IT201800000673U1 - ROBOTIC APPARATUS FOR SURGICAL OPERATIONS - Google Patents
ROBOTIC APPARATUS FOR SURGICAL OPERATIONS Download PDFInfo
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- IT201800000673U1 IT201800000673U1 IT201800000673U IT201800000673U IT201800000673U1 IT 201800000673 U1 IT201800000673 U1 IT 201800000673U1 IT 201800000673 U IT201800000673 U IT 201800000673U IT 201800000673 U IT201800000673 U IT 201800000673U IT 201800000673 U1 IT201800000673 U1 IT 201800000673U1
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- 210000000056 organ Anatomy 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 210000003484 anatomy Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000033458 reproduction Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000011477 surgical intervention Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- 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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B2034/744—Mouse
-
- 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
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- 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
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Manipulator (AREA)
Description
APPARATO ROBOTIZZATO PER OPERAZIONI CHIRURGICHE. ROBOTIC APPARATUS FOR SURGICAL OPERATIONS.
DESCRIZIONE DESCRIPTION
Il presente trovato riguarda un apparato robotizzato per operazioni chirurgiche. The present invention relates to a robotic apparatus for surgical operations.
Come noto, oggigiorno numerosi interventi chirurgici, soprattutto in alcuni ambiti quale quello urologico, vengono eseguiti mediante un robot pilotato a distanza da un chirurgo. As is known, nowadays numerous surgical interventions, especially in some areas such as urology, are performed by means of a robot controlled remotely by a surgeon.
A tale scopo, il chirurgo dispone di una consolle di comando computerizzata situata all'interno della sala operatoria. For this purpose, the surgeon has a computerized control console located inside the operating room.
La consolle è generalmente provvista di un visore tridimensionale, il quale riceve immagini da una o più telecamere stereoscopiche fissate al robot e disposte in modo da inquadrare il campo operatorio, nonché di comandi che riproducono l'impugnatura degli strumenti chirurgici utilizzati dal robot (pinze, forbici, dissettori, ecc.). The console is generally equipped with a three-dimensional viewer, which receives images from one or more stereoscopic cameras fixed to the robot and arranged so as to frame the operating field, as well as commands that reproduce the handle of the surgical instruments used by the robot (pliers, scissors, dissectors, etc.).
Benché l'uso di telecamere stereoscopiche e di visori tridimensionali migliori la prospettiva visiva del chirurgo ed incrementi in lui la sensazione di operare direttamente sul paziente, al fine di aumentare la precisione di alcuni atti chirurgici molto complessi sarebbe utile per il chirurgo disporre di un ulteriore ausilio visivo. Although the use of stereoscopic cameras and three-dimensional viewers improves the surgeon's visual perspective and increases the sensation of operating directly on the patient, in order to increase the precision of some very complex surgical procedures it would be useful for the surgeon to have an additional visual aid.
In passato sono stati proposti sistemi per integrare l'immagine della telecamera con riproduzioni tridimensionali generate al computer dell'organo da operare, ma essi non si sono rilevati pienamente soddisfacenti in termini di praticità d'uso e, di conseguenza, ad oggi hanno trovato scarso impiego. In the past, systems have been proposed to integrate the camera image with computer-generated three-dimensional reproductions of the organ to be operated on, but they have not proved to be fully satisfactory in terms of practicality of use and, consequently, to date have found scarce use.
Pertanto, lo scopo principale del presente trovato è quello di perfezionare gli apparati robotizzati per operazioni chirurgiche noti, in modo da guidare il chirurgo in modo pratico ed affidabile nell'identificazione dei contorni delle parti anatomiche visualizzate e, di conseguenza, nel raggiungimento dei punti in cui intervenire con gli strumenti. Therefore, the main object of the present invention is to improve the robotic apparatuses for known surgical operations, so as to guide the surgeon in a practical and reliable way in identifying the contours of the anatomical parts displayed and, consequently, in reaching the points in to intervene with the tools.
Il suddetto scopo ed altri vantaggi, quali risulteranno più chiaramente dal seguito della descrizione, sono raggiunti da un apparato robotizzato per operazioni chirurgiche avente le caratteristiche esposte nella rivendicazione 1, mentre le rivendicazioni subordinate definiscono altre caratteristiche vantaggiose del trovato, ancorché secondarie. The aforementioned object and other advantages, which will become clearer from the following description, are achieved by a robotic apparatus for surgical operations having the characteristics set out in claim 1, while the subordinate claims define other advantageous characteristics of the invention, albeit secondary ones.
Si descriverà ora in maggior dettaglio il trovato, con riferimento ad una sua realizzazione preferita ma non esclusiva, illustrata a titolo d'esempio non limitativo negli uniti disegni, in cui: The invention will now be described in greater detail, with reference to a preferred but not exclusive embodiment thereof, illustrated by way of non-limiting example in the accompanying drawings, in which:
la Fig. 1 è una vista schematica dell'apparato robotizzato secondo il trovato; Fig. 1 is a schematic view of the robotic apparatus according to the invention;
la Fig. 2 illustra lo scenario visualizzato dal chirurgo con l'apparato in una prima configurazione operativa; Fig. 2 illustrates the scenario displayed by the surgeon with the apparatus in a first operating configuration;
La Fig. 3 è un'immagine inerente il funzionamento dell'apparato secondo il trovato; Fig. 3 is an image relating to the operation of the apparatus according to the invention;
la Fig. 4 illustra lo scenario visualizzato dal chirurgo con l'apparato in una seconda configurazione operativa. Fig. 4 illustrates the scenario displayed by the surgeon with the apparatus in a second operating configuration.
Con riferimento iniziale alla Fig. 1, un apparato robotizzato per operazioni chirurgiche 10 è atto ad essere installato in una generica sala operatoria. With initial reference to Fig. 1, a robotic apparatus for surgical operations 10 is adapted to be installed in a generic operating room.
L'apparato comprende un robot 11 munito di bracci meccanici 12a, 12b equipaggiati con strumenti chirurgici 14a, 14b idonei ad operare un generico paziente P situato su un lettino B. The apparatus comprises a robot 11 equipped with mechanical arms 12a, 12b equipped with surgical instruments 14a, 14b suitable for operating a generic patient P located on a bed B.
Un chirurgo S pilota da remoto il robot 11 tramite una consolle computerizzata 16. A surgeon S remotely pilots the robot 11 via a computerized console 16.
A tale scopo, il robot 11 porta installata una telecamera stereoscopica 18, la quale è supportata in modo da inquadrare il campo operatorio ed è collegata per trasmettere il suo segnale video VID ad un visore tridimensionale 20 di cui è dotata la consolle computerizzata 16. For this purpose, the robot 11 carries installed a stereoscopic camera 18, which is supported so as to frame the operating field and is connected to transmit its video signal VID to a three-dimensional viewer 20 with which the computerized console 16 is equipped.
La consolle computerizzata 16 è inoltre provvista di comandi 22 azionabili dal chirurgo S, i quali sono configurati in modo da riprodurre l'impugnatura degli strumenti chirurgici utilizzati dal robot (pinze, forbici, dissettori, ecc.). The computerized console 16 is also provided with controls 22 operable by the surgeon S, which are configured in such a way as to reproduce the handle of the surgical instruments used by the robot (forceps, scissors, dissectors, etc.).
In modo di per sé noto, la consolle computerizzata 16 è inoltre provvista di ingressi video ausiliari 24 e di ingressi assegnabili 25 per dispositivi di controllo accessori. In a per se known manner, the computerized console 16 is also provided with auxiliary video inputs 24 and with assignable inputs 25 for accessory control devices.
La Figura 2 illustra il segnale video VID del campo operatorio ripreso dalla telecamera stereoscopica 18. Figure 2 illustrates the surgical field video VID signal captured by the stereoscopic camera 18.
Secondo il trovato, al fine di guidare il chirurgo S nell'identificazione dei contorni delle parti anatomiche visualizzate e, di conseguenza, nel raggiungimento dei punti in cui intervenire con gli strumenti, l'apparato robotizzato secondo il trovato comprende inoltre: According to the invention, in order to guide the surgeon S in identifying the contours of the anatomical parts displayed and, consequently, in reaching the points in which to intervene with the instruments, the robotic apparatus according to the invention further comprises:
- un'unità di elaborazione 26, la quale è collegata per ricevere il segnale video VID dalla telecamera stereoscopica 18, ed è programmata per sovrapporre a tale segnale video VID un'immagine tridimensionale virtuale 3D_IMAGE dell'organo da operare (Fig. 3), e per trasmettere l'immagine combinata risultante VIDEO_COMB (Fig. 4) al visore tridimensionale 20 attraverso gli ingressi video ausiliari 24 sulla consolle computerizzata 16, - a processing unit 26, which is connected to receive the video signal VID from the stereoscopic camera 18, and is programmed to superimpose a virtual three-dimensional 3D_IMAGE image of the organ to be operated on this video signal VID (Fig. 3), and to transmit the resulting combined image VIDEO_COMB (Fig. 4) to the three-dimensional viewer 20 through the auxiliary video inputs 24 on the computerized console 16,
- mezzi di manipolazione 28 attivabili per spostare ed orientare l'immagine tridimensionale virtuale 3D_IMAGE in rapporto agli spostamenti dell'organo reale nel visore tridimensionale 20, - manipulation means 28 which can be activated to move and orient the virtual three-dimensional image 3D_IMAGE in relation to the displacements of the real organ in the three-dimensional viewer 20,
- mezzi di commutazione 30 azionabili per visualizzare selettivamente il segnale video VID oppure l'immagine combinata VID_COMB sul visore tridimensionale 20. - switching means 30 operable to selectively display the video signal VID or the combined image VID_COMB on the three-dimensional viewer 20.
Come noto, gli spostamenti dell'organo reale nel visore tridimensionale 20 possono essere dovuti, p.es., ai movimenti della telecamera gestiti dal chirurgo S. As is known, the displacements of the real organ in the three-dimensional viewer 20 may be due, for example, to the movements of the camera managed by the surgeon S.
Nella realizzazione qui descritta, i mezzi di manipolazione 28 comprendono vantaggiosamente un dispositivo di controllo manuale, in particolare un mouse tridimensionale, comandato da un operatore ausiliario A che assiste il chirurgo seguendo i movimenti della telecamera. In the embodiment described here, the manipulation means 28 advantageously comprise a manual control device, in particular a three-dimensional mouse, controlled by an auxiliary operator A who assists the surgeon by following the movements of the camera.
A tale scopo, l'immagine combinata VID_COMB viene preferibilmente visualizzata su uno schermo ausiliario 32 accessibile all'operatore ausiliario A. For this purpose, the combined image VID_COMB is preferably displayed on an auxiliary screen 32 accessible to auxiliary operator A.
In questo esempio di realizzazione, i mezzi di commutazione 30 comprendono vantaggiosamente un interruttore a pedale collegabile agli ingressi assegnabili 25 ed azionabile direttamente dal chirurgo S. In this embodiment, the switching means 30 advantageously comprise a foot switch which can be connected to the assignable inputs 25 and which can be operated directly by the surgeon S.
L'immagine tridimensionale virtuale 3D_IMAGE dell'organo può essere ricostruita, in modo di per sé noto, partendo da immagini bidimensionali generate tipicamente mediante tomografia computerizzata o risonanza magnetica. The 3D_IMAGE virtual three-dimensional image of the organ can be reconstructed, in a per se known way, starting from two-dimensional images typically generated by computed tomography or magnetic resonance imaging.
La programmazione del software di sovrapposizione delle immagini rientra nelle normali conoscenze del tecnico del ramo ed esula dagli scopi del presente trovato; pertanto, di essa non sarà approfondita la descrizione. The programming of the image superimposition software falls within the normal knowledge of the person skilled in the art and goes beyond the scope of the present invention; therefore, its description will not be detailed.
In linea generale, l'immagine tridimensionale virtuale 3D_IMAGE può essere immagazzinata in un'unità di memoria 34, che può essere esterna oppure integrata nell'unità di elaborazione 26. In general, the virtual three-dimensional image 3D_IMAGE can be stored in a memory unit 34, which can be external or integrated in the processing unit 26.
Nel funzionamento, al momento dell'operazione l'immagine tridimensionale virtuale 3D_IMAGE viene caricata nel software ed inviata alla consolle 18 in combinazione con l'immagine reale ripresa dalla telecamera stereoscopica 18, come illustrato in Fig. 4. In operation, at the moment of the operation the virtual three-dimensional image 3D_IMAGE is loaded into the software and sent to the console 18 in combination with the real image taken by the stereoscopic camera 18, as illustrated in Fig. 4.
Il chirurgo S visualizza il campo operatorio tramite il visore tridimensionale 20 e, agendo sull'interruttore a pedale 30, commuta a proprio piacimento tra la modalità di visione tradizionale, in cui nel visore è rappresentato il segnale video VID puro ripreso dalla telecamera stereoscopica 18 (Fig. 2), ed una modalità di visione “assistita”, in cui nel visore è rappresentata l'immagine combinata VID_COMB (Fig. 4). The surgeon S visualizes the operating field through the three-dimensional viewer 20 and, acting on the foot switch 30, switches at will between the traditional viewing mode, in which the pure VID video signal captured by the stereoscopic camera 18 is represented in the viewer ( Fig. 2), and an "assisted" vision mode, in which the combined image VID_COMB is represented in the viewer (Fig. 4).
L'operatore ausiliario A monitora l'immagine combinata VID_COMB sullo schermo ausiliario 32, ed assiste il chirurgo S durante l'operazione ruotando e spostando l'immagine tridimensionale virtuale 3D_IMAGE tramite il mouse tridimensionale 12, in modo che sia sempre sovrapposta all'immagine reale dell'organo da operare. The auxiliary operator A monitors the combined image VID_COMB on the auxiliary screen 32, and assists the surgeon S during the operation by rotating and moving the 3D_IMAGE virtual three-dimensional image using the three-dimensional mouse 12, so that it is always superimposed on the real image of the organ to be operated on.
Si è descritta una realizzazione preferita del trovato, ma naturalmente il tecnico del ramo potrà apportare diverse modifiche e varianti nell'ambito delle rivendicazioni. A preferred embodiment of the invention has been described, but naturally the person skilled in the art will be able to make various modifications and variations within the scope of the claims.
Per esempio, nella realizzazione qui descritta l'unità di elaborazione 26 è illustrata come separata dalla consolle 16. Tuttavia, è di per sé evidente che l'unità di elaborazione 26 potrebbe essere integrata nella consolle 16. For example, in the embodiment described herein the processing unit 26 is shown as separate from the console 16. However, it is self-evident that the processing unit 26 could be integrated into the console 16.
Inoltre, il mouse tridimensionale per la manipolazione dell'immagine tridimensionale virtuale 3D_IMAGE potrebbe essere sostituito da altri mezzi di manipolazione manuali, quali joystick, schermi touch screen, e simili, oppure da sistemi automatizzati basati su software di riconoscimento dell'immagine in grado di inseguire autonomamente gli spostamenti dell'immagine reale. In quest'ultimo caso, in particolare, lo schermo ausiliario 32 non sarebbe più indispensabile se non a scopo di monitoraggio. Furthermore, the three-dimensional mouse for manipulating the virtual three-dimensional image 3D_IMAGE could be replaced by other manual means of manipulation, such as joysticks, touch screens, and the like, or by automated systems based on image recognition software capable of tracking autonomously the displacements of the real image. In the latter case, in particular, the auxiliary screen 32 would no longer be indispensable except for monitoring purposes.
Allo stesso modo, il pedale per la commutazione tra la modalità di visione tradizionale e quella assistita, potrà essere sostituito da altri tipi di interruttori integrati nella consolle o collegabili come accessori esterni. Similarly, the pedal for switching between the traditional and assisted viewing modes can be replaced by other types of switches integrated into the console or connectable as external accessories.
Il numero di strumenti e di telecamere montate sul robot potrà naturalmente variare in base alle esigenze. The number of instruments and cameras mounted on the robot may of course vary according to needs.
Ulteriormente, benché l'uso di telecamere stereoscopiche e di visori tridimensionali sia preferibile, naturalmente il trovato è parimenti applicabile a sistemi dotati di telecamere convenzionali e visori bidimensionali. Furthermore, although the use of stereoscopic cameras and three-dimensional viewers is preferable, the invention is naturally equally applicable to systems equipped with conventional video cameras and two-dimensional viewers.
Claims (8)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT201800000673U IT201800000673U1 (en) | 2018-01-11 | 2018-01-11 | ROBOTIC APPARATUS FOR SURGICAL OPERATIONS |
| EP19701442.6A EP3737327A1 (en) | 2018-01-11 | 2019-01-08 | Robotized apparatus for surgical operations |
| PCT/EP2019/050304 WO2019137895A1 (en) | 2018-01-11 | 2019-01-08 | Robotized apparatus for surgical operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT201800000673U IT201800000673U1 (en) | 2018-01-11 | 2018-01-11 | ROBOTIC APPARATUS FOR SURGICAL OPERATIONS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| IT201800000673U1 true IT201800000673U1 (en) | 2019-07-11 |
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ID=65200770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| IT201800000673U IT201800000673U1 (en) | 2018-01-11 | 2018-01-11 | ROBOTIC APPARATUS FOR SURGICAL OPERATIONS |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP3737327A1 (en) |
| IT (1) | IT201800000673U1 (en) |
| WO (1) | WO2019137895A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2289452A3 (en) * | 2005-06-06 | 2015-12-30 | Intuitive Surgical Operations, Inc. | Laparoscopic ultrasound robotic surgical system |
| US8398541B2 (en) * | 2006-06-06 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| US20070167702A1 (en) * | 2005-12-30 | 2007-07-19 | Intuitive Surgical Inc. | Medical robotic system providing three-dimensional telestration |
| US11083529B2 (en) * | 2014-01-24 | 2021-08-10 | Koninklijke Philips N.V. | Continuous image integration for robotic surgery |
| WO2015118423A1 (en) * | 2014-02-04 | 2015-08-13 | Koninklijke Philips N.V. | Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section |
-
2018
- 2018-01-11 IT IT201800000673U patent/IT201800000673U1/en unknown
-
2019
- 2019-01-08 EP EP19701442.6A patent/EP3737327A1/en not_active Withdrawn
- 2019-01-08 WO PCT/EP2019/050304 patent/WO2019137895A1/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019137895A1 (en) | 2019-07-18 |
| EP3737327A1 (en) | 2020-11-18 |
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