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WO2007005367A3 - Dispositifs et techniques de chirurgie par catheter, robotisee et guidee par l'image - Google Patents

Dispositifs et techniques de chirurgie par catheter, robotisee et guidee par l'image Download PDF

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Publication number
WO2007005367A3
WO2007005367A3 PCT/US2006/024796 US2006024796W WO2007005367A3 WO 2007005367 A3 WO2007005367 A3 WO 2007005367A3 US 2006024796 W US2006024796 W US 2006024796W WO 2007005367 A3 WO2007005367 A3 WO 2007005367A3
Authority
WO
WIPO (PCT)
Prior art keywords
techniques
surgical devices
image guided
based surgical
guided catheter
Prior art date
Application number
PCT/US2006/024796
Other languages
English (en)
Other versions
WO2007005367A2 (fr
Inventor
Frederic Moll
Gopal Chopra
Original Assignee
Intuitive Surgical Inc
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 Intuitive Surgical Inc filed Critical Intuitive Surgical Inc
Publication of WO2007005367A2 publication Critical patent/WO2007005367A2/fr
Publication of WO2007005367A3 publication Critical patent/WO2007005367A3/fr

Links

Classifications

    • 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
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—Manipulators 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
    • A61B34/72—Micromanipulators
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation

Landscapes

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

Abstract

L'invention concerne des dispositifs, systèmes et procédés de téléchirurgie permettant des traitements par cathéters pouvant être dirigés par une méthode de téléimagerie pour la neurochirurgie et/ou des voies au moins partiellement intravasculaires. D'autres modes de réalisation comprennent des sondes orthopédiques. Le mouvement du cathéter ou de la sonde peut être dirigé par un système robotisé en référence à des images tridimensionnelles.
PCT/US2006/024796 2005-06-30 2006-06-26 Dispositifs et techniques de chirurgie par catheter, robotisee et guidee par l'image WO2007005367A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69536605P 2005-06-30 2005-06-30
US60/695,366 2005-06-30

Publications (2)

Publication Number Publication Date
WO2007005367A2 WO2007005367A2 (fr) 2007-01-11
WO2007005367A3 true WO2007005367A3 (fr) 2007-03-01

Family

ID=37499923

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/024796 WO2007005367A2 (fr) 2005-06-30 2006-06-26 Dispositifs et techniques de chirurgie par catheter, robotisee et guidee par l'image

Country Status (1)

Country Link
WO (1) WO2007005367A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8886288B2 (en) 2009-06-16 2014-11-11 MRI Interventions, Inc. MRI-guided devices and MRI-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time
US9259290B2 (en) 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5030639B2 (ja) * 2007-03-29 2012-09-19 オリンパスメディカルシステムズ株式会社 内視鏡装置の処置具位置制御装置
DE102007045075B4 (de) * 2007-09-21 2010-05-12 Siemens Ag Interventionelles medizinisches Diagnose- und/oder Therapiesystem
DE102008041867B4 (de) * 2008-09-08 2015-09-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Medizinischer Arbeitsplatz und Bedienvorrichtung zum manuellen Bewegen eines Roboterarms
CN101870107B (zh) * 2010-06-26 2011-08-31 上海交通大学 骨科手术辅助机器人的控制系统
DE102010040987A1 (de) * 2010-09-17 2012-03-22 Siemens Aktiengesellschaft Verfahren zum Platzieren eines Laparoskopieroboters in einer vorgebbaren Relativlage zu einem Trokar
US10136955B2 (en) * 2012-08-24 2018-11-27 University Of Houston System Robotic device for image-guided surgery and interventions
MX2015002537A (es) * 2012-08-27 2015-10-22 Univ Houston Dispositivo robotico y software de sistema, hardware y metodos de uso para cirugia guiada por imagen y asistida por robot.
EP2979605A4 (fr) * 2013-03-29 2016-11-23 Tokyo Inst Tech Système de fonctionnement endoscopique et programme de fonctionnement endoscopique
US11395708B2 (en) 2018-06-20 2022-07-26 Gabriel Gruionu Systems and methods for automatic guidance of medical catheters and endoscopes
JP7679178B2 (ja) * 2020-03-31 2025-05-19 地方独立行政法人神奈川県立産業技術総合研究所 医療用ドリル、及び医療用プログラム
CN114504388A (zh) * 2022-03-15 2022-05-17 山东大学齐鲁医院 一种柔性手术机器人系统及其控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5749362A (en) * 1992-05-27 1998-05-12 International Business Machines Corporation Method of creating an image of an anatomical feature where the feature is within a patient's body
US6402737B1 (en) * 1998-03-19 2002-06-11 Hitachi, Ltd. Surgical apparatus
WO2003086190A1 (fr) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systemes et procedes destines a des interventions medicales
US20040077939A1 (en) * 2001-02-22 2004-04-22 Rainer Graumann Device and method for controlling surgical instruments

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5749362A (en) * 1992-05-27 1998-05-12 International Business Machines Corporation Method of creating an image of an anatomical feature where the feature is within a patient's body
US6402737B1 (en) * 1998-03-19 2002-06-11 Hitachi, Ltd. Surgical apparatus
US20040077939A1 (en) * 2001-02-22 2004-04-22 Rainer Graumann Device and method for controlling surgical instruments
WO2003086190A1 (fr) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systemes et procedes destines a des interventions medicales

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9259290B2 (en) 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts
US9439735B2 (en) 2009-06-08 2016-09-13 MRI Interventions, Inc. MRI-guided interventional systems that can track and generate dynamic visualizations of flexible intrabody devices in near real time
US8886288B2 (en) 2009-06-16 2014-11-11 MRI Interventions, Inc. MRI-guided devices and MRI-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time

Also Published As

Publication number Publication date
WO2007005367A2 (fr) 2007-01-11

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