[go: up one dir, main page]

WO2020141487A3 - Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy - Google Patents

Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy Download PDF

Info

Publication number
WO2020141487A3
WO2020141487A3 PCT/IB2020/050039 IB2020050039W WO2020141487A3 WO 2020141487 A3 WO2020141487 A3 WO 2020141487A3 IB 2020050039 W IB2020050039 W IB 2020050039W WO 2020141487 A3 WO2020141487 A3 WO 2020141487A3
Authority
WO
WIPO (PCT)
Prior art keywords
master
surgical robot
console
robot systems
slave
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/IB2020/050039
Other languages
French (fr)
Other versions
WO2020141487A2 (en
WO2020141487A8 (en
Inventor
Julien Chassot
Michael Friedrich
Patrick Schoeneich
Mehrnaz SALEHIAN
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.)
Distalmotion SA
Original Assignee
Distalmotion SA
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 PCT/IB2019/050961 external-priority patent/WO2019155383A1/en
Priority to CN202080016335.6A priority Critical patent/CN113473938A/en
Priority to CA3125391A priority patent/CA3125391A1/en
Priority to JP2021539012A priority patent/JP7726787B2/en
Priority to AU2020204810A priority patent/AU2020204810B2/en
Priority to EP20700534.9A priority patent/EP3905980A2/en
Application filed by Distalmotion SA filed Critical Distalmotion SA
Publication of WO2020141487A2 publication Critical patent/WO2020141487A2/en
Publication of WO2020141487A3 publication Critical patent/WO2020141487A3/en
Priority to US17/364,246 priority patent/US12376927B2/en
Anticipated expiration legal-status Critical
Publication of WO2020141487A8 publication Critical patent/WO2020141487A8/en
Priority to US19/216,558 priority patent/US20250281253A1/en
Priority to AU2025213582A priority patent/AU2025213582A1/en
Priority to JP2025132109A priority patent/JP2025166085A/en
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
    • 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
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0804—Counting number of instruments used; Instrument detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integrateable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.
PCT/IB2020/050039 2018-02-07 2020-01-04 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy Ceased WO2020141487A2 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
CN202080016335.6A CN113473938A (en) 2019-01-05 2020-01-04 Surgical robotic system including robotic telemanipulator and integrated laparoscopy
CA3125391A CA3125391A1 (en) 2019-01-05 2020-01-04 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
JP2021539012A JP7726787B2 (en) 2019-01-05 2020-01-04 Surgical robotic system with robotic telemanipulator and integrated laparoscopic surgery
AU2020204810A AU2020204810B2 (en) 2019-01-05 2020-01-04 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
EP20700534.9A EP3905980A2 (en) 2019-01-05 2020-01-04 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US17/364,246 US12376927B2 (en) 2018-02-07 2021-06-30 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US19/216,558 US20250281253A1 (en) 2018-02-07 2025-05-22 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
AU2025213582A AU2025213582A1 (en) 2019-01-05 2025-08-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
JP2025132109A JP2025166085A (en) 2019-01-05 2025-08-07 Surgical robotic system with robotic telemanipulator and integrated laparoscopic surgery

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US201962788781P 2019-01-05 2019-01-05
US62/788,781 2019-01-05
PCT/IB2019/050961 WO2019155383A1 (en) 2018-02-07 2019-02-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
IBPCT/IB2019/050961 2019-02-06
US16/269,383 2019-02-06
US16/269,383 US10413374B2 (en) 2018-02-07 2019-02-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US16/505,585 2019-07-08
US16/505,585 US11510745B2 (en) 2018-02-07 2019-07-08 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
PCT/IB2019/050961 Continuation-In-Part WO2019155383A1 (en) 2018-02-07 2019-02-06 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US16/505,585 Continuation-In-Part US11510745B2 (en) 2018-02-07 2019-07-08 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/364,246 Continuation US12376927B2 (en) 2018-02-07 2021-06-30 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy

Publications (3)

Publication Number Publication Date
WO2020141487A2 WO2020141487A2 (en) 2020-07-09
WO2020141487A3 true WO2020141487A3 (en) 2020-08-20
WO2020141487A8 WO2020141487A8 (en) 2021-10-07

Family

ID=71407192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2020/050039 Ceased WO2020141487A2 (en) 2018-02-07 2020-01-04 Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy

Country Status (6)

Country Link
EP (1) EP3905980A2 (en)
JP (2) JP7726787B2 (en)
CN (1) CN113473938A (en)
AU (2) AU2020204810B2 (en)
CA (1) CA3125391A1 (en)
WO (1) WO2020141487A2 (en)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2015113933A1 (en) 2014-02-03 2015-08-06 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
CN107205787B (en) 2014-12-19 2020-03-20 迪斯透莫森公司 Reusable surgical instrument for minimally invasive surgery
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
AU2019218707B2 (en) 2018-02-07 2024-10-24 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12458533B2 (en) 2020-08-13 2025-11-04 Forsight Robotics Ltd. Capsulorhexis apparatus and method
WO2022179638A1 (en) * 2021-02-26 2022-09-01 武汉联影智融医疗科技有限公司 Master hand control device for robot, and robot
WO2022254335A1 (en) 2021-06-01 2022-12-08 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
WO2023037273A1 (en) 2021-09-13 2023-03-16 Distalmotion Sa Instruments for surgical robotic system and interfaces for the same
CN118076314A (en) * 2021-12-27 2024-05-24 瑞德医疗机器股份有限公司 Surgical auxiliary device
WO2024084422A1 (en) 2022-10-19 2024-04-25 Distalmotion Sa Pivot joints for surgical cutting devices, and systems thereof
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
WO2024176143A1 (en) * 2023-02-21 2024-08-29 Forsight Robotics Ltd. Control component for robotic microsurgical procedures
WO2025181583A1 (en) * 2024-02-29 2025-09-04 Medical Microinstruments, Inc. Master controller device for robotic surgery with sterile manipulation interface for actuating a slave device function

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6063095A (en) * 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US20100286712A1 (en) * 2008-02-20 2010-11-11 Jong Seok Won Bed integrated surgical robot
US20140018960A1 (en) * 2009-11-13 2014-01-16 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
WO2017134077A1 (en) * 2016-02-04 2017-08-10 Preceyes B.V. Surgical master-slave robot
US20180008358A1 (en) * 2013-10-04 2018-01-11 Kb Medical, Sa Apparatus, systems, and methods for precise guidance of surgical tools
US20180078439A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Table adapters for mounting robotic arms to a surgical table

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
US9492235B2 (en) * 1999-09-17 2016-11-15 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US9186221B2 (en) 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
JP5537204B2 (en) 2010-03-23 2014-07-02 オリンパス株式会社 Medical manipulator system
JP5715304B2 (en) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） Mechanical remote control device for remote control
KR102167359B1 (en) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
CN108309454B (en) * 2013-03-15 2021-06-11 直观外科手术操作公司 System and method for positioning a manipulator arm by engagement in a null-vertical space while null-space movement occurs
JP6396987B2 (en) 2013-03-15 2018-09-26 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ Super elaborate surgical system
JP6164964B2 (en) 2013-07-26 2017-07-19 オリンパス株式会社 Medical system and control method thereof
WO2016030767A1 (en) 2014-08-27 2016-03-03 Distalmotion Sa Surgical system for microsurgical techniques
EP4484082A3 (en) * 2015-04-09 2025-03-12 Distalmotion SA Mechanical teleoperated device for remote manipulation
US20180296286A1 (en) 2015-10-22 2018-10-18 Covidien Lp Variable sweeping for input devices
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6063095A (en) * 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US20100286712A1 (en) * 2008-02-20 2010-11-11 Jong Seok Won Bed integrated surgical robot
US20140018960A1 (en) * 2009-11-13 2014-01-16 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
US20180008358A1 (en) * 2013-10-04 2018-01-11 Kb Medical, Sa Apparatus, systems, and methods for precise guidance of surgical tools
WO2017134077A1 (en) * 2016-02-04 2017-08-10 Preceyes B.V. Surgical master-slave robot
US20180078439A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Table adapters for mounting robotic arms to a surgical table

Also Published As

Publication number Publication date
EP3905980A2 (en) 2021-11-10
JP7726787B2 (en) 2025-08-20
WO2020141487A2 (en) 2020-07-09
WO2020141487A8 (en) 2021-10-07
JP2025166085A (en) 2025-11-05
AU2020204810B2 (en) 2025-05-08
JP2022516321A (en) 2022-02-25
AU2025213582A1 (en) 2025-09-11
CN113473938A (en) 2021-10-01
AU2020204810A1 (en) 2021-07-15
CA3125391A1 (en) 2020-07-09

Similar Documents

Publication Publication Date Title
WO2020141487A3 (en) Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11224491B2 (en) Robotically controlling surgical assemblies
US12102409B2 (en) Alignment and engagement for teleoperated actuated surgical instrument
EP4484082A3 (en) Mechanical teleoperated device for remote manipulation
EP3673856B1 (en) Robotic surgical systems, instrument drive units, and drive assemblies
US10646990B2 (en) Delta mechanism with enhanced torsional stiffness
WO2016097873A3 (en) Articulated handle for mechanical telemanipulator
EP4268735A3 (en) Articulation actuators for a surgical instrument
US20130338679A1 (en) Surgical Robot
US20170273748A1 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
Kim et al. S-surge: Novel portable surgical robot with multiaxis force-sensing capability for minimally invasive surgery
WO2006124390A3 (en) Software center and highly configurable robotic systems for surgery and other uses
US20180193101A1 (en) Surgical robot
KR20210118956A (en) Surgical system instrument mounting
SA520420345B1 (en) Robotic laparoscope fixation system for laparoscopic surgery
WO2000030548B1 (en) Cooperative minimally invasive telesurgical system
WO2019212583A3 (en) Computer-assisted tele-operated surgery systems and methods
JP2017512558A (en) Display mechanism for actuator-controlled surgical instruments
JP2020508725A (en) Surgical endoscopes and surgical robots
WO2021170973A1 (en) Controlling movement of a surgical robot arm
CN113164216A (en) Method and system for remotely controlling surgical slave arm
US20190090970A1 (en) Manipulator system
JP2019042903A5 (en) Manipulator system
Francis et al. Concentric tube instrument for the Da vinci platform
US20210038330A1 (en) Method and apparatus for optimizing range of motion of two robotic arms in a robotic surgical system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20700534

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 3125391

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2021539012

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020204810

Country of ref document: AU

Date of ref document: 20200104

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2020700534

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2020700534

Country of ref document: EP

Effective date: 20210805