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WO2010068005A3 - Surgical robot - Google Patents

Surgical robot Download PDF

Info

Publication number
WO2010068005A3
WO2010068005A3 PCT/KR2009/007291 KR2009007291W WO2010068005A3 WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3 KR 2009007291 W KR2009007291 W KR 2009007291W WO 2010068005 A3 WO2010068005 A3 WO 2010068005A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
bed
joined
surgical
robot arms
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/KR2009/007291
Other languages
French (fr)
Other versions
WO2010068005A2 (en
Inventor
Seung Wook Choi
Jong Seok Won
Dong Myung Min
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.)
ETERNE Inc
Original Assignee
ETERNE 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
Priority claimed from KR1020080126419A external-priority patent/KR101061987B1/en
Priority claimed from KR1020090087963A external-priority patent/KR20110030034A/en
Application filed by ETERNE Inc filed Critical ETERNE Inc
Publication of WO2010068005A2 publication Critical patent/WO2010068005A2/en
Publication of WO2010068005A3 publication Critical patent/WO2010068005A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (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

A surgical robot is disclosed. A bed mount surgical robot, for performing a surgical procedure on a patient lying on an operating bed using a surgical instrument mounted on an end portion of a robot arm, can include: a main unit joined to the operating bed, a support arm rotatably joined to the main unit, and one or more robot arms rotatably joined to the support arm. Since multiple robot arms may be joined to a support arm, which itself may be joined to a main unit mounted on the operating bed, the surgical slave robot can have a slim, compact form as well as greater stability. Also, as the robot arms may be mounted onto the bed, the relative positions of the robot arms with respect to the bed can be accurately identified without having to separately input the position information of the bed when installing the robot arms.
PCT/KR2009/007291 2008-12-12 2009-12-08 Surgical robot Ceased WO2010068005A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2008-0126419 2008-12-12
KR1020080126419A KR101061987B1 (en) 2008-12-12 2008-12-12 Bed-Mounted Surgical Robot
KR10-2009-0087963 2009-09-17
KR1020090087963A KR20110030034A (en) 2009-09-17 2009-09-17 Surgical Robot

Publications (2)

Publication Number Publication Date
WO2010068005A2 WO2010068005A2 (en) 2010-06-17
WO2010068005A3 true WO2010068005A3 (en) 2010-09-30

Family

ID=42243192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/007291 Ceased WO2010068005A2 (en) 2008-12-12 2009-12-08 Surgical robot

Country Status (1)

Country Link
WO (1) WO2010068005A2 (en)

Families Citing this family (55)

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WO2014199413A1 (en) 2013-06-13 2014-12-18 テルモ株式会社 Medical manipulator, and control method therefor
US9713509B2 (en) 2013-10-24 2017-07-25 Auris Surgical Robotics, Inc. Instrument device manipulator with back-mounted tool attachment mechanism
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
EP3119320B1 (en) 2014-03-17 2020-07-22 Intuitive Surgical Operations, Inc. Automated structure with pre-established arm positions in a teleoperated medical system
WO2015142933A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Guided setup for teleoperated medical device
CN106456259B (en) 2014-05-13 2019-06-04 柯惠Lp公司 Robot arm for operation support system and application method
US10376338B2 (en) 2014-05-13 2019-08-13 Covidien Lp Surgical robotic arm support systems and methods of use
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
EP4477178A3 (en) 2014-10-27 2025-06-04 Intuitive Surgical Operations, Inc. Medical device with active brake release control
KR102617042B1 (en) 2014-10-27 2023-12-27 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for registering to a surgical table
US10272569B2 (en) 2014-10-27 2019-04-30 Intuitive Surgical Operations, Inc. System and method for instrument disturbance compensation
KR102799097B1 (en) * 2014-10-27 2025-04-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for monitoring control points during reactive motion
KR102757751B1 (en) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for integrated surgical table
KR102479015B1 (en) 2014-10-27 2022-12-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 System and method for integrated surgical table motion
DE202015101621U1 (en) 2015-03-31 2016-07-04 Kuka Systems Gmbh working device
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
EP3315088A4 (en) * 2015-06-29 2019-02-27 Kawasaki Jukogyo Kabushiki Kaisha SURGICAL ROBOT
KR102569960B1 (en) 2015-09-09 2023-08-24 아우리스 헬스, 인크. Instrument device manipulator for a surgical robotics system
EP3146930B1 (en) 2015-09-22 2018-06-06 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A surgical robot's tool arms assembly
US10219871B2 (en) * 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
JP6654883B2 (en) * 2015-12-11 2020-02-26 川崎重工業株式会社 Surgical system, manipulator arm, and manipulator arm support
WO2017205576A1 (en) 2016-05-26 2017-11-30 Covidien Lp Instrument drive units
WO2017205481A1 (en) 2016-05-26 2017-11-30 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
US11272992B2 (en) 2016-06-03 2022-03-15 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
KR101861176B1 (en) 2016-08-16 2018-05-28 주식회사 고영테크놀러지 Surgical robot for stereotactic surgery and method for controlling a stereotactic surgery robot
US11389360B2 (en) 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
US11185455B2 (en) 2016-09-16 2021-11-30 Verb Surgical Inc. Table adapters for mounting robotic arms to a surgical table
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
CN107255922B (en) * 2017-05-27 2020-10-16 燕山大学 A fast force estimation method for teleoperating systems based on adaptive double-layer sliding mode
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
CN112315585B (en) * 2017-12-27 2022-04-08 上海微创医疗机器人（集团）股份有限公司 Surgical robot terminal
CN111973280B (en) * 2017-12-27 2022-02-22 上海微创医疗机器人（集团）股份有限公司 Surgical robot terminal
KR102264368B1 (en) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 Surgical platform with adjustable arm support
EP3752039A4 (en) 2018-02-15 2021-09-29 Covidien LP SLEEVE ARRANGEMENT FOR A RIGID ENDOSCOPE
US11648067B2 (en) * 2018-10-05 2023-05-16 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator and surgical system including the same
EP3866720A4 (en) 2018-10-15 2022-07-06 Mazor Robotics Ltd. VERSATILE MULTI-ARM ROBOT SURGICAL SYSTEM
CN113453642B (en) * 2019-02-22 2025-06-03 奥瑞斯健康公司 Surgical platform with motorized arm for adjustable arm support
US10945904B2 (en) 2019-03-08 2021-03-16 Auris Health, Inc. Tilt mechanisms for medical systems and applications
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
CN111920522B (en) 2020-10-15 2021-01-08 京东方科技集团股份有限公司 Operation monitoring method and device
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
JP7393383B2 (en) * 2021-05-24 2023-12-06 川崎重工業株式会社 Operation method of surgical support robot and articulated robot
CN113440257A (en) * 2021-06-28 2021-09-28 哈尔滨工业大学 Hand-held type spinal surgery high accuracy location arm
CN113662643B (en) * 2021-08-20 2022-08-30 苏州大学 Multi-degree-of-freedom series-parallel pelvic fracture reduction robot and pelvic fracture reduction system
US12419692B2 (en) 2022-05-03 2025-09-23 Mazor Robotics Ltd. Robotic arm navigation using virtual bone mount
US12440291B2 (en) 2022-12-27 2025-10-14 Conavi Medical Inc. Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
CN118178146B (en) * 2023-08-31 2024-10-29 浙江飞曼医疗科技有限公司 Operating table and electric control system thereof
WO2025073031A1 (en) * 2023-10-03 2025-04-10 Klein Neto Henrique Operating table with automated and robotic ceiling mount
DE102023128961A1 (en) 2023-10-20 2025-04-24 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robot system with one robot and one base plate
CN117547362A (en) 2023-12-20 2024-02-13 上海术济客医疗科技有限公司 Auxiliary support device

Citations (5)

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WO1999023934A2 (en) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Articulated magnetic guidance systems and devices and methods for magnetically-assisted surgery
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JP2003299674A (en) * 2002-04-12 2003-10-21 Masasuke Shiraishi Operation table device
US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning

Patent Citations (5)

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US20060142881A1 (en) * 1992-08-10 2006-06-29 Intuitive Surgical Inc. Method and apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device
WO1999023934A2 (en) * 1997-11-12 1999-05-20 Stereotaxis, Inc. Articulated magnetic guidance systems and devices and methods for magnetically-assisted surgery
WO1999037220A1 (en) * 1998-01-23 1999-07-29 Sm Scienzia Machinale S.R.L. Orthopaedic surgery apparatus for guiding a tool and for supporting a limb
US20070293734A1 (en) * 2001-06-07 2007-12-20 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
JP2003299674A (en) * 2002-04-12 2003-10-21 Masasuke Shiraishi Operation table device

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