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WO2015110929A1 - Commande robotique d'une orientation d'endoscope - Google Patents

Commande robotique d'une orientation d'endoscope Download PDF

Info

Publication number
WO2015110929A1
WO2015110929A1 PCT/IB2015/050137 IB2015050137W WO2015110929A1 WO 2015110929 A1 WO2015110929 A1 WO 2015110929A1 IB 2015050137 W IB2015050137 W IB 2015050137W WO 2015110929 A1 WO2015110929 A1 WO 2015110929A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
robot
anatomical region
endoscopic image
controller
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/IB2015/050137
Other languages
English (en)
Inventor
Aleksandra Popovic
David Paul Noonan
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of WO2015110929A1 publication Critical patent/WO2015110929A1/fr
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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • endoscope 12 is mounted to the end-effector of robot 11.
  • a pose of the end-effector of robot 11 is a location and an orientation of the end-effector within a coordinate system of an actuator of robot.
  • any given pose of a field-of-view ("FOV") of endoscope 12 within an anatomical region corresponds to a distinct pose of the end-effector of robot 11 within the robotic coordinate system. Consequently, each distinct individual endoscopic image of the anatomical region generated by endoscope 12 may be linked to a corresponding pose of endoscope 12 within the robotic coordinate system.
  • FOV field-of-view

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un système de guidage de robot utilisant une unité robotique (10) comprenant un endoscope (12) et un robot (11), et une unité de commande (20) comprenant un dispositif de commande d'image endoscopique (22) et un dispositif de commande de robot (21). En fonctionnement, l'endoscope (12) génère une image endoscopique d'une région anatomique à mesure que le robot (11) déplace ledit endoscope (12) à l'intérieur de la région anatomique en réponse à des instructions d'actionnement robotique. Le dispositif de commande d'image endoscopique (22) commande un affichage de l'image endoscopique (14) de la région anatomique, et le dispositif de commande (21) communique les instructions d'actionneur robotique au robot (11). Le dispositif de commande de robot (21) et/ou le dispositif de commande d'image endoscopique (22) permettent de maintenir une orientation affichée de la région anatomique au sein de l'image endoscopique (14) à mesure que le robot (11) déplace l'endoscope (12) à l'intérieur de ladite région anatomique.
PCT/IB2015/050137 2014-01-24 2015-01-08 Commande robotique d'une orientation d'endoscope Ceased WO2015110929A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461931187P 2014-01-24 2014-01-24
US61/931,187 2014-01-24

Publications (1)

Publication Number Publication Date
WO2015110929A1 true WO2015110929A1 (fr) 2015-07-30

Family

ID=52474042

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/050137 Ceased WO2015110929A1 (fr) 2014-01-24 2015-01-08 Commande robotique d'une orientation d'endoscope

Country Status (1)

Country Link
WO (1) WO2015110929A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114945937A (zh) * 2019-12-12 2022-08-26 皇家飞利浦有限公司 用于内窥镜流程的引导式解剖操纵
EP4183313A1 (fr) * 2021-11-22 2023-05-24 ROEN Surgical, Inc. Système et dispositif pour robot de chirurgie endoscopique
KR20230085465A (ko) * 2021-12-07 2023-06-14 주식회사 로엔서지컬 내시경 수술 로봇 시스템
US20230218156A1 (en) * 2019-03-01 2023-07-13 Covidien Ag Multifunctional visualization instrument with orientation control

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020082612A1 (en) * 1998-11-20 2002-06-27 Intuitive Surgical, Inc. Arm cart for telerobotic surgical system
US20050154260A1 (en) * 2004-01-09 2005-07-14 Schara Nathan J. Gravity referenced endoscopic image orientation
US20110196199A1 (en) * 2010-02-11 2011-08-11 Intuitive Surgical Operations, Inc. Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020082612A1 (en) * 1998-11-20 2002-06-27 Intuitive Surgical, Inc. Arm cart for telerobotic surgical system
US20050154260A1 (en) * 2004-01-09 2005-07-14 Schara Nathan J. Gravity referenced endoscopic image orientation
US20110196199A1 (en) * 2010-02-11 2011-08-11 Intuitive Surgical Operations, Inc. Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230218156A1 (en) * 2019-03-01 2023-07-13 Covidien Ag Multifunctional visualization instrument with orientation control
US20230225605A1 (en) * 2019-03-01 2023-07-20 Covidien Ag Multifunctional visualization instrument with orientation control
US12342994B2 (en) * 2019-03-01 2025-07-01 Covidien Ag Multifunctional visualization instrument with orientation control
US12357167B2 (en) * 2019-03-01 2025-07-15 Covidien Ag Multifunctional visualization instrument with orientation control
CN114945937A (zh) * 2019-12-12 2022-08-26 皇家飞利浦有限公司 用于内窥镜流程的引导式解剖操纵
EP4183313A1 (fr) * 2021-11-22 2023-05-24 ROEN Surgical, Inc. Système et dispositif pour robot de chirurgie endoscopique
KR20230085465A (ko) * 2021-12-07 2023-06-14 주식회사 로엔서지컬 내시경 수술 로봇 시스템
KR102701549B1 (ko) 2021-12-07 2024-09-02 주식회사 로엔서지컬 내시경 수술 로봇 시스템

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