[go: up one dir, main page]

CL2022001009A1 - Controlador de un instrumento quirúrgico - Google Patents

Controlador de un instrumento quirúrgico

Info

Publication number
CL2022001009A1
CL2022001009A1 CL2022001009A CL2022001009A CL2022001009A1 CL 2022001009 A1 CL2022001009 A1 CL 2022001009A1 CL 2022001009 A CL2022001009 A CL 2022001009A CL 2022001009 A CL2022001009 A CL 2022001009A CL 2022001009 A1 CL2022001009 A1 CL 2022001009A1
Authority
CL
Chile
Prior art keywords
end effector
control system
angle
elements
surgical instrument
Prior art date
Application number
CL2022001009A
Other languages
English (en)
Inventor
Gordon Thomas Deane
Graham John Veitch
Original Assignee
Cmr 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 Cmr Surgical Ltd filed Critical Cmr Surgical Ltd
Publication of CL2022001009A1 publication Critical patent/CL2022001009A1/es

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
    • A61B34/30—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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A61B17/282—Jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3201—Scissors
    • 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
    • A61B34/70—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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Primary Health Care (AREA)
  • Epidemiology (AREA)
  • Urology & Nephrology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Pathology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

Un sistema de control para controlar la manipulación de un instrumento quirúrgico en respuesta a la manipulación de un dispositivo de entrada remoto del cirujano. El instrumento quirúrgico comprende un efector final que tiene el primer y segundo elementos opuestos del efector final conectados a un eje mediante un acoplamiento articulado. El sistema de control recibe una instrucción desde el dispositivo de entrada del cirujano para tanto (i) cambiar la orientación del efector final como (ii) abrir el primer y segundo elementos del efector final uno con relación al otro. en respuesta a la instrucción de cambiar la orientación del efector final, el sistema de control determina un ángulo ? entre el eje longitudinal del acoplamiento articulado y el efector final. En respuesta a la instrucción de abrir el primer y segundo elementos del efector final, el sistema de control determina un ángulo de abertura f entre el primer y segundo elementos del efector final. El sistema de control compara ? con un ángulo máximo ?máx entre el eje longitudinal del acoplamiento articulado y el efector final, y si ? > ?máx, acciona el primer y segundo elementos del efector final para que giren de manera que (i) el ángulo entre el eje longitudinal del acoplamiento articulado y el efector final sea ?máx, y (ii) que el ángulo de abertura entre el primer y segundo elementos del efector final sea ?.
CL2022001009A 2019-10-22 2022-04-21 Controlador de un instrumento quirúrgico CL2022001009A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1915270.1A GB2588410B (en) 2019-10-22 2019-10-22 Controlling a surgical instrument

Publications (1)

Publication Number Publication Date
CL2022001009A1 true CL2022001009A1 (es) 2023-01-20

Family

ID=68728181

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2022001009A CL2022001009A1 (es) 2019-10-22 2022-04-21 Controlador de un instrumento quirúrgico

Country Status (9)

Country Link
US (1) US11969228B2 (es)
EP (1) EP4048184B1 (es)
JP (1) JP7450711B2 (es)
CN (1) CN114630636B (es)
AU (1) AU2020370820B2 (es)
BR (1) BR112022007463A2 (es)
CL (1) CL2022001009A1 (es)
GB (1) GB2588410B (es)
WO (1) WO2021079114A1 (es)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2589380B (en) * 2019-11-29 2024-02-21 Cmr Surgical Ltd Controlling a surgical instrument

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5954731A (en) * 1997-07-29 1999-09-21 Yoon; Inbae Surgical instrument with multiple rotatably mounted spreadable end effectors
US6587750B2 (en) * 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
EP2617530B1 (en) * 2010-11-30 2015-11-18 Olympus Corporation Master operation input device and master-slave manipulator
JP6000641B2 (ja) * 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
US11253327B2 (en) * 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US9408622B2 (en) * 2012-06-29 2016-08-09 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
WO2014152418A1 (en) * 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
DE102013013504A1 (de) * 2013-08-16 2015-02-19 How To Organize (H2O) Gmbh Endoskopisches Instrument
EP3373838B1 (en) * 2015-11-11 2020-10-28 Intuitive Surgical Operations Inc. Reconfigurable end effector architecture
US10413316B2 (en) * 2015-11-17 2019-09-17 Covidien Lp Articulating ultrasonic surgical instruments and systems
WO2017151996A1 (en) * 2016-03-04 2017-09-08 Covidien Lp Inverse kinematic control systems for robotic surgical system
EP3506836B1 (en) * 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US10327854B2 (en) * 2017-02-02 2019-06-25 Ethicon Llc Robotic surgical system and methods for articulation calibration
GB2560384B (en) * 2017-03-10 2022-07-20 Cmr Surgical Ltd Controlling a surgical instrument
US10166082B1 (en) * 2018-05-18 2019-01-01 Verb Surgical Inc. System and method for controlling a robotic wrist

Also Published As

Publication number Publication date
US20210113287A1 (en) 2021-04-22
JP7450711B2 (ja) 2024-03-15
EP4048184B1 (en) 2025-02-12
JP2022553974A (ja) 2022-12-27
WO2021079114A1 (en) 2021-04-29
AU2020370820A1 (en) 2022-05-26
AU2020370820B2 (en) 2023-11-23
CN114630636A (zh) 2022-06-14
GB2588410B (en) 2024-05-29
CN114630636B (zh) 2025-02-18
GB201915270D0 (en) 2019-12-04
EP4048184A1 (en) 2022-08-31
BR112022007463A2 (pt) 2022-07-12
GB2588410A (en) 2021-04-28
US11969228B2 (en) 2024-04-30

Similar Documents

Publication Publication Date Title
BR112022010364A2 (pt) Sistema de controle para controlar a manipulação de um instrumento cirúrgico
EP4257073A3 (en) System and method for force or torque limit compensation
CR20210537A (es) Conjunto de transferencia de movimiento de fórceps
EP4233759A3 (en) System for variable velocity surgical instrument
BR112021021588A2 (pt) Mapeamento de controle de articulação para um instrumento cirúrgico
WO2021038360A3 (en) Articulating including antagonistic controls for articulation and calibration
MX2017013282A (es) Instrumento quirurgico ultrasonico con efector de extremo de articulacion que tienen una cuchilla curvada.
MX2019013909A (es) Sistema de combinacion ultrasonico y electroquirurgico que tiene componentes eeprom y asic.
EP3398529A3 (en) Powered surgical device with speed and current derivative motor shut off
WO2020141487A8 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
EP4534032A3 (en) Delivery system for delivering material to a target site
MX2016008382A (es) Instrumentos quirurgicos articulables con sistemas de cierre y disparo separados y distintos.
EP4344658A3 (en) Robotic spine surgery system
BR112014032668A2 (pt) disposição de fechamento atuável giratória para atuador de extremidade cirúrgico
MX393929B (es) Instrumento quirúrgico ultrasónico con junta de articulación que tiene una pluralidad de posiciones de bloqueo.
GB2568176A (en) Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods
CL2022001009A1 (es) Controlador de un instrumento quirúrgico
RU2012149850A (ru) Ручной шарнирный хирургический инструмент
MX2016003451A (es) Accesorios de articulacion para instrumento quirúrgico ultrasónico.
MX2017008117A (es) Arreglos de accionamiento para instrumentos quirurgicos articulables.
MX2016008379A (es) Instrumentos de engrapado y corte quirurgicos con elementos de control de abrazaderas independientes.
WO2019212583A3 (en) Computer-assisted tele-operated surgery systems and methods
WO2019039612A3 (ja) 鉗子システム
BR112018070016A2 (pt) instrumento cirúrgico com acionador de articulação de dupla função
BR112022016806A2 (pt) Sistema de controle para um sistema robótico cirúrgico, controlador de braço para um braço robótico cirúrgico, e, sistema robótico cirúrgico