WO2007005367A3 - Robotic image guided catheter-based surgical devices and techniques - Google Patents

Robotic image guided catheter-based surgical devices and techniques Download PDF

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Publication number
WO2007005367A3
WO2007005367A3 PCT/US2006/024796 US2006024796W WO2007005367A3 WO 2007005367 A3 WO2007005367 A3 WO 2007005367A3 US 2006024796 W US2006024796 W US 2006024796W WO 2007005367 A3 WO2007005367 A3 WO 2007005367A3
Authority
WO
WIPO (PCT)
Prior art keywords
techniques
surgical devices
image guided
based surgical
guided catheter
Prior art date
Application number
PCT/US2006/024796
Other languages
French (fr)
Other versions
WO2007005367A2 (en
Inventor
Frederic Moll
Gopal Chopra
Original Assignee
Intuitive 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
Application filed by Intuitive Surgical Inc filed Critical Intuitive Surgical Inc
Publication of WO2007005367A2 publication Critical patent/WO2007005367A2/en
Publication of WO2007005367A3 publication Critical patent/WO2007005367A3/en

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Classifications

    • 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
    • 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
    • A61B34/35—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—Master-slave 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
    • 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
    • A61B34/72—Micromanipulators
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • A61B34/30—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
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • 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
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation

Abstract

Telesurgical devices, systems, and methods provide catheter-based treatments which can be directed by a remote imaging modality for neurosurgery and/or at least partially intravascular approaches. Alternative embodiments include orthopedic probes. Movement of the catheter or probe may be robotically directed with reference to three-dimensional images.
PCT/US2006/024796 2005-06-30 2006-06-26 Robotic image guided catheter-based surgical devices and techniques WO2007005367A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69536605P 2005-06-30 2005-06-30
US60/695,366 2005-06-30

Publications (2)

Publication Number Publication Date
WO2007005367A2 WO2007005367A2 (en) 2007-01-11
WO2007005367A3 true WO2007005367A3 (en) 2007-03-01

Family

ID=37499923

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/024796 WO2007005367A2 (en) 2005-06-30 2006-06-26 Robotic image guided catheter-based surgical devices and techniques

Country Status (1)

Country Link
WO (1) WO2007005367A2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8886288B2 (en) 2009-06-16 2014-11-11 MRI Interventions, Inc. MRI-guided devices and MRI-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time
US9259290B2 (en) 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5030639B2 (en) * 2007-03-29 2012-09-19 オリンパスメディカルシステムズ株式会社 Endoscope device treatment instrument position control device
DE102007045075B4 (en) * 2007-09-21 2010-05-12 Siemens Ag Interventional medical diagnosis and / or therapy system
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
CN101870107B (en) * 2010-06-26 2011-08-31 上海交通大学 Control system of auxiliary robot of orthopedic surgery
DE102010040987A1 (en) * 2010-09-17 2012-03-22 Siemens Aktiengesellschaft Method for placing a laparoscopic robot in a predeterminable relative position to a trocar
US10136955B2 (en) * 2012-08-24 2018-11-27 University Of Houston System Robotic device for image-guided surgery and interventions
MX2015002537A (en) * 2012-08-27 2015-10-22 Univ Houston Robotic device and system software, hardware and methods of use for image-guided and robot-assisted surgery.
JP5737796B2 (en) * 2013-03-29 2015-06-17 国立大学法人東京工業大学 Endoscope operation system and endoscope operation program
US11395708B2 (en) 2018-06-20 2022-07-26 Gabriel Gruionu Systems and methods for automatic guidance of medical catheters and endoscopes
JP2021159364A (en) * 2020-03-31 2021-10-11 地方独立行政法人神奈川県立産業技術総合研究所 Medical equipment and medical program
CN114504388A (en) * 2022-03-15 2022-05-17 山东大学齐鲁医院 Flexible surgical robot system and control method thereof

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5749362A (en) * 1992-05-27 1998-05-12 International Business Machines Corporation Method of creating an image of an anatomical feature where the feature is within a patient's body
US6402737B1 (en) * 1998-03-19 2002-06-11 Hitachi, Ltd. Surgical apparatus
WO2003086190A1 (en) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systems and methods for interventional medicine
US20040077939A1 (en) * 2001-02-22 2004-04-22 Rainer Graumann Device and method for controlling surgical instruments

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5749362A (en) * 1992-05-27 1998-05-12 International Business Machines Corporation Method of creating an image of an anatomical feature where the feature is within a patient's body
US6402737B1 (en) * 1998-03-19 2002-06-11 Hitachi, Ltd. Surgical apparatus
US20040077939A1 (en) * 2001-02-22 2004-04-22 Rainer Graumann Device and method for controlling surgical instruments
WO2003086190A1 (en) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systems and methods for interventional medicine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9259290B2 (en) 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts
US9439735B2 (en) 2009-06-08 2016-09-13 MRI Interventions, Inc. MRI-guided interventional systems that can track and generate dynamic visualizations of flexible intrabody devices in near real time
US8886288B2 (en) 2009-06-16 2014-11-11 MRI Interventions, Inc. MRI-guided devices and MRI-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time

Also Published As

Publication number Publication date
WO2007005367A2 (en) 2007-01-11

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