884B2 (ja) * 2018-02-13 2023-07-03 オーリス ヘルス インコーポレイテッド 医療用器具を駆動するためのシステム及び方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050149003A1 (en) * 1996-12-12 2005-07-07 Intuitive Surgical , Inc. Surgical robotic tools, data architecture, and use
EP1897511A2 (de) * 1998-12-08 2008-03-12 Intuitive Surgical, Inc. Chirurgischer Roboter, Datenstruktur und Verwendung
US20120083801A1 (en) * 2004-05-04 2012-04-05 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
CN102630154A (zh) * 2009-09-23 2012-08-08 伊顿株式会社 无菌适配器、转轮联接结构以及手术用器械的联接结构
US20160184033A1 (en) * 2013-08-15 2016-06-30 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US20160361126A1 (en) * 2014-03-17 2016-12-15 Intuitive Surgical Operations, Inc. Method for Engaging Surgical Instrument with Teleoperated Actuator
US20170172549A1 (en) * 2014-03-17 2017-06-22 Intuitive Surgical Operations, Inc. Systems and Methods for Confirming Disc Engagement
WO2016201313A1 (en) * 2015-06-11 2016-12-15 Intuitive Surgical Operations, Inc. Systems and methods for instrument engagement
US20190059974A1 (en) * 2017-08-29 2019-02-28 Ethicon Llc Electrically-powered surgical systems

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021080623A1 *

Also Published As

Publication number Publication date
EP4048183A1 (de) 2022-08-31
CN114929150A (zh) 2022-08-19
KR20220082913A (ko) 2022-06-17
JP7532513B2 (ja) 2024-08-13
WO2021080623A1 (en) 2021-04-29
JP2023508628A (ja) 2023-03-03

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RIC1 Information provided on ipc code assigned before grant

Ipc: A61B 90/96 20160101ALN20231011BHEP

Ipc: A61B 34/00 20160101ALN20231011BHEP

Ipc: A61B 34/37 20160101ALN20231011BHEP

Ipc: A61B 90/98 20160101ALI20231011BHEP

Ipc: A61B 17/00 20060101ALI20231011BHEP

Ipc: A61B 90/50 20160101ALI20231011BHEP

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A4 Supplementary search report drawn up and despatched

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Ipc: A61B 34/37 20160101ALN20240228BHEP

Ipc: A61B 90/98 20160101ALI20240228BHEP

Ipc: A61B 17/00 20060101ALI20240228BHEP

Ipc: A61B 90/50 20160101ALI20240228BHEP

Ipc: A61B 90/00 20160101ALI20240228BHEP

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Ipc: A61B 34/30 20160101AFI20240228BHEP

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: AURIS HEALTH, INC.