WO2004058049A3 - Surgical robot and robotic controller - Google Patents
Surgical robot and robotic controller Download PDFInfo
- Publication number
- WO2004058049A3 WO2004058049A3 PCT/US2003/040197 US0340197W WO2004058049A3 WO 2004058049 A3 WO2004058049 A3 WO 2004058049A3 US 0340197 W US0340197 W US 0340197W WO 2004058049 A3 WO2004058049 A3 WO 2004058049A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- surgeon
- robot
- neurological
- neurophysiology
- functioning
- Prior art date
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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61B34/77—Manipulators with motion or force scaling
-
- 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
- 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
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
-
- 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
- A61B90/20—Surgical microscopes characterised by non-optical aspects
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03814098A EP1617750A4 (en) | 2002-12-17 | 2003-12-17 | Surgical robot and robotic controller |
CA002550468A CA2550468A1 (en) | 2002-12-17 | 2003-12-17 | Surgical robot and robotic controller |
AU2003300991A AU2003300991A1 (en) | 2002-12-17 | 2003-12-17 | Surgical robot and robotic controller |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/321,171 | 2002-12-17 | ||
US10/321,171 US7198630B2 (en) | 2002-12-17 | 2002-12-17 | Method and apparatus for controlling a surgical robot to mimic, harmonize and enhance the natural neurophysiological behavior of a surgeon |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2004058049A2 WO2004058049A2 (en) | 2004-07-15 |
WO2004058049A8 WO2004058049A8 (en) | 2005-03-24 |
WO2004058049A3 true WO2004058049A3 (en) | 2005-12-01 |
Family
ID=32507054
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2003/040197 WO2004058049A2 (en) | 2002-12-17 | 2003-12-17 | Surgical robot and robotic controller |
Country Status (5)
Country | Link |
---|---|
US (1) | US7198630B2 (en) |
EP (1) | EP1617750A4 (en) |
AU (1) | AU2003300991A1 (en) |
CA (1) | CA2550468A1 (en) |
WO (1) | WO2004058049A2 (en) |
Families Citing this family (67)
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US6837892B2 (en) * | 2000-07-24 | 2005-01-04 | Mazor Surgical Technologies Ltd. | Miniature bone-mounted surgical robot |
US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
AU2003257309A1 (en) | 2002-08-13 | 2004-02-25 | Microbotics Corporation | Microsurgical robot system |
EP1855607B1 (en) * | 2005-01-13 | 2017-10-25 | Mazor Robotics Ltd. | Image-guided robotic system for keyhole neurosurgery |
US8160743B2 (en) * | 2005-08-16 | 2012-04-17 | Brainlab Ag | Anthropomorphic medical robot arm with movement restrictions |
US20070239059A1 (en) * | 2006-03-21 | 2007-10-11 | Mciver Christopher R | Neurophysiology testing system |
CA2663797A1 (en) * | 2006-09-19 | 2008-03-27 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and methods for surgery on a hollow anatomically suspended organ |
CN101610721A (en) * | 2006-09-25 | 2009-12-23 | 皇家飞利浦电子股份有限公司 | Haptic feedback medical scanning and system |
US20090024140A1 (en) * | 2007-07-20 | 2009-01-22 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical feedback system |
US20090157059A1 (en) * | 2007-12-14 | 2009-06-18 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical instrument navigation system |
EP2244784A2 (en) * | 2008-01-30 | 2010-11-03 | The Trustees of Columbia University in the City of New York | Systems, devices, and methods for robot-assisted micro-surgical stenting |
US10532466B2 (en) * | 2008-08-22 | 2020-01-14 | Titan Medical Inc. | Robotic hand controller |
US8332072B1 (en) * | 2008-08-22 | 2012-12-11 | Titan Medical Inc. | Robotic hand controller |
DE102008041867B4 (en) * | 2008-09-08 | 2015-09-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Medical workstation and operating device for manually moving a robot arm |
US8306656B1 (en) | 2009-01-12 | 2012-11-06 | Titan Medical Inc. | Method and system for performing medical procedure |
US9283043B2 (en) * | 2010-01-14 | 2016-03-15 | The Regents Of The University Of California | Apparatus, system, and method for robotic microsurgery |
JP5758882B2 (en) * | 2010-03-30 | 2015-08-05 | カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | Medical manipulator system |
US20110295247A1 (en) * | 2010-05-28 | 2011-12-01 | Hansen Medical, Inc. | System and method for automated minimally invasive therapy using radiometry |
US8981914B1 (en) * | 2010-09-27 | 2015-03-17 | University of Pittsburgh—of the Commonwealth System of Higher Education | Portable haptic force magnifier |
US10092359B2 (en) | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
US8548668B2 (en) * | 2010-11-30 | 2013-10-01 | Caterpillar Inc. | Control system having tool tracking |
WO2012129251A2 (en) * | 2011-03-23 | 2012-09-27 | Sri International | Dexterous telemanipulator system |
CN103717355B (en) | 2011-07-27 | 2015-11-25 | 洛桑联邦理工学院 | For the mechanical remote control operating means of remote control |
US9956042B2 (en) | 2012-01-13 | 2018-05-01 | Vanderbilt University | Systems and methods for robot-assisted transurethral exploration and intervention |
US20130253480A1 (en) | 2012-03-22 | 2013-09-26 | Cory G. Kimball | Surgical instrument usage data management |
US9539726B2 (en) | 2012-04-20 | 2017-01-10 | Vanderbilt University | Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots |
WO2013158983A1 (en) | 2012-04-20 | 2013-10-24 | Vanderbilt University | Robotic device for establishing access channel |
US9687303B2 (en) | 2012-04-20 | 2017-06-27 | Vanderbilt University | Dexterous wrists for surgical intervention |
WO2013166293A1 (en) * | 2012-05-02 | 2013-11-07 | Vanderbilt University | Rapidly deployable instrument for robotic insertion of electrode arrays |
US9333650B2 (en) | 2012-05-11 | 2016-05-10 | Vanderbilt University | Method and system for contact detection and contact localization along continuum robots |
KR20130132109A (en) * | 2012-05-25 | 2013-12-04 | 삼성전자주식회사 | Supporting device and surgical robot system adopting the same |
KR102038632B1 (en) * | 2012-11-06 | 2019-10-30 | 삼성전자주식회사 | surgical instrument, supporting device, and surgical robot system adopting the same |
US20140303605A1 (en) * | 2013-04-04 | 2014-10-09 | Elwha Llc | Active tremor control in surgical instruments responsive to a particular user |
JP6473919B2 (en) * | 2013-06-24 | 2019-02-27 | パナソニックIpマネジメント株式会社 | Master-slave robot control device and control method, robot, master-slave robot control program, and integrated electronic circuit for master-slave robot control |
US11715560B2 (en) * | 2013-09-12 | 2023-08-01 | Johnson & Johnson Surgical Vision, Inc. | Computer-based operating room support system |
US11631496B2 (en) | 2013-09-12 | 2023-04-18 | Johnson & Johnson Surgical Vision, Inc. | Computer-based operating room support system |
EP3185808B1 (en) * | 2014-08-27 | 2022-02-23 | DistalMotion SA | Surgical system for microsurgical techniques |
EP3200718A4 (en) | 2014-09-30 | 2018-04-25 | Auris Surgical Robotics, Inc | Configurable robotic surgical system with virtual rail and flexible endoscope |
DK3653145T3 (en) | 2014-12-19 | 2024-04-15 | Distalmotion Sa | REUSABLE SURGICAL INSTRUMENT FOR MINIMALLY INVASIVE PROCEDURES |
EP3232951B1 (en) | 2014-12-19 | 2023-10-25 | DistalMotion SA | Surgical instrument with articulated end-effector |
EP3232973B1 (en) | 2014-12-19 | 2020-04-01 | DistalMotion SA | Sterile interface for articulated surgical instruments |
US10363055B2 (en) | 2015-04-09 | 2019-07-30 | Distalmotion Sa | Articulated hand-held instrument |
EP3280343A1 (en) | 2015-04-09 | 2018-02-14 | DistalMotion SA | Mechanical teleoperated device for remote manipulation |
WO2017037532A1 (en) | 2015-08-28 | 2017-03-09 | Distalmotion Sa | Surgical instrument with increased actuation force |
US10258419B2 (en) * | 2015-09-25 | 2019-04-16 | Ethicon Llc | Methods for hybrid robotic laparoscopic surgery |
US10130432B2 (en) | 2015-09-25 | 2018-11-20 | Ethicon Llc | Hybrid robotic surgery with locking mode |
US10111721B2 (en) | 2015-09-25 | 2018-10-30 | Ethicon Llc | Hybrid robotic surgery with mirrored and mimicked motion |
US10485616B2 (en) | 2015-09-25 | 2019-11-26 | Ethicon Llc | Hybrid robotic surgery with power assisted motion |
US10194906B2 (en) | 2015-09-25 | 2019-02-05 | Ethicon Llc | Hybrid robotic surgery with manual and robotic modes |
EP3576596A4 (en) | 2016-12-02 | 2021-01-06 | Vanderbilt University | Steerable endoscope with continuum manipulator |
EP3551117A1 (en) * | 2016-12-07 | 2019-10-16 | Koninklijke Philips N.V. | Image guided motion scaling for robot control |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
US11253329B2 (en) * | 2017-06-09 | 2022-02-22 | Mako Surgical Corp. | Robotic surgical system and method for producing reactive forces to implement virtual boundaries |
US10967504B2 (en) | 2017-09-13 | 2021-04-06 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
EP3749243A1 (en) | 2018-02-07 | 2020-12-16 | Distalmotion SA | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
US20210121252A1 (en) * | 2018-04-12 | 2021-04-29 | Eindhoven Medical Robotics B.V. | Robotic instrument for bone removal |
JP2021192130A (en) * | 2018-08-29 | 2021-12-16 | ソニーグループ株式会社 | Tactile presentation device and tactile presentation system |
CN112677168B (en) * | 2020-11-18 | 2023-04-07 | 兰州空间技术物理研究所 | Parameter control method for force feedback handle of space manipulator |
US11819302B2 (en) | 2021-03-31 | 2023-11-21 | Moon Surgical Sas | Co-manipulation surgical system having user guided stage control |
CA3212211A1 (en) | 2021-03-31 | 2022-10-06 | David Paul Noonan | Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery |
US11812938B2 (en) | 2021-03-31 | 2023-11-14 | Moon Surgical Sas | Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments |
US11844583B2 (en) | 2021-03-31 | 2023-12-19 | Moon Surgical Sas | Co-manipulation surgical system having an instrument centering mode for automatic scope movements |
US11832909B2 (en) | 2021-03-31 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having actuatable setup joints |
CN113413214B (en) * | 2021-05-24 | 2022-12-30 | 上海交通大学 | Surgical robot manpower feedback method and device based on mixed reality guidance |
DE102021133060A1 (en) * | 2021-12-14 | 2023-06-15 | B. Braun New Ventures GmbH | Robotic surgical system and control method |
US11832910B1 (en) | 2023-01-09 | 2023-12-05 | Moon Surgical Sas | Co-manipulation surgical system having adaptive gravity compensation |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6000297A (en) * | 1997-03-27 | 1999-12-14 | Sandia Corporation | Master-slave micromanipulator method |
Family Cites Families (12)
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WO1992006645A1 (en) | 1990-10-19 | 1992-04-30 | St. Louis University | Surgical probe locating system for head use |
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5762458A (en) * | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
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US6810281B2 (en) * | 2000-12-21 | 2004-10-26 | Endovia Medical, Inc. | Medical mapping system |
US6096004A (en) * | 1998-07-10 | 2000-08-01 | Mitsubishi Electric Information Technology Center America, Inc. (Ita) | Master/slave system for the manipulation of tubular medical tools |
WO2000028882A2 (en) * | 1998-11-18 | 2000-05-25 | Microdexterity Systems, Inc. | Medical manipulator for use with an imaging device |
US6416520B1 (en) | 1999-04-23 | 2002-07-09 | Sherwood Services Ag | Microdrive for probes |
US6245028B1 (en) * | 1999-11-24 | 2001-06-12 | Marconi Medical Systems, Inc. | Needle biopsy system |
US20020082498A1 (en) | 2000-10-05 | 2002-06-27 | Siemens Corporate Research, Inc. | Intra-operative image-guided neurosurgery with augmented reality visualization |
JP4230674B2 (en) | 2001-03-01 | 2009-02-25 | 株式会社日立製作所 | Defect inspection apparatus and method |
US6728599B2 (en) * | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
-
2002
- 2002-12-17 US US10/321,171 patent/US7198630B2/en not_active Expired - Fee Related
-
2003
- 2003-12-17 EP EP03814098A patent/EP1617750A4/en not_active Withdrawn
- 2003-12-17 AU AU2003300991A patent/AU2003300991A1/en not_active Abandoned
- 2003-12-17 WO PCT/US2003/040197 patent/WO2004058049A2/en not_active Application Discontinuation
- 2003-12-17 CA CA002550468A patent/CA2550468A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6000297A (en) * | 1997-03-27 | 1999-12-14 | Sandia Corporation | Master-slave micromanipulator method |
Non-Patent Citations (1)
Title |
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See also references of EP1617750A4 * |
Also Published As
Publication number | Publication date |
---|---|
AU2003300991A1 (en) | 2004-07-22 |
US20040116906A1 (en) | 2004-06-17 |
WO2004058049A8 (en) | 2005-03-24 |
EP1617750A4 (en) | 2007-09-12 |
EP1617750A2 (en) | 2006-01-25 |
WO2004058049A2 (en) | 2004-07-15 |
CA2550468A1 (en) | 2004-07-15 |
US7198630B2 (en) | 2007-04-03 |
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