JP7532513B2 - 外科用ロボットシステムにおける外科用ツールの係合及び／又はホーミング - Google Patents

外科用ロボットシステムにおける外科用ツールの係合及び／又はホーミング Download PDF

Info

Publication number
JP7532513B2
JP7532513B2 JP2022523935A JP2022523935A JP7532513B2 JP 7532513 B2 JP7532513 B2 JP 7532513B2 JP 2022523935 A JP2022523935 A JP 2022523935A JP 2022523935 A JP2022523935 A JP 2022523935A JP 7532513 B2 JP7532513 B2 JP 7532513B2
Authority
JP
Japan
Prior art keywords
tool
surgical
motor
engagement
drive
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
JP2022523935A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023508628A (ja
Inventor
ジョウ・レンビン
ユ・ハオラン
コサリ・シーナ・ニア
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.)
Verb Surgical 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 JP2023508628A publication Critical patent/JP2023508628A/ja
Application granted granted Critical
Publication of JP7532513B2 publication Critical patent/JP7532513B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
JP2022523935A 2019-10-23 2019-10-29 外科用ロボットシステムにおける外科用ツールの係合及び／又はホーミング Active JP7532513B2 (ja)

Applications Claiming Priority (3)

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
US16/661,590 2019-10-23
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
JP2023508628A JP2023508628A (ja) 2023-03-03
JP7532513B2 true JP7532513B2 (ja) 2024-08-13

Family

ID=75620237

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022523935A Active JP7532513B2 (ja) 2019-10-23 2019-10-29 外科用ロボットシステムにおける外科用ツールの係合及び／又はホーミング

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
KR20240152819A (ko) * 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 컨트롤러 장치
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 (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120253360A1 (en) 2011-03-30 2012-10-04 University Of Washington Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods
JP2017512548A (ja) 2014-03-17 2017-05-25 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ディスクの係合を確認するためのシステム及び方法
JP2017514545A (ja) 2014-03-17 2017-06-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術器具を遠隔操作アクチュエータと係合させる方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
EP1897511B1 (de) * 1998-12-08 2014-02-12 Intuitive Surgical Operations, Inc. Chirurgischer Roboter, Datenstruktur und Verwendung
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
CN104706426A (zh) * 2009-09-23 2015-06-17 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
WO2015023853A1 (en) * 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Robotic instrument driven element
JP6141569B2 (ja) * 2015-06-01 2017-06-07 オリンパス株式会社 医療用マニピュレータ
WO2016201313A1 (en) * 2015-06-11 2016-12-15 Intuitive Surgical Operations, Inc. Systems and methods for instrument engagement
GB2552855B (en) * 2017-01-31 2019-02-13 Cmr Surgical Ltd Surgical instrument engagement detection
US10835310B2 (en) * 2017-08-29 2020-11-17 Ethicon Llc Electrically-powered surgical systems
MX2020008464A (es) * 2018-02-13 2020-12-07 Auris Health Inc Sistema y metodo para accionar instrumento medico.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120253360A1 (en) 2011-03-30 2012-10-04 University Of Washington Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods
JP2017512548A (ja) 2014-03-17 2017-05-25 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ディスクの係合を確認するためのシステム及び方法
JP2017514545A (ja) 2014-03-17 2017-06-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術器具を遠隔操作アクチュエータと係合させる方法

Also Published As

Publication number Publication date
WO2021080623A1 (en) 2021-04-29
JP2023508628A (ja) 2023-03-03
EP4048183A4 (de) 2024-04-03
EP4048183A1 (de) 2022-08-31
KR20220082913A (ko) 2022-06-17
CN114929150A (zh) 2022-08-19

Similar Documents

Publication Publication Date Title
US12472018B2 (en) Engagement and/or homing of a surgical tool in a surgical robotic system
US20260033899A1 (en) Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
US12409006B2 (en) Joint calibration for surgical tool
US12582491B2 (en) Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system
US20240423739A1 (en) Detecting cable breakage on cable driven tools
JP7532513B2 (ja) 外科用ロボットシステムにおける外科用ツールの係合及び／又はホーミング
US12064290B2 (en) Hardstop detection and handling for surgical tool

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221027

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20230824

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20231003

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20231228

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240301

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20240702

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240731

R150 Certificate of patent or registration of utility model

Ref document number: 7532513

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111