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1. WO2019126863 - MICROSURGERY-SPECIFIC HAPTIC HAND CONTROLLER

Publication Number WO/2019/126863
Publication Date 04.07.2019
International Application No. PCT/CA2018/000243
International Filing Date 28.12.2018
Chapter 2 Demand Filed 28.10.2019
IPC
A61B 34/37 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
B25J 3/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
04involving servo mechanisms
B25J 9/18 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
18electric
CPC
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 34/76
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
76Manipulators having means for providing feel, e.g. force or tactile feedback
A61B 90/90
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, 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
90Identification means for patients or instruments, e.g. tags
Applicants
  • ORBSURGICAL LTD. [CA]/[CA]
Inventors
  • SUTHERLAND, Garnette Roy
  • HOSHYARMANESH, Hamidreza
  • ZAREINIA, Kourosh
  • LAMA, Sanju
Agents
  • BEHMANN, Curtis B.
Priority Data
62/611,02428.12.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) MICROSURGERY-SPECIFIC HAPTIC HAND CONTROLLER
(FR) DISPOSITIF DE COMMANDE MANUELLE HAPTIQUE SPÉCIFIQUE À LA MICROCHIRURGIE
Abstract
(EN)
A local haptic hand controller !s provided for enabling an operator to remotely perform fine manipulation, such as microsurgery, in conjunction with a remotely located robotic manipulator, for example at which the microsurgery is to be performed. The local haptic hand controller includes a base, a kinematic structure in communication with the base and comprises a gimbal as an end effector. A local surgical tool is provided at the gimbal and has a shape and construction substantially similar to a remote surgical tool provided at the remote robotic manipulator. A control system is in communication with the local surgical tool and with the remote surgical tool, and configured to enable operation of the local haptic hand controller when a local surgical tool identifier matches a remote surgical tool identifier.
(FR)
L’invention concerne un dispositif de commande manuelle haptique locale permettant à un opérateur d'effectuer à distance une manipulation fine, telle qu'une microchirurgie, conjointement avec un manipulateur robotique situé à distance, par exemple au niveau duquel la microchirurgie doit être effectuée. Le dispositif de commande manuelle haptique locale comprend une base, une structure cinématique en communication avec la base et comprend un cardan en tant qu'effecteur terminal. Un outil chirurgical local est disposé au niveau du cardan et a une forme et une construction sensiblement similaires à un outil chirurgical à distance disposé au niveau du manipulateur robotique à distance. Un système de commande est en communication avec l'outil chirurgical local et avec l'outil chirurgical à distance, et configuré pour permettre le fonctionnement du dispositif de commande manuelle haptique locale lorsqu'un identifiant d'outil chirurgical local correspond à un identifiant d'outil chirurgical à distance.
Also published as
Latest bibliographic data on file with the International Bureau