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WO2025205899A1 - Système de support de chirurgie à distance - Google Patents

Système de support de chirurgie à distance

Info

Publication number
WO2025205899A1
WO2025205899A1 PCT/JP2025/011948 JP2025011948W WO2025205899A1 WO 2025205899 A1 WO2025205899 A1 WO 2025205899A1 JP 2025011948 W JP2025011948 W JP 2025011948W WO 2025205899 A1 WO2025205899 A1 WO 2025205899A1
Authority
WO
WIPO (PCT)
Prior art keywords
doctor
operating
manipulator
supervising
physician
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.)
Pending
Application number
PCT/JP2025/011948
Other languages
English (en)
Japanese (ja)
Inventor
政尚 大橋
博明 北辻
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.)
Medicaroid Corp
Original Assignee
Medicaroid Corp
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 Medicaroid Corp filed Critical Medicaroid Corp
Publication of WO2025205899A1 publication Critical patent/WO2025205899A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A61B34/35—Surgical robots for telesurgery

Definitions

  • This invention relates to a remote surgery support system, and in particular to a remote surgery support system equipped with a doctor-side operation device and a supervising doctor-side operation device.
  • FIG. 1 is a diagram illustrating the configuration of a remote surgery support system according to an embodiment.
  • FIG. 1 illustrates a configuration of a surgical robot according to one embodiment.
  • FIG. 2 is a diagram illustrating a configuration of a doctor-side operating device (supervising doctor-side operating device) according to an embodiment.
  • 1 is a block diagram showing the configuration of a remote surgery support system according to one embodiment.
  • FIG. 1 is a diagram showing a scope-type display device of a remote surgery support system according to an embodiment.
  • 1 is a block diagram showing a configuration related to a control device of an information sharing device according to an embodiment.
  • 10A and 10B are diagrams illustrating an endoscopic image on which information indicating the location of operation authority is superimposed according to one embodiment.
  • the surgical robot 1 comprises one manipulator arm 11 that holds an endoscope 5, and multiple (three) manipulator arms 12 that hold surgical instruments 6.
  • the endoscope 5 captures images of the surgical site inside the patient P.
  • the surgical instruments 6 have an end effector, such as forceps, attached to their tips.
  • the doctor-side operating device 2 and the supervising doctor-side operating device 3 are provided to operate the manipulator arms 11 and 12.
  • the manipulator arm 11 is an example of a "first manipulator” in the claims.
  • the three manipulator arms 12 are each an example of a "second manipulator,” a "third manipulator,” and a "fourth manipulator.”
  • the surgical robot 1 is located in the operating room of the first facility B1. It also includes a medical cart 13, a positioner 14, and an arm base 15. The surgical robot 1 is configured to be movable by the medical cart 13.
  • the medical cart 13 is equipped with a control device 16 that controls the operation of the surgical robot 1.
  • the control device 16 controls the operation of the surgical robot 1 based on commands input to the doctor-side operation device 2 or the supervising doctor-side operation device 3.
  • the system control device 17 is located inside the medical cart 13 and controls the entire remote surgery support system 100. Specifically, the system control device 17 communicates with and controls each of the control devices 16, 28, 38, and 43.
  • the system control device 17 and the control device 16 each include a processing unit such as a CPU that executes a program, and a storage unit such as a memory in which the program is stored.
  • the system control device 17 is an example of "one or more control devices" in the claims.
  • the positioner 14 is configured, for example, by a seven-axis articulated robot.
  • the positioner 14 is placed on the medical cart 13.
  • the positioner 14 moves the arm base 15.
  • the positioner 14 is configured to move the position of the arm base 15 in three dimensions.
  • the audio communication device 26 also includes a microphone 261 and a speaker 262.
  • the microphone 261 accepts audio input.
  • the speaker 262 outputs audio.
  • the speaker 262 is located close to the ear of the operator (doctor A1) when the operator is looking into the scope-type display device 24.
  • the microphone 261 is located close to the mouth of the operator (doctor A1) when the operator is looking into the scope-type display device 24.
  • the microphone 261 and speaker 262 are also located integrally with the scope-type display device 24.
  • the dual unit 7 is provided to connect multiple operation devices (doctor-side operation device 2, supervising physician-side operation device 3) to one information sharing device 4 installed in the first facility B1.
  • the dual unit 7 is connected to the remote unit 61, the doctor-side operation device 2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) via the information sharing device 4.
  • the dual unit 7 also has multiple physical interfaces (terminals) to connect to multiple operation devices.
  • the remote unit 62 is connected to the network device 52 and converts communication data into a format that can be communicated via the external network N.
  • the remote unit 62 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, communication data loss, and communication data synchronization errors.
  • the remote unit 62 has a processing unit 621 and a communication unit 622.
  • the processing unit 621 of the remote unit 62 converts communication data between the supervising physician's operation device 3 and the surgical robot 1 into data that can be communicated via the external network N.
  • the processing unit 621 of the remote unit 62 also reduces the size of relatively large data such as video data before transmitting it, and restores the reduced-size data when it is received.
  • the remote unit 62 also adjusts the wait time for a certain period of time for the arrival of data when a data delay occurs due to communication issues.
  • the control device 43 displays first information Ga, indicating that the doctor-side operation device 2 has operation authority, on the scope-type display device 24 and the scope-type display device 34. Further, when the supervising physician-side operation device 3 has operation authority, the control device 43 displays second information Gb, indicating that the supervising physician-side operation device 3 has operation authority, on the scope-type display device 24 and the scope-type display device 34. Specifically, when the doctor-side operation device 2 has operation authority, the control device 43 generates an image in which the first information Ga is superimposed as a GUI on the endoscopic image G1, as shown in FIGS. 7 and 8, and displays the image on the scope-type display device 24 and the scope-type display device 34.
  • the control device 43 changes the second information Gb (see FIG. 9) displayed on the scope-type display device 24 and the scope-type display device 34 to the first information Ga (see FIG. 8). Further, when the operating authority is switched from the physician-side operating device 2 to the supervising physician-side operating device 3, the control device 43 is configured to change the first information Ga (see FIG. 8) displayed on the scope-type display device 24 and the scope-type display device 34 to the second information Gb (see FIG. 9).
  • the control device 43 switches the operating authority from the supervising physician's side operating device 3 to the doctor's side operating device 2 based on a first command output from the changeover switch 251. Further, when the doctor's side operating device 2 has the operating authority, the control device 43 switches the operating authority from the doctor's side operating device 2 to the supervising physician's side operating device 3 based on a second command output from the changeover switch 351. This allows the operating authority to be switched even from an operating device that does not have the operating authority, making it possible to more smoothly switch the operating authority between the supervising physician's side operating device 3 and the doctor's side operating device 2 during remote surgical support.
  • the control device 43 displays first information Ga on the display device 41 of the information sharing device 4. Further, when the supervising physician-side operating device 3 has the operating authority, the control device 43 displays second information Gb on the display device 41 of the information sharing device 4.
  • the information sharing device 4 located near the surgical robot 1 can display first information Ga and second information Gb indicating which of the doctor-side operating device 2 and the supervising physician-side operating device 3 has the operating authority, so that assistants and technicians located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) can easily recognize which has the operating authority.
  • the system control device 17 switches the operation authority to the doctor-side operation device 2 in response to a first command output from the changeover switch 251 of the doctor-side operation device 2 when the supervising physician-side operation device 3 has the operation authority and the sensor 37 does not detect that the supervising physician-side operation device 3 is in use.
  • the system control device 17 switches the operation authority to the supervising physician-side operation device 3 in response to a second command output from the changeover switch 351 of the supervising physician-side operation device 3 when the doctor-side operation device 2 has the operation authority and the sensor 27 does not detect that the doctor-side operation device 2 is in use. This allows the operation authority to be switched from an operation device that does not have the operation authority when the operation device that has the operation authority is not in use, thereby enabling safe and smooth switching of the operation authority.
  • the system control device 17 controls the operating handle 31 of the supervising doctor-side operating device 3 so that it is possible to operate it, but does not operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) by operating the operating handle 31.
  • the system control device 17 controls the operating handle 21 of the doctor-side operating device 2 so that it is possible to operate it, but does not operate the surgical robot 1 (manipulator arm 11, manipulator arm 12).As a result, the surgical robot 1 (manipulator arm 11, manipulator arm 12) cannot be operated from an operating device that does not have the operating authority, and therefore it is possible to more reliably prevent the surgical robot 1 (manipulator arm 11, manipulator arm 12) from operating against the intentions of the operator who has the operating authority.
  • the operating handle 21 of the physician's operating device 2 can be operated, and physician A1 can therefore move the operating handle 21 in accordance with the movement of the surgical instrument 6 displayed on the scope-type display device 24.
  • the system control device 17 and the control device 28 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 21, and when the sensor 27 detects that the doctor-side operating device 2 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by operating the operating handle 21.
  • the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 31, and when the sensor 37 detects that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by operating by the operating handle 31, and when the sensor 37 detects that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by
  • the control devices 28 and 38 also accept a selection of positions for displaying the first information Ga and the second information Gb.
  • the first information Ga and the second information Gb can be selected from the upper left position P1 of the screen, the lower left position P2 of the screen, the lower right position P3 of the screen, and the upper right position P4 of the screen.
  • the control devices 28 and 38 display a screen on the touch panels 23 and 33 for accepting a selection of positions for displaying the first information Ga and the second information Gb, and accept the operator's selection.
  • the control device 28 displays a first screen on the touch panel 23 for accepting a selection of positions for displaying the first information Ga and the second information Gb.
  • control device 28 when the control device 28 accepts a selection of positions for displaying the first information Ga and the second information Gb via the first screen, it controls the scope-type display device 24 to display the first information Ga and the second information Gb at the selected position.
  • the control device 38 also displays a first screen on the touch panel 33 that accepts the selection of positions for displaying the first information Ga and the second information Gb.
  • the control device 38 accepts the selection of positions for displaying the first information Ga and the second information Gb via the first screen, it controls the scope-type display device 34 to display the first information Ga and the second information Gb at the selected positions.
  • the control device 43 displays the detection results detected by the sensor 27 on the scope-type display device 34 of the supervising doctor-side operation device 3. Specifically, as shown in FIG. 13, when the sensor 27 does not detect that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which display G2b (see FIG. 15) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Further, when the sensor 27 detects that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which display G2a (see FIG.
  • the control device 43 displays a GUI including the second information Gb on the scope-type display device 24 and the scope-type display device 34.
  • the control device 43 may be configured to display on the scope-type display device 24 and the scope-type display device 34 first information Ga indicating that the doctor-side operation device 2 has operation authority and the detection results detected by the sensors 27 and 37. Further, when the supervising doctor-side operation device 3 has operation authority, the control device 43 may be configured to display on the scope-type display device 24 and the scope-type display device 34 second information Gb indicating that the supervising doctor-side operation device 3 has operation authority and the detection results detected by the sensors 27 and 37.
  • the control device 43 when the doctor-side operation device 2 has operation authority, the sensor 27 has detected the head of doctor A1, and the sensor 37 has not detected the head of supervising doctor A2, the control device 43 generates an image in which the first information Ga, display G2a, and display G2b are superimposed as GUIs on the endoscopic image G1, as shown in FIG. 16, and displays the image on the scope-type display device 24 and the scope-type display device 34.
  • the control device 43 when the doctor-side operation device 2 has operation authority and the sensor 27 has not detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3a (see FIG. 17 ) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Furthermore, when the doctor-side operation device 2 has operation authority and the sensor 27 has not detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3b (see FIG.
  • the control device 43 when the doctor-side operation device 2 has operation authority and the sensor 27 has detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3b (see FIG. 18 ) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34.
  • Display G3a and display G3b are distinguishable from each other. For example, display G3a and display G3b are displayed in different colors.
  • the control device 43 may display on the scope-type display device 24 of the doctor-side operation device 2 whether switching is possible or not based on the detection results detected by the sensor 37. Specifically, when the supervising physician-side operation device 3 has operation authority and the sensor 37 has not detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3a (see FIG. 17) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34.
  • a display G3a see FIG. 17
  • the control device 43 when the supervising physician-side operation device 3 has operation authority and the sensor 37 has detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3b (see FIG. 18) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. This makes it easy to check whether or not the operation authority can be switched on an operation device to which the operation authority does not belong.
  • control devices 28 and 38 accept selection of the positions for displaying the displays G2a, G2b, G3a, and G3b from the screen shown in FIG. 12 displayed on the touch panels 23 and 33, in the same manner as selection of the positions for displaying the first information Ga and second information Gb.
  • step S1 of FIG. 19 the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) has their head in on the operation device over which they have operation authority (doctor-side operation device 2 or supervising physician-side operation device 3). Specifically, the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) has their head in based on the detection results of sensor 27 or 37. If the operator (doctor A1 or supervising physician A2) has their head in, the system control device 17 proceeds to step S2; if the operator (doctor A1 or supervising physician A2) has not their head in, the system control device 17 proceeds to step S3.
  • step S2 the system control device 17 determines that the operation authority cannot be switched. Based on the determination that the operation authority cannot be switched, the control device 43 displays information that the operation authority cannot be switched (display G3b (see FIG. 18)) on the scope-type display devices 24 and 34.
  • step S4 the system control device 17 determines that the operation authority can be switched. Based on the determination that the operation authority can be switched, the control device 43 displays information that the operation authority can be switched (display G3a (see FIG. 17)) on the scope-type display devices 24 and 34.
  • the first information included information indicating the doctor-side operating device and the second information included information indicating the supervising physician-side operating device
  • the first information may include at least one of information indicating the doctor-side operating device, information indicating the doctor, and information regarding the first facility.
  • the second information may include at least one of information indicating the supervising physician-side operating device, information indicating the supervising physician, and information regarding the second facility.
  • the first information may include the doctor's name ("AAA" in the example shown in FIG. 20) as information indicating the doctor.
  • the second information may include the supervising doctor's name ("BBB" in the example shown in FIG. 20) as information indicating the supervising doctor.
  • the first information and second information may also include numbers, symbols, character strings, icons, or images indicating the doctor or supervising doctor.
  • the first information may include the area of the first facility ("Kobe” in the example shown in FIG. 21) as information about the first facility.
  • the second information may include the area of the second facility ("Osaka” in the example shown in FIG. 21) as information about the second facility.
  • the first information and second information may include the name of the facility, and numbers, symbols, or character strings that indicate the facility.
  • the changeover switch is a hardware switch provided on the armrest
  • the changeover switch may be a switch displayed on a touch panel or a foot pedal 22. Operation authority may also be switched using voice recognition.
  • the changeover switch may be located on the surgical robot 1 or the information sharing device 4 so that it can be operated by someone other than a doctor or supervising physician, and the changeover operation may be performed by someone other than a doctor or supervising physician.
  • control processing of the present invention was performed by multiple control devices, but the present invention is not limited to this.
  • control processing of the present invention may be performed by a single control device.
  • a scope-type display device was provided as the first display device and the second display device of the present invention, but the present invention is not limited to this.
  • a flat panel display device other than a scope-type display device may be provided as the first display device and the second display device of the present invention.
  • the first and second audio communication devices of the present invention are audio communication devices that are integrally arranged with the scope-type display device, but the present invention is not limited to this.
  • the first and second audio communication devices of the present invention may be audio communication devices that are separate from the scope-type display device.
  • an audio communication device was provided in the information sharing device, but the present invention is not limited to this.
  • an audio communication device may be provided in the surgical robot as an alternative to the audio communication device in the information sharing device.
  • the doctor's side operating device and surgical robot may be located at the second facility B2, and when normal mode is selected in the mode selection, the doctor's side operating device at the second facility B2 may operate the surgical robot at the second facility B2; and when remote mode is selected in the mode selection, the doctor's side operating device at the second facility B2 may function as the supervising physician's side operating device, and the doctor's side operating device at the second facility B2 may operate the surgical robot at the first facility B1.
  • the first information includes at least one of information indicating the doctor-side operating device, information indicating the doctor, and information regarding the first facility; 2.
  • the second information includes at least one of information indicating the supervising physician side operating device, information indicating the supervising physician, and information regarding the second facility.
  • an information sharing device that is arranged in the first facility, includes a third display device for displaying the endoscopic image acquired by the endoscope, and is arranged closer to the first manipulator and the second manipulator than the doctor-side operation device;
  • the one or more control devices When the doctor-side operating device has the operating right, the first information is displayed on the third display device; 5.
  • the remote surgery support system according to any one of items 1 to 4, wherein the second information is displayed on the third display device when the operating device on the supervising physician side has operating rights.
  • the doctor-side operation device includes a first voice communication device for the doctor to communicate with the supervising doctor by voice,
  • the remote surgery support system according to any one of items 1 to 5, wherein the supervising physician side operation device is provided with a second voice communication device for the supervising physician to communicate voice with the doctor.
  • (Item 7) The remote surgery support system described in any one of items 1 to 6, wherein the one or more control devices are configured to notify the supervising physician side operation device of the operation right switching when the operation right is switched from the supervising physician side operation device to the doctor side operation device, and to notify the doctor side operation device of the operation right switching when the operation right is switched from the doctor side operation device to the supervising physician side operation device.
  • the first armrest includes a first touch panel, and the second armrest includes a second touch panel;
  • the one or more control devices a first screen for accepting selection of positions for displaying the first information and the second information is displayed on the first touch panel;
  • Item 10 The remote surgery support system according to item 9, wherein, when a selection of a position for displaying the first information and the second information is accepted via the first screen, the system controls the first display device to display the first information and the second information at the selected position.
  • the remote surgery support system according to any one of items 1 to 10, wherein, after operation authority is switched from the doctor-side operation device to the supervising doctor-side operation device, if the second sensor detects that the device is in use, the remote surgery support system is configured to start operating the second manipulator by the second operation device in response to receiving a predetermined operation from the second operation device.
  • the doctor-side operation device includes a first operation device for the doctor to operate the first manipulator or the second manipulator
  • the instructor-side operation device includes a second operation device for the instructor to operate the first manipulator or the second manipulator
  • the one or more control devices Item 12.
  • the remote surgery support system according to any one of items 1 to 11, wherein when the operating device on the supervising physician side has operating rights, the first operating device can be operated, but the system is configured to control the first manipulator and the second manipulator so that they do not operate when the first operating device is operated.
  • the surgical instrument further includes a third manipulator and a fourth manipulator, which are installed in the first facility and hold a surgical instrument; the doctor-side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator, Item 13.
  • the remote surgery support system according to any one of items 1 to 12, wherein the supervising physician side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network.
  • the one or more control devices include a GUI generation control device that is installed in the first facility and generates a GUI to be superimposed on the endoscopic image;
  • the GUI generation control device includes: When the doctor-side operating device has the operation right, a GUI including the first information is displayed on the first display device and the second display device; 14.
  • the remote surgery support system according to any one of items 1 to 13, wherein, when the operating device on the supervising physician side has operating rights, the system is configured to display a GUI including the second information on the first display device and the second display device.
  • the remote surgery support system according to any one of items 1 to 14, further comprising: a second remote unit that is installed in the second facility, connected to the supervising physician side operation device and the second network device, and converts communication data into a format that can be communicated via a network.
  • (Item 16) Item 16.
  • the one or more control devices include a GUI generation control device installed in the first facility and configured to generate a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device.
  • Surgical robot 1: Surgical robot, 2: Doctor's operation device, 3: Supervising doctor's operation device, 4: Information sharing device (GUI generation control device), 5: Endoscope, 6: Surgical instrument, 7: Dual unit (connection unit), 11: Manipulator arm (first manipulator), 12: Manipulator arm (second manipulator, third manipulator, fourth manipulator), 16: Control device (one or more control devices), 17: System control device (one or more control devices), 21: Operation handle (first operation device), 24: Scope-type display device (first display device), 25: Armrest (first armrest), 26: Voice communication device (first voice communication device), 27: Sensor (first sensor), 28: Control device (one or more control devices), 31: Operation handle (second operation device), 34: Scope-type table Display device (second display device), 35: Armrest (second armrest), 36: Audio communication device (second audio communication device), 37: Sensor (second sensor), 38: Control device (one or more control devices), 41: Display device (third display device), 42: Audio communication device (third

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

Dans ce système de support de chirurgie à distance (100), un dispositif d'actionnement côté médecin (2) est pourvu d'un commutateur de conversion (251) qui reçoit une opération par un médecin (A1) et délivre une première commande pour commuter l'autorité de commande entre un dispositif d'actionnement côté superviseur (3) et le dispositif d'actionnement côté médecin (2). Le dispositif d'actionnement côté superviseur (3) est pourvu d'un commutateur de conversion (351) qui reçoit une opération par un médecin superviseur (A2) et délivre une seconde commande pour commuter l'autorité de commande entre le dispositif d'actionnement côté médecin (2) et le dispositif d'actionnement côté superviseur (3). Un dispositif de commande (43) est configuré pour afficher des premières informations (Ga) indiquant que le dispositif d'actionnement côté médecin (2) a l'autorité de commande lorsque le dispositif d'actionnement côté médecin (2) a l'autorité de commande, et pour afficher des secondes informations (Gb) indiquant que le dispositif d'actionnement côté superviseur (3) a l'autorité de commande lorsque le dispositif d'actionnement côté superviseur (3) a l'autorité de commande.
PCT/JP2025/011948 2024-03-27 2025-03-26 Système de support de chirurgie à distance Pending WO2025205899A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024-052348 2024-03-27
JP2024052348 2024-03-27

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WO2025205899A1 true WO2025205899A1 (fr) 2025-10-02

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Publication number Priority date Publication date Assignee Title
JP2005515012A (ja) * 2002-01-16 2005-05-26 コンピュータ・モーション・インコーポレーテッド ロボット工学およびテレコラボレーションを使用した最小侵襲性外科訓練
JP2019503208A (ja) * 2015-10-22 2019-02-07 コヴィディエン リミテッド パートナーシップ 多入力ロボット手術システム制御スキーム
JP2023081960A (ja) * 2018-05-18 2023-06-13 コリンダス、インコーポレイテッド ロボット介入処置のための遠隔通信及び制御システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005515012A (ja) * 2002-01-16 2005-05-26 コンピュータ・モーション・インコーポレーテッド ロボット工学およびテレコラボレーションを使用した最小侵襲性外科訓練
JP2019503208A (ja) * 2015-10-22 2019-02-07 コヴィディエン リミテッド パートナーシップ 多入力ロボット手術システム制御スキーム
JP2023081960A (ja) * 2018-05-18 2023-06-13 コリンダス、インコーポレイテッド ロボット介入処置のための遠隔通信及び制御システム

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