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WO2009037576A3 - Procédés, dispositifs et système de restriction non mécanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique - Google Patents

Procédés, dispositifs et système de restriction non mécanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique Download PDF

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Publication number
WO2009037576A3
WO2009037576A3 PCT/IB2008/003323 IB2008003323W WO2009037576A3 WO 2009037576 A3 WO2009037576 A3 WO 2009037576A3 IB 2008003323 W IB2008003323 W IB 2008003323W WO 2009037576 A3 WO2009037576 A3 WO 2009037576A3
Authority
WO
WIPO (PCT)
Prior art keywords
movement
single axis
medical robot
tool
systems
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/IB2008/003323
Other languages
English (en)
Other versions
WO2009037576A2 (fr
Inventor
Alexander Greer
Garnette Sutherland
Tim Fielding
Perry Newhook
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.)
Neuroarm Surgical Ltd
Original Assignee
Neuroarm Surgical Ltd
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 Neuroarm Surgical Ltd filed Critical Neuroarm Surgical Ltd
Priority to CA2684459A priority Critical patent/CA2684459C/fr
Priority to EP08832194A priority patent/EP2142132B1/fr
Priority to JP2010503622A priority patent/JP5543331B2/ja
Priority to US12/596,426 priority patent/US8560118B2/en
Publication of WO2009037576A2 publication Critical patent/WO2009037576A2/fr
Priority to IL201559A priority patent/IL201559A0/en
Anticipated expiration legal-status Critical
Publication of WO2009037576A3 publication Critical patent/WO2009037576A3/fr
Priority to US14/054,664 priority patent/US9131986B2/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • 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
    • G05B2219/40128—Virtual tether, line on display connects end effector to destination point
    • 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
    • G05B2219/40399—Selection of master-slave operation mode
    • 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

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

Abstract

La présente invention concerne des procédés, des dispositifs (tels que des supports lisibles sur ordinateur) et des systèmes (tels que des systèmes informatiques) de réalisation des mouvements d'un outil d'un robot médical le long d'un axe unique, qui consistent à limiter électroniquement le mouvement du robot médical pour que l'outil se déplace le long de l'axe unique, plutôt qu'à limiter mécaniquement le mouvement du robot médical pour obtenir le déplacement sur l'axe unique. Le mouvement de l'outil s'effectue le long de l'axe unique, même si un utilisateur déplace un dispositif d'entrée relié au robot médical sur d'autres axes pendant le déplacement de l'axe unique. De plus, la présente invention concerne des techniques d'automatisation du déplacement de l'axe unique de telle sorte qu'il puisse être programmé pour s'arrêter à un emplacement cible et pour commencer à un second emplacement (par ex. de départ)ou à proximité de celui-ci, ce qui est utile pour une procédure telle qu'une biopsie cérébrale, une biopsie ou une implantation mammaire, et de telle sorte qu'un utilisateur puisse exécuter une commande demandant au robot médical d'exécuter le mouvement sans que l'utilisateur ait à manipuler un dispositif d'entrée pour obtenir le mouvement de réponse en temps réel du robot médical.
PCT/IB2008/003323 2007-04-16 2008-04-16 Procédés, dispositifs et système de restriction non mécanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique Ceased WO2009037576A2 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CA2684459A CA2684459C (fr) 2007-04-16 2008-04-16 Procedes, dispositifs et systeme de restriction non mecanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique
EP08832194A EP2142132B1 (fr) 2007-04-16 2008-04-16 Système de restriction non mécanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique
JP2010503622A JP5543331B2 (ja) 2007-04-16 2008-04-16 マニピュレータのツールの一軸に沿った移動を非機械的に制限および／またはプログラミングする方法、装置、およびシステム
US12/596,426 US8560118B2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
IL201559A IL201559A0 (en) 2007-04-16 2009-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US14/054,664 US9131986B2 (en) 2007-04-16 2013-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US91214607P 2007-04-16 2007-04-16
US60/912,146 2007-04-16
USPCT/US2008/060541 2008-04-16
US2008060541 2008-04-16

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US12/596,426 A-371-Of-International US8560118B2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US14/054,664 Continuation US9131986B2 (en) 2007-04-16 2013-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Publications (2)

Publication Number Publication Date
WO2009037576A2 WO2009037576A2 (fr) 2009-03-26
WO2009037576A3 true WO2009037576A3 (fr) 2010-02-04

Family

ID=40468504

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2008/003323 Ceased WO2009037576A2 (fr) 2007-04-16 2008-04-16 Procédés, dispositifs et système de restriction non mécanique et/ou de programmation du mouvement d'un outil d'un manipulateur le long d'un axe unique

Country Status (3)

Country Link
JP (1) JP5543331B2 (fr)
CA (1) CA2684459C (fr)
WO (1) WO2009037576A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system

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US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US9789608B2 (en) * 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US20080065100A1 (en) 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical instrument system
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
MY149975A (en) * 2007-09-21 2013-11-15 Cabot Microelectronics Corp Polishing composition and method utilizing abrasive particles treated with an aminosilane
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
EP2384714A1 (fr) * 2010-05-03 2011-11-09 Universitat Politècnica de Catalunya Procédé de définition des limites d'espace de travail dans la chirurgie robotique
EP2704658A4 (fr) * 2011-05-05 2014-12-03 Univ Johns Hopkins Procédé et système d'analyse d'une trajectoire de tâche
US9572481B2 (en) 2011-05-13 2017-02-21 Intuitive Surgical Operations, Inc. Medical system with multiple operating modes for steering a medical instrument through linked body passages
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
WO2016089753A1 (fr) * 2014-12-03 2016-06-09 Gambro Lundia Ab Apprentissage de système de traitement médical
EP3305229A4 (fr) 2015-06-01 2019-02-20 Olympus Corporation Manipulateur médical
EP3595565A4 (fr) * 2017-03-15 2021-04-14 Covidien LP Systèmes chirurgicaux robotiques, instruments et commandes
CN110403701A (zh) * 2019-08-30 2019-11-05 山东威高手术机器人有限公司 输入装置、微创外科手术机器人及微创外科手术控制方法
WO2023140120A1 (fr) * 2022-01-21 2023-07-27 ソニーグループ株式会社 Système de robot chirurgical

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US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
WO2000051486A1 (fr) * 1999-03-03 2000-09-08 Computer Motion, Inc. Procede et appareil permettant de realiser des interventions chirurgicales a effraction minimale
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
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WO2001062173A2 (fr) * 2000-02-25 2001-08-30 The Board Of Trustees Of The Leland Stanford Junior University Procedes et appareils de maintien d'une trajectoire en stereotaxie destines a la recherche d'une cible a l'interieur d'un corps
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US20040253079A1 (en) * 2003-06-11 2004-12-16 Dan Sanchez Surgical instrument with a universal wrist

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JP5078140B2 (ja) * 2007-09-03 2012-11-21 国立大学法人横浜国立大学 微細構造造形方法

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US20030060809A1 (en) * 1992-08-10 2003-03-27 Yulun Wang Method and apparatus for performing minimally invasive cardiac procedures
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
WO2000051486A1 (fr) * 1999-03-03 2000-09-08 Computer Motion, Inc. Procede et appareil permettant de realiser des interventions chirurgicales a effraction minimale
EP1103229A2 (fr) * 1999-11-26 2001-05-30 Marconi Medical Sytems Finland Inc. Système et méthode utilisant des dispositifs d'imagerie pour simplifier la planification des procédures chirurgicales
WO2001062173A2 (fr) * 2000-02-25 2001-08-30 The Board Of Trustees Of The Leland Stanford Junior University Procedes et appareils de maintien d'une trajectoire en stereotaxie destines a la recherche d'une cible a l'interieur d'un corps
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See also references of EP2142132A4 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument

Also Published As

Publication number Publication date
JP5543331B2 (ja) 2014-07-09
JP2010525838A (ja) 2010-07-29
CA2684459C (fr) 2016-10-04
CA2684459A1 (fr) 2009-03-26
WO2009037576A2 (fr) 2009-03-26

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