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WO2009037576A3 - Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis - Google Patents

Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis Download PDF

Info

Publication number
WO2009037576A3
WO2009037576A3 PCT/IB2008/003323 IB2008003323W WO2009037576A3 WO 2009037576 A3 WO2009037576 A3 WO 2009037576A3 IB 2008003323 W IB2008003323 W IB 2008003323W WO 2009037576 A3 WO2009037576 A3 WO 2009037576A3
Authority
WO
WIPO (PCT)
Prior art keywords
movement
single axis
medical robot
tool
systems
Prior art date
Application number
PCT/IB2008/003323
Other languages
French (fr)
Other versions
WO2009037576A2 (en
Inventor
Alexander Greer
Garnette Sutherland
Tim Fielding
Perry Newhook
Original Assignee
Neuroarm 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
Application filed by Neuroarm Surgical Ltd. filed Critical Neuroarm Surgical Ltd.
Priority to JP2010503622A priority Critical patent/JP5543331B2/en
Priority to CA2684459A priority patent/CA2684459C/en
Priority to US12/596,426 priority patent/US8560118B2/en
Priority to EP08832194A priority patent/EP2142132B1/en
Publication of WO2009037576A2 publication Critical patent/WO2009037576A2/en
Priority to IL201559A priority patent/IL201559A0/en
Publication of WO2009037576A3 publication Critical patent/WO2009037576A3/en
Priority to US14/054,664 priority patent/US9131986B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40128—Virtual tether, line on display connects end effector to destination point
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40399—Selection of master-slave operation mode
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (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

Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.
PCT/IB2008/003323 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis WO2009037576A2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2010503622A JP5543331B2 (en) 2007-04-16 2008-04-16 Method, apparatus, and system for non-mechanically limiting and / or programming movement along one axis of a manipulator tool
CA2684459A CA2684459C (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US12/596,426 US8560118B2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
EP08832194A EP2142132B1 (en) 2007-04-16 2008-04-16 System for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
IL201559A IL201559A0 (en) 2007-04-16 2009-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US14/054,664 US9131986B2 (en) 2007-04-16 2013-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US91214607P 2007-04-16 2007-04-16
US60/912,146 2007-04-16
US2008060541 2008-04-16
USPCT/US2008/060541 2008-04-16

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US12/596,426 A-371-Of-International US8560118B2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US14/054,664 Continuation US9131986B2 (en) 2007-04-16 2013-10-15 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Publications (2)

Publication Number Publication Date
WO2009037576A2 WO2009037576A2 (en) 2009-03-26
WO2009037576A3 true WO2009037576A3 (en) 2010-02-04

Family

ID=40468504

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2008/003323 WO2009037576A2 (en) 2007-04-16 2008-04-16 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Country Status (3)

Country Link
JP (1) JP5543331B2 (en)
CA (1) CA2684459C (en)
WO (1) WO2009037576A2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
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US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system

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US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US8083667B2 (en) 2006-06-13 2011-12-27 Intuitive Surgical Operations, Inc. Side looking minimally invasive surgery instrument assembly
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
EP2188344B1 (en) * 2007-09-21 2016-04-27 Cabot Microelectronics Corporation Polishing composition and method utilizing abrasive particles treated with an aminosilane
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
EP2384714A1 (en) * 2010-05-03 2011-11-09 Universitat Politècnica de Catalunya A method for defining working space limits in robotic surgery
EP2704658A4 (en) * 2011-05-05 2014-12-03 Univ Johns Hopkins METHOD AND SYSTEM FOR ANALYZING A TASK PATH
US9572481B2 (en) 2011-05-13 2017-02-21 Intuitive Surgical Operations, Inc. Medical system with multiple operating modes for steering a medical instrument through linked body passages
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
WO2016089753A1 (en) * 2014-12-03 2016-06-09 Gambro Lundia Ab Medical treatment system training
JP6157792B2 (en) 2015-06-01 2017-07-05 オリンパス株式会社 Medical manipulator
WO2018170031A1 (en) * 2017-03-15 2018-09-20 Covidien Lp Robotic surgical systems, instruments, and controls
CN110403701A (en) * 2019-08-30 2019-11-05 山东威高手术机器人有限公司 Input unit, minimally invasive surgical operation robot and micro-wound surgical operation control method
JPWO2023140120A1 (en) * 2022-01-21 2023-07-27

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument

Also Published As

Publication number Publication date
JP5543331B2 (en) 2014-07-09
JP2010525838A (en) 2010-07-29
CA2684459A1 (en) 2009-03-26
CA2684459C (en) 2016-10-04
WO2009037576A2 (en) 2009-03-26

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