WO2011021788A3 - 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법 - Google Patents

간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법 Download PDF

Info

Publication number
WO2011021788A3
WO2011021788A3 PCT/KR2010/004953 KR2010004953W WO2011021788A3 WO 2011021788 A3 WO2011021788 A3 WO 2011021788A3 KR 2010004953 W KR2010004953 W KR 2010004953W WO 2011021788 A3 WO2011021788 A3 WO 2011021788A3
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
surgical
deformation
displacement
robot system
Prior art date
Application number
PCT/KR2010/004953
Other languages
English (en)
French (fr)
Other versions
WO2011021788A2 (ko
Inventor
이민규
최승욱
원종석
Original Assignee
주식회사 래보
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 주식회사 래보 filed Critical 주식회사 래보
Publication of WO2011021788A2 publication Critical patent/WO2011021788A2/ko
Publication of WO2011021788A3 publication Critical patent/WO2011021788A3/ko

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

Landscapes

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

Abstract

본 발명은 복강경 등을 이용한 내시경 수술 시에 로봇 암에 장착된 수술용 인스트루먼트가 인체 조직과 접촉 등에 의하여 발생하는 휨 등의 변형을 내시경 영상에 기초하여 간단히 감지하고 그때의 힘이 로봇 암을 조작하는 수단에 그대로 느껴지도록 함으로써 수술 의사에게 수동 수술에서와 유사한 느낌으로 용이하게 수술을 수행하도록 보조할 수 있는 원격 수술 로봇 시스템 및 그 제어 방법에 관한 것이다. 본 발명에 따른 수술 로봇 제어 방법은, 인스트루먼트를 인체 내에 삽입하여 수술을 진행하는 동안에, 상기 인스트루먼트의 변형에 대한 변위를 산출하고, 상기 변위에 기초하여 상기 인스트루먼트가 인체 내에서 받는 힘을 파악할 수 있다. 상기 인스트루먼트의 변형을 좀 더 잘 일으켜 변위 측정을 용이하게 하기 위하여, 해당 목적의 어플리케이션에 따라 인스트루먼트의 샤프트의 적절한 위치에는 변형 정도를 달리하는 적절한 재질로 이루어지도록 할 수 있다.
PCT/KR2010/004953 2009-08-18 2010-07-28 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법 WO2011021788A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0076257 2009-08-18
KR1020090076257A KR100997194B1 (ko) 2009-08-18 2009-08-18 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법

Publications (2)

Publication Number Publication Date
WO2011021788A2 WO2011021788A2 (ko) 2011-02-24
WO2011021788A3 true WO2011021788A3 (ko) 2011-06-16

Family

ID=43410210

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/004953 WO2011021788A2 (ko) 2009-08-18 2010-07-28 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법

Country Status (2)

Country Link
KR (1) KR100997194B1 (ko)
WO (1) WO2011021788A2 (ko)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101181613B1 (ko) * 2011-02-21 2012-09-10 윤상진 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
KR20130015441A (ko) * 2011-08-03 2013-02-14 주식회사 이턴 수술용 로봇 시스템
KR101267914B1 (ko) 2011-10-25 2013-05-27 서울대학교산학협력단 외과 수술 로봇 조작 장치
US9588515B2 (en) 2012-12-31 2017-03-07 General Electric Company Systems and methods for remote control of a non-destructive testing system
KR102306959B1 (ko) 2013-09-04 2021-10-01 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
US11547281B2 (en) 2018-02-15 2023-01-10 Covidien Lp Sheath assembly for a rigid endoscope
KR20240102555A (ko) * 2022-12-26 2024-07-03 (주)미래컴퍼니 수술용 로봇 시스템 및 이의 제어방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060106369A1 (en) * 2004-11-12 2006-05-18 Desai Jaydev P Haptic interface for force reflection in manipulation tasks
KR100585458B1 (ko) * 2004-04-13 2006-06-07 국립암센터 복강경 수술 로봇 시스템
US20070233044A1 (en) * 2006-02-22 2007-10-04 Hansen Medical, Inc. Apparatus for measuring distal forces on a working instrument
US20080004632A1 (en) * 2002-08-13 2008-01-03 Sutherland Garnette R Microsurgical robot system
US20080065108A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100778387B1 (ko) * 2006-12-26 2007-11-28 한국과학기술원 다자유도를 갖는 복강경 수술용 로봇 및 그의 힘 측정방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080004632A1 (en) * 2002-08-13 2008-01-03 Sutherland Garnette R Microsurgical robot system
KR100585458B1 (ko) * 2004-04-13 2006-06-07 국립암센터 복강경 수술 로봇 시스템
US20060106369A1 (en) * 2004-11-12 2006-05-18 Desai Jaydev P Haptic interface for force reflection in manipulation tasks
US20070233044A1 (en) * 2006-02-22 2007-10-04 Hansen Medical, Inc. Apparatus for measuring distal forces on a working instrument
US20080065108A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical system

Also Published As

Publication number Publication date
WO2011021788A2 (ko) 2011-02-24
KR100997194B1 (ko) 2010-11-30

Similar Documents

Publication Publication Date Title
WO2011021788A3 (ko) 간접적으로 수술감을 제공하는 원격 수술 로봇 시스템 및 그 제어 방법
EP4257073A3 (en) System and method for force or torque limit compensation
EP2777540A3 (en) Control arrangements for a drive member of a surgical instrument
EP4137072A3 (en) Surgical instruments comprising a system for articulation and rotation compensation
WO2013027200A3 (en) Device and method for asissting laparoscopic surgery - rule based approach
WO2009045697A3 (en) Force sensing for surgical instruments
WO2012115360A3 (ko) 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법
EP2014218A3 (en) Medical system
EP2163216A3 (en) Laparoscopic instrument
WO2008132664A3 (en) Risk indication for surgical procedures
WO2008083097A3 (en) Steerable ablation device
WO2009155081A3 (en) Actuating and articulating surgical device
WO2010091440A3 (en) Airway management devices, endoscopic conduits, surgical kits, and methods using the same
WO2011146377A8 (en) Surgical instruments and end effectors therefor
MX2013010732A (es) Instrumento electroquirurgico articulable con accionador de articulacion que se puede estabilizar.
ATE509581T1 (de) Entnahmevorrichtung für biopsie
WO2011075510A3 (en) Advancing system and method of use thereof
WO2011060139A3 (en) Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
WO2007120329A3 (en) Modular force sensor
JP2015533525A5 (ko)
WO2013016251A3 (en) Image guided surgery trackers using multiple asynchronous sensors
MX345296B (es) Dispositivo y método quirúrgicos.
WO2011002215A3 (ko) 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법
WO2008091917A3 (en) Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control
WO2010011781A3 (en) Tissue modification devices and methods of using the same

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: 10810096

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10810096

Country of ref document: EP

Kind code of ref document: A2