FR3127873B1 - système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES - Google Patents

système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES Download PDF

Info

Publication number
FR3127873B1
FR3127873B1 FR2110743A FR2110743A FR3127873B1 FR 3127873 B1 FR3127873 B1 FR 3127873B1 FR 2110743 A FR2110743 A FR 2110743A FR 2110743 A FR2110743 A FR 2110743A FR 3127873 B1 FR3127873 B1 FR 3127873B1
Authority
FR
France
Prior art keywords
robot
control interface
catheterism
catheter
movement
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.)
Active
Application number
FR2110743A
Other languages
English (en)
Other versions
FR3127873A1 (fr
Inventor
Cyrille Gregory Collette
Fabien Strazisar
Michael Rogue
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.)
Robocath
Original Assignee
Robocath
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 Robocath filed Critical Robocath
Priority to FR2110743A priority Critical patent/FR3127873B1/fr
Priority to EP22802051.7A priority patent/EP4415641A1/fr
Priority to PCT/EP2022/078008 priority patent/WO2023061892A1/fr
Priority to CN202280077431.0A priority patent/CN118284378A/zh
Priority to US18/699,731 priority patent/US20240408355A1/en
Publication of FR3127873A1 publication Critical patent/FR3127873A1/fr
Application granted granted Critical
Publication of FR3127873B1 publication Critical patent/FR3127873B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3365—Rotational speed

Landscapes

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

Abstract

L’invention concerne un système robotisé de cathétérisme comprenant : un robot (1) cathéter comprenant un module d’entraînement et une interface locale de commande, une interface déportée (3) de commande, une liaison (8) de communication. L’interface déportée (3) envoie, à une première fréquence, des trames de vitesse de consigne de déplacement, vers le robot (1) cathéter, via la liaison (8), lorsque le robot (1) cathéter ne reçoit plus ces trames, pendant une première durée , alors le module d’entraînement réduit ou annule la vitesse de déplacement de l’instrument médical souple allongé, ou pendant une deuxième durée, alors : le module d’entraînement arrête et bloque le déplacement de l’instrument médical souple allongé, ce déplacement nécessitant, pour être relancé après blocage, deux instructions distinctes de déblocage de l’interface déportée (3) de commande et de l’interface locale de commande. Figure pour l’abrégé : Fi gure 1
FR2110743A 2021-10-11 2021-10-11 système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES Active FR3127873B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR2110743A FR3127873B1 (fr) 2021-10-11 2021-10-11 système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES
EP22802051.7A EP4415641A1 (fr) 2021-10-11 2022-10-10 Systeme robotise de catheterisme, robot catheter, interface de commande, et procede de fonctionnement de systeme robotise de catheterisme, associes
PCT/EP2022/078008 WO2023061892A1 (fr) 2021-10-11 2022-10-10 Systeme robotise de catheterisme, robot catheter, interface de commande, et procede de fonctionnement de systeme robotise de catheterisme, associes
CN202280077431.0A CN118284378A (zh) 2021-10-11 2022-10-10 机器人导管插入系统、相关联的导管机器人、控制界面和用于操作机器人导管插入系统的方法
US18/699,731 US20240408355A1 (en) 2021-10-11 2022-10-10 Robotic catheterisation system, associated catheter robot, control interface and method for operating a robotic catheterisation system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2110743A FR3127873B1 (fr) 2021-10-11 2021-10-11 système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES
FR2110743 2021-10-11

Publications (2)

Publication Number Publication Date
FR3127873A1 FR3127873A1 (fr) 2023-04-14
FR3127873B1 true FR3127873B1 (fr) 2023-09-29

Family

ID=80122822

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2110743A Active FR3127873B1 (fr) 2021-10-11 2021-10-11 système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES

Country Status (5)

Country Link
US (1) US20240408355A1 (fr)
EP (1) EP4415641A1 (fr)
CN (1) CN118284378A (fr)
FR (1) FR3127873B1 (fr)
WO (1) WO2023061892A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12440294B2 (en) 2021-10-25 2025-10-14 Siemens Healthineers Endovascular Robotics, Inc. Medical device systems, methods and computer-readable mediums for operating the same
US20250100139A1 (en) * 2023-09-22 2025-03-27 Universal City Studios Llc Systems and methods for controlling a robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015149042A1 (fr) * 2014-03-28 2015-10-01 Dorin Panescu Alignement de modèles q3d avec des images 3d
CN117958988A (zh) * 2018-09-19 2024-05-03 科林达斯公司 细长医疗装置的机器人辅助移动
GB2592401B (en) * 2020-02-27 2024-06-05 Cmr Surgical Ltd Watchdog circuitry of a surgical robot arm

Also Published As

Publication number Publication date
WO2023061892A1 (fr) 2023-04-20
CN118284378A (zh) 2024-07-02
US20240408355A1 (en) 2024-12-12
FR3127873A1 (fr) 2023-04-14
EP4415641A1 (fr) 2024-08-21

Similar Documents

Publication Publication Date Title
FR3127873B1 (fr) système ROBOTISE DE CATHETERISME, ROBOT CATHETER, INTERFACE DE COMMANDE, ET PROCEDE DE FONCTIONNEMENT DE système ROBOTISE DE CATHETERISEME, ASSOCIES
US12108996B2 (en) Method of remotely supporting surgery assistant robot and remote support system
JP2016512073A5 (fr)
WO2003040990A3 (fr) Exploration de donnees patient aux fins de respect de la qualite
EP1290982A3 (fr) Système modulable pour la chirurgie assistée par ordinateur
WO2001082210A3 (fr) Architecture de composant pour reseaux de systemes de dispositifs medicaux
DE60032377D1 (de) Verfahren und system zur computerbasierten steuerung eines indutriellen prozesses
CA2413133A1 (fr) Dispositif de positionnement d'un instrument chirurgical
SE9802612D0 (sv) A device for automatically attaching a teatcup onto a teat of an animal
JPWO2017098713A1 (ja) ロボットシステム及びその運転方法
FI101501B1 (fi) Laite ja menetelmä anturijärjestelmän kalibrointiin
KR101252040B1 (ko) 운동체의 제어 방법, 제어 시스템, 제어 프로그램
DE102012209769B4 (de) Verfahren zum Betreiben eines Roboters und Vorrichtung mit einem Roboter
Vicentini et al. SafeNet: A methodology for integrating general-purpose unsafe devices in safe-robot rehabilitation systems
WO2004002289A3 (fr) Systeme et procede de guidage d'instruments chirurgicaux pendant des interventions chirurgicales
CN119260736A (zh) 外骨骼膝关节助力控制方法、装置及电子设备
Franke et al. Prediction of heartbeat motion with a generalized adaptive filter
KR970001199A (ko) 흔들림방지기능을 구비한 무인 천정크레인 제어장치
WO2021065881A1 (fr) Dispositif de commande, procédé de commande et programme
KR20160071124A (ko) 데이터 처리 아키텍쳐 및 데이터 처리 방법
JP2588794B2 (ja) 複数部品の組付装置における制御方法
CN116077089B (zh) 面向超声扫描机器人的多模态安全交互方法和装置
KR20210060182A (ko) 장애물 인지 및 회피 주행 제어 시스템 및 그 방법
CN208130048U (zh) 医疗用远程控制装置
JPS62184505A (ja) 運動制御装置

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20230414

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5