WO2012115360A3 - 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 - Google Patents

사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 Download PDF

Info

Publication number
WO2012115360A3
WO2012115360A3 PCT/KR2012/000767 KR2012000767W WO2012115360A3 WO 2012115360 A3 WO2012115360 A3 WO 2012115360A3 KR 2012000767 W KR2012000767 W KR 2012000767W WO 2012115360 A3 WO2012115360 A3 WO 2012115360A3
Authority
WO
WIPO (PCT)
Prior art keywords
user
displacement information
robot system
information determined
surgical robot
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.)
Ceased
Application number
PCT/KR2012/000767
Other languages
English (en)
French (fr)
Other versions
WO2012115360A2 (ko
Inventor
윤상진
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to EP12749243.7A priority Critical patent/EP2679193A4/en
Priority to CA2827927A priority patent/CA2827927A1/en
Priority to JP2013555354A priority patent/JP6007194B2/ja
Priority to US14/000,827 priority patent/US9179980B2/en
Priority to CN201280009758.0A priority patent/CN103442661B/zh
Publication of WO2012115360A2 publication Critical patent/WO2012115360A2/ko
Publication of WO2012115360A3 publication Critical patent/WO2012115360A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
    • 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
    • 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
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
    • 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
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

수술용 로봇 시스템으로서, 로봇, 제어 시스템, 및 사용자 제어 장치를 포함하고, 상기 로봇은 내시경과 적어도 하나의 수술 도구를 포함하며, 상기 사용자 제어 장치는 사용자가 신체 내 부위에 대하여 소정의 지정을 행할 수 있는 디스플레이 수단을 포함하고, 상기 제어 시스템은, 변위 정보 처리부 및 수술 도구 제어부를 포함하는 수술용 로봇 시스템이 제공된다.
PCT/KR2012/000767 2011-02-21 2012-01-31 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 Ceased WO2012115360A2 (ko)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP12749243.7A EP2679193A4 (en) 2011-02-21 2012-01-31 Surgical robot system for performing surgery based on displacement information determined by the specification of the user, and method for controlling same
CA2827927A CA2827927A1 (en) 2011-02-21 2012-01-31 Surgical robot system for performing surgery based on displacement information determined by user indication and method for controlling the same
JP2013555354A JP6007194B2 (ja) 2011-02-21 2012-01-31 使用者指定によって決定される変位情報に基づいて手術を行う手術用ロボットシステムとその制御方法
US14/000,827 US9179980B2 (en) 2011-02-21 2012-01-31 Surgical robot system for performing surgery based on displacement information determined by the specification of the user, and method for controlling same
CN201280009758.0A CN103442661B (zh) 2011-02-21 2012-01-31 基于根据使用者指定所确定的变位信息执行手术的手术用机器人系统及其控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110015251A KR101181613B1 (ko) 2011-02-21 2011-02-21 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
KR10-2011-0015251 2011-02-21

Publications (2)

Publication Number Publication Date
WO2012115360A2 WO2012115360A2 (ko) 2012-08-30
WO2012115360A3 true WO2012115360A3 (ko) 2012-12-13

Family

ID=46721284

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/000767 Ceased WO2012115360A2 (ko) 2011-02-21 2012-01-31 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법

Country Status (7)

Country Link
US (1) US9179980B2 (ko)
EP (1) EP2679193A4 (ko)
JP (1) JP6007194B2 (ko)
KR (1) KR101181613B1 (ko)
CN (1) CN103442661B (ko)
CA (1) CA2827927A1 (ko)
WO (1) WO2012115360A2 (ko)

Families Citing this family (156)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8219178B2 (en) 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US9308050B2 (en) 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US12446981B2 (en) 2012-06-21 2025-10-21 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12310683B2 (en) 2012-06-21 2025-05-27 Globus Medical, Inc. Surgical tool systems and method
US12329593B2 (en) 2012-06-21 2025-06-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12594001B2 (en) 2012-06-21 2026-04-07 Globus Medical, Inc. Apparatus for recording probe movement
US20150032164A1 (en) 2012-06-21 2015-01-29 Globus Medical, Inc. Methods for Performing Invasive Medical Procedures Using a Surgical Robot
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
JP2015528713A (ja) 2012-06-21 2015-10-01 グローバス メディカル インコーポレイティッド 手術ロボットプラットフォーム
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
CN105163679B (zh) 2013-03-14 2018-04-06 Sri国际公司 紧凑型机器人手腕
WO2014151621A1 (en) 2013-03-15 2014-09-25 Sri International Hyperdexterous surgical system
JP6010225B2 (ja) * 2013-06-13 2016-10-19 テルモ株式会社 医療用マニピュレータ
US10390737B2 (en) 2013-09-30 2019-08-27 Stryker Corporation System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
JP6475409B2 (ja) 2013-12-20 2019-02-27 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
EP3094272B1 (en) 2014-01-15 2021-04-21 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
EP3104803B1 (en) 2014-02-11 2021-09-15 KB Medical SA Sterile handle for controlling a robotic surgical system from a sterile field
US10004562B2 (en) 2014-04-24 2018-06-26 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
CN104000657B (zh) * 2014-05-21 2016-04-13 上海交通大学 体内微型手术机器人
WO2016008880A1 (en) 2014-07-14 2016-01-21 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
JP6731920B2 (ja) 2014-12-02 2020-07-29 カーベー メディカル エスアー 外科手術中のロボット支援式体積除去
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10555782B2 (en) 2015-02-18 2020-02-11 Globus Medical, Inc. Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
WO2016151770A1 (ja) * 2015-03-24 2016-09-29 オリンパス株式会社 軟性マニピュレータ制御装置および医療用マニピュレータシステム
CN107106246B (zh) * 2015-05-21 2019-09-24 奥林巴斯株式会社 医疗用机械手系统
WO2017015599A1 (en) 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
EP3344179B1 (en) 2015-08-31 2021-06-30 KB Medical SA Robotic surgical systems
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
EP3241518B1 (en) 2016-04-11 2024-10-23 Globus Medical, Inc Surgical tool systems
CN105902253A (zh) * 2016-04-28 2016-08-31 深圳市鹏瑞智能图像有限公司 一种内窥镜插入控制方法及系统
CN106003102A (zh) * 2016-06-13 2016-10-12 无锡虹业自动化工程有限公司 安装自动化机器人的控制柜
US11813203B2 (en) 2016-11-28 2023-11-14 Verb Surgical Inc. Robotic surgical table with relatively high resonant frequency structure to reduce efficiency of energy transmission between attached robotic arms
JP7233841B2 (ja) 2017-01-18 2023-03-07 ケービー メディカル エスアー ロボット外科手術システムのロボットナビゲーション
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
US12544109B2 (en) 2017-11-09 2026-02-10 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
JP6778242B2 (ja) 2017-11-09 2020-10-28 グローバス メディカル インコーポレイティッド 手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
KR102014359B1 (ko) * 2018-02-20 2019-08-26 (주)휴톰 수술영상 기반 카메라 위치 제공 방법 및 장치
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
JP7317776B2 (ja) 2019-09-04 2023-07-31 グローバス メディカル インコーポレイティッド 外科用ロッドならびに関連するコントローラ
US12396692B2 (en) 2019-09-24 2025-08-26 Globus Medical, Inc. Compound curve cable chain
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US12408929B2 (en) 2019-09-27 2025-09-09 Globus Medical, Inc. Systems and methods for navigating a pin guide driver
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US12329391B2 (en) 2019-09-27 2025-06-17 Globus Medical, Inc. Systems and methods for robot-assisted knee arthroplasty surgery
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US12133772B2 (en) 2019-12-10 2024-11-05 Globus Medical, Inc. Augmented reality headset for navigated robotic surgery
US12220176B2 (en) 2019-12-10 2025-02-11 Globus Medical, Inc. Extended reality instrument interaction zone for navigated robotic
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US12064189B2 (en) 2019-12-13 2024-08-20 Globus Medical, Inc. Navigated instrument for use in robotic guided surgery
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US12414752B2 (en) 2020-02-17 2025-09-16 Globus Medical, Inc. System and method of determining optimal 3-dimensional position and orientation of imaging device for imaging patient bones
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US12070276B2 (en) 2020-06-09 2024-08-27 Globus Medical Inc. Surgical object tracking in visible light via fiducial seeding and synthetic image registration
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US12076091B2 (en) 2020-10-27 2024-09-03 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US12070286B2 (en) 2021-01-08 2024-08-27 Globus Medical, Inc System and method for ligament balancing with robotic assistance
CN113040913A (zh) * 2021-03-02 2021-06-29 上海微创医疗机器人（集团）股份有限公司 机械臂、手术装置、手术末端装置、手术系统及工作方法
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
US12178523B2 (en) 2021-04-19 2024-12-31 Globus Medical, Inc. Computer assisted surgical navigation system for spine procedures
US12458454B2 (en) 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US12484969B2 (en) 2021-07-06 2025-12-02 Globdus Medical Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US12201375B2 (en) 2021-09-16 2025-01-21 Globus Medical Inc. Extended reality systems for visualizing and controlling operating room equipment
US12184636B2 (en) 2021-10-04 2024-12-31 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12238087B2 (en) 2021-10-04 2025-02-25 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12602775B2 (en) 2021-10-20 2026-04-14 Globus Medical Inc. Interpolation of medical images
US20230165639A1 (en) 2021-12-01 2023-06-01 Globus Medical, Inc. Extended reality systems with three-dimensional visualizations of medical image scan slices
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
US12544146B2 (en) 2022-02-11 2026-02-10 Globus Medical, Inc. Apparatus and method for removing circular trackers attached to a tracking array
US12103480B2 (en) 2022-03-18 2024-10-01 Globus Medical Inc. Omni-wheel cable pusher
US12048493B2 (en) 2022-03-31 2024-07-30 Globus Medical, Inc. Camera tracking system identifying phantom markers during computer assisted surgery navigation
US12394086B2 (en) 2022-05-10 2025-08-19 Globus Medical, Inc. Accuracy check and automatic calibration of tracked instruments
US12161427B2 (en) 2022-06-08 2024-12-10 Globus Medical, Inc. Surgical navigation system with flat panel registration fixture
US12657702B2 (en) 2022-07-15 2026-06-16 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US12318150B2 (en) 2022-10-11 2025-06-03 Globus Medical Inc. Camera tracking system for computer assisted surgery navigation
US12502220B2 (en) 2022-11-15 2025-12-23 Globus Medical, Inc. Machine learning system for spinal surgeries
US12653621B2 (en) 2022-11-22 2026-06-16 Globus Medical, Inc. Bone landmarks extraction by bone surface palpation using ball tip stylus for computer assisted surgery navigation
US12642658B2 (en) 2023-08-25 2026-06-02 Globus Medical Inc. Smart implants for periprosthetic joint infection
US12690783B2 (en) 2023-08-30 2026-07-28 Globus Medical, Inc. Ligament balancing tool and method for same
US12657769B2 (en) 2023-12-07 2026-06-16 Globus Medical, Inc. Augmenting 3D patient scans with CAD model of implanted object
US12635967B2 (en) 2024-02-29 2026-05-26 Globus Medical, Inc. Three-dimensional mesh from magnetic resonance imaging and magnetic resonance imaging-fluoroscopy merge

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060258938A1 (en) * 2005-05-16 2006-11-16 Intuitive Surgical Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
KR20100098055A (ko) * 2009-02-27 2010-09-06 한국과학기술원 영상유도수술시스템 및 그 제어방법
KR20100112310A (ko) * 2009-04-09 2010-10-19 의료법인 우리들의료재단 수술용 로봇의 제어 방법 및 그 시스템
KR100997194B1 (ko) * 2009-08-18 2010-11-30 주식회사 이턴 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법
KR20110004496A (ko) * 2009-07-08 2011-01-14 주식회사 이턴 수술용 로봇 및 그 세팅방법

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US20070194216A1 (en) 2006-02-21 2007-08-23 Exatec, Llc Printable controls for a window assembly
US20090171203A1 (en) * 2006-05-02 2009-07-02 Ofer Avital Cryotherapy Insertion System and Method
JP5384108B2 (ja) * 2006-06-15 2014-01-08 Ｙａｎｃｈｅｒｓ株式会社 遠隔操作システム
US8473031B2 (en) * 2007-12-26 2013-06-25 Intuitive Surgical Operations, Inc. Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator
JP5288447B2 (ja) * 2008-03-28 2013-09-11 学校法人早稲田大学 手術支援システム、接近状態検出装置及びそのプログラム
WO2010009418A1 (en) * 2008-07-18 2010-01-21 Wei Gu Systems and methods for controlling computers and devices
US8830224B2 (en) * 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
US8184880B2 (en) * 2008-12-31 2012-05-22 Intuitive Surgical Operations, Inc. Robust sparse image matching for robotic surgery
US8760391B2 (en) * 2009-05-22 2014-06-24 Robert W. Hawkins Input cueing emersion system and method
US8679125B2 (en) * 2010-09-22 2014-03-25 Biomet Manufacturing, Llc Robotic guided femoral head reshaping
US9696897B2 (en) * 2011-10-19 2017-07-04 The Regents Of The University Of California Image-based measurement tools

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060258938A1 (en) * 2005-05-16 2006-11-16 Intuitive Surgical Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
KR20100098055A (ko) * 2009-02-27 2010-09-06 한국과학기술원 영상유도수술시스템 및 그 제어방법
KR20100112310A (ko) * 2009-04-09 2010-10-19 의료법인 우리들의료재단 수술용 로봇의 제어 방법 및 그 시스템
KR20110004496A (ko) * 2009-07-08 2011-01-14 주식회사 이턴 수술용 로봇 및 그 세팅방법
KR100997194B1 (ko) * 2009-08-18 2010-11-30 주식회사 이턴 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법

Also Published As

Publication number Publication date
US9179980B2 (en) 2015-11-10
JP2014513578A (ja) 2014-06-05
KR20120095746A (ko) 2012-08-29
WO2012115360A2 (ko) 2012-08-30
EP2679193A2 (en) 2014-01-01
CN103442661A (zh) 2013-12-11
CN103442661B (zh) 2016-02-10
KR101181613B1 (ko) 2012-09-10
US20130331861A1 (en) 2013-12-12
EP2679193A4 (en) 2017-07-12
JP6007194B2 (ja) 2016-10-12
CA2827927A1 (en) 2012-08-30

Similar Documents

Publication Publication Date Title
EP2679193A4 (en) Surgical robot system for performing surgery based on displacement information determined by the specification of the user, and method for controlling same
AU2012316984B2 (en) Intelligent surgery system
WO2013027201A3 (en) Device and method for asissting laparoscopic surgery- rule based approach
WO2012167043A3 (en) Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems
EP4029468A4 (en) SURGICAL ROBOT AND CONTROL METHOD AND CONTROL DEVICE FOR A MECHANICAL ARM THEREOF
EP4494591A3 (en) Teleoperated surgical system with surgeon skill level based instrument control
EP4609817A3 (en) System for patient-side instrument control
EP4257073A3 (en) System and method for force or torque limit compensation
WO2012101093A3 (en) Systems and methods for medical use of motion imaging and capture
WO2011002215A3 (ko) 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법
EP2754383A3 (en) Device and method for assisting laparoscopic surgery - rule based approach
WO2014084409A8 (en) Instrument, manipulator system, and control method of instrument
EP3037222A4 (en) Medical robot arm device, medical robot arm control system, medical robot arm control method, and program
EP4316409A3 (en) Systems for robotic surgery
WO2009045697A3 (en) Force sensing for surgical instruments
EP4678130A3 (en) System and method for maintaining a tool pose
WO2007136771A3 (en) Method and apparatus for controlling a haptic device
EP4233769A3 (en) Systems and methods for adaptive input mapping
EP2579779A4 (en) Integrated, hand-held apparatus and associated method for acquiring diagnostic and prognostic information from a patient at the bedside or at some other patient location
EP3629974A4 (en) PEDAL CONTROL FOR ROBOTIC SURGICAL SYSTEMS
EP3242590A4 (en) Method and system for surgical tool localization during anatomical surgery
HK1205965A1 (en) Perfusion-occlusion device
WO2014143762A3 (en) Medical device curving apparatus, system, and method of use
WO2012060586A3 (ko) 수술 로봇 시스템 및 그 복강경 조작 방법 및 체감형 수술용 영상 처리 장치 및 방법
WO2015048714A8 (en) System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12749243

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 2827927

Country of ref document: CA

Ref document number: 2013555354

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 14000827

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2012749243

Country of ref document: EP