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GB2545291B - Robotic system - Google Patents

Robotic system Download PDF

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Publication number
GB2545291B
GB2545291B GB1614730.8A GB201614730A GB2545291B GB 2545291 B GB2545291 B GB 2545291B GB 201614730 A GB201614730 A GB 201614730A GB 2545291 B GB2545291 B GB 2545291B
Authority
GB
United Kingdom
Prior art keywords
robotic system
robotic
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.)
Active
Application number
GB1614730.8A
Other versions
GB2545291A (en
GB201614730D0 (en
Inventor
David Ronald Hares Luke
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.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
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 GBGB1521804.3A external-priority patent/GB201521804D0/en
Priority claimed from GBGB1521803.5A external-priority patent/GB201521803D0/en
Priority claimed from GBGB1521810.0A external-priority patent/GB201521810D0/en
Priority claimed from GBGB1521806.8A external-priority patent/GB201521806D0/en
Priority claimed from GBGB1521811.8A external-priority patent/GB201521811D0/en
Priority claimed from GB1521815.9A external-priority patent/GB2547182B/en
Priority claimed from GBGB1521814.2A external-priority patent/GB201521814D0/en
Priority claimed from GBGB1521808.4A external-priority patent/GB201521808D0/en
Priority claimed from GBGB1521807.6A external-priority patent/GB201521807D0/en
Priority claimed from GBGB1521805.0A external-priority patent/GB201521805D0/en
Priority claimed from GB1521813.4A external-priority patent/GB2545637A/en
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of GB201614730D0 publication Critical patent/GB201614730D0/en
Priority to PCT/GB2016/053884 priority Critical patent/WO2017098259A1/en
Priority to US16/060,489 priority patent/US11209954B2/en
Publication of GB2545291A publication Critical patent/GB2545291A/en
Application granted granted Critical
Publication of GB2545291B publication Critical patent/GB2545291B/en
Active 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2074—Interface software
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
GB1614730.8A 2015-12-10 2016-08-31 Robotic system Active GB2545291B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/060,489 US11209954B2 (en) 2015-12-10 2016-12-09 Surgical robotic system using dynamically generated icons to represent orientations of instruments
PCT/GB2016/053884 WO2017098259A1 (en) 2015-12-10 2016-12-09 Robotic system

Applications Claiming Priority (14)

Application Number Priority Date Filing Date Title
GBGB1521808.4A GB201521808D0 (en) 2015-12-10 2015-12-10 Interfacing a surgical robot and instrument
GB1521815.9A GB2547182B (en) 2015-12-10 2015-12-10 Measuring robot performance
GBGB1521807.6A GB201521807D0 (en) 2015-12-10 2015-12-10 Surgical instrument shaft spokes
GBGB1521811.8A GB201521811D0 (en) 2015-12-10 2015-12-10 Drive assembly interface
GB1521813.4A GB2545637A (en) 2015-12-10 2015-12-10 Robot mounting arrangement
GBGB1521803.5A GB201521803D0 (en) 2015-12-10 2015-12-10 Surgical instrument articulation
GBGB1521809.2A GB201521809D0 (en) 2015-12-10 2015-12-10 Symmetrically arranged surgical instrument articulation
GBGB1521806.8A GB201521806D0 (en) 2015-12-10 2015-12-10 Independent tensioning and aligning mechanisms for a surgical instrument
GBGB1521810.0A GB201521810D0 (en) 2015-12-10 2015-12-10 Supporting body of a surgical instrument articulation
GBGB1521804.3A GB201521804D0 (en) 2015-12-10 2015-12-10 Pulley arrangement for articulating a surgical instrument
GBGB1521805.0A GB201521805D0 (en) 2015-12-10 2015-12-10 Guiding engagement of a robot arm and surgical instrument
GBGB1521812.6A GB201521812D0 (en) 2015-12-10 2015-12-10 Driving a surgical instrument articulation
GBGB1521814.2A GB201521814D0 (en) 2015-12-10 2015-12-10 Arm location
GBGB1521922.3A GB201521922D0 (en) 2015-12-10 2015-12-11 User interface for a robot

Publications (3)

Publication Number Publication Date
GB201614730D0 GB201614730D0 (en) 2016-10-12
GB2545291A GB2545291A (en) 2017-06-14
GB2545291B true GB2545291B (en) 2021-02-24

Family

ID=55274623

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB1521922.3A Ceased GB201521922D0 (en) 2015-12-10 2015-12-11 User interface for a robot
GB1614730.8A Active GB2545291B (en) 2015-12-10 2016-08-31 Robotic system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GBGB1521922.3A Ceased GB201521922D0 (en) 2015-12-10 2015-12-11 User interface for a robot

Country Status (1)

Country Link
GB (2) GB201521922D0 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220160447A1 (en) * 2019-03-15 2022-05-26 Riverfield Inc. Force sense display device and force sense display method of medical robot system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005084570A1 (en) * 2004-03-04 2005-09-15 Orthosoft Inc. Graphical user interface for computer-assisted surgery
US20090088634A1 (en) * 2007-09-30 2009-04-02 Intuitive Surgical, Inc. Tool tracking systems and methods for image guided surgery
US20120316573A1 (en) * 2011-05-31 2012-12-13 Intuitive Surgical Operations, Inc. Positive control of robotic surgical instrument end effector
US20150157411A1 (en) * 2013-12-09 2015-06-11 Meere Company Inc. Surgical robot system and method for controlling surgical robot system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005084570A1 (en) * 2004-03-04 2005-09-15 Orthosoft Inc. Graphical user interface for computer-assisted surgery
US20090088634A1 (en) * 2007-09-30 2009-04-02 Intuitive Surgical, Inc. Tool tracking systems and methods for image guided surgery
US20120316573A1 (en) * 2011-05-31 2012-12-13 Intuitive Surgical Operations, Inc. Positive control of robotic surgical instrument end effector
US20150157411A1 (en) * 2013-12-09 2015-06-11 Meere Company Inc. Surgical robot system and method for controlling surgical robot system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220160447A1 (en) * 2019-03-15 2022-05-26 Riverfield Inc. Force sense display device and force sense display method of medical robot system
US12011243B2 (en) * 2019-03-15 2024-06-18 Riverfield Inc. Force sense display device and force sense display method of medical robot system

Also Published As

Publication number Publication date
GB2545291A (en) 2017-06-14
GB201614730D0 (en) 2016-10-12
GB201521922D0 (en) 2016-01-27

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